Robot navigation path generation method, robot, device and storage medium

Abstract

The present invention relates to the field of robot technology, and discloses a navigation path generation method for a robot, a robot, a navigation path generation device for the robot, and a computer storage medium. The navigation path generation method for the robot determines a first area where a target obstacle exists in a trapped area where the robot is located, wherein the target obstacle is detected based on a target detection device configured for the robot; detects an intersection area between the first area and a second area where the robot walks; and when the intersection area is detected, generates a navigation path for the robot to escape from the trapped area according to the intersection area. The present invention solves the technical problem that the current robot cannot escape from the narrow space when the radar identifies the edge position of the narrow space as an obstacle, causing the robot to walk very unsmoothly.

Description

Technical Field

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

[0002] With the continuous improvement of material living standards and scientific and technological levels, nowadays, more and more user families have begun to use robots to provide corresponding services to people, especially the use of cleaning robots to replace people to clean the house themselves, which can not only reduce people’s labor pressure, but also improve the efficiency of house cleaning.

[0003] However, when current cleaning robots enter a narrow space with a small upper and lower spacing (for example, the bottom of objects such as sofas, beds and large appliances) while cleaning the edge of a house, due to the influence of the installation positions of various sensors for sensing the environment on the cleaning robot, the radar that is installed at a relatively high position among the various sensors will usually identify the edges of the narrow space as obstacles. In this way, when the cleaning robot needs to come out of the narrow space, the radar has already identified the edges of the narrow space as obstacles, causing the cleaning robot to be mistakenly trapped in the narrow space and unable to escape.

[0004] In summary, when the radar identifies the edge of a narrow space as an obstacle, the current robot cannot escape from the narrow space smoothly, causing the robot to walk very unsmoothly. Summary of the invention

[0005] The main purpose of the present invention is to provide a robot navigation path generation method, a robot, a robot navigation path generation device and a computer storage medium, aiming to solve the technical problem that the current robot cannot escape smoothly from the narrow space when the radar identifies the edge position of the narrow space as an obstacle, causing the robot to walk very unsmoothly.

[0006] To achieve the above object, the present invention provides a method for generating a navigation path of a robot, the method comprising:

[0007] In the trapped area where the robot is located, determining a first area where a target obstacle exists, wherein the target obstacle is detected based on a target detection device configured for the robot;

[0008] Detecting an intersection area between the first area and a second area through which the robot walks;

[0009] When the intersection area is detected, a navigation path for the robot to escape from the trapped area is generated according to the intersection area.

[0010] Optionally, the step of generating a navigation path for the robot to escape from the trapped area according to the intersection area includes:

[0011] Detecting whether there are other obstacles in the intersection area, wherein the other obstacles are detected based on environment perception sensors other than the target detection device configured by the robot;

[0012] When it is detected that the other obstacles do not exist in the intersection area, the target obstacle existing in the intersection area is ignored, and a navigation path for the robot to escape from the trapped area through the intersection area is generated;

[0013] When it is detected that the other obstacles exist in the intersection area, the other obstacles are marked as circumventable obstacles, and the navigation path is generated, so that when the robot moves to the intersection area according to the navigation path, it can bypass the other obstacles along the edge to escape from the trapped area.

[0014] Optionally, after the step of ignoring the target obstacle in the intersection area and generating a navigation path for the robot to directly pass through the intersection area and escape from the trapped area, the step further includes:

[0015] According to the navigation path, ignoring the target obstacle in the intersection area, walking is performed to try to escape from the trapped area;

[0016] When the robot successfully escapes from the trapped area, stopping walking while ignoring the target obstacle;

[0017] When the robot fails to escape from the trapped area, a preset trapped prompt is output.

[0018] Optionally, the method further comprises:

[0019] When the intersection area is not detected, the target obstacle is detoured along the edge, and when the preset collision sensor does not detect the target obstacle, the target obstacle is ignored until the trapped area is successfully escaped.

[0020] Optionally, after the step of generating a navigation path for the robot to escape from the trapped area according to the intersection area, the method further comprises:

[0021] The navigation path is adjusted to obtain a new navigation path, so that the robot can walk along the new navigation path to escape from the trapped area.

[0022] Optionally, the step of adjusting the navigation path to obtain a new navigation path includes:

[0023] Determine a first intersection point between the navigation path and the intersection area close to a side of the robot;

[0024] Determine an obstacle point in the intersection area according to the first intersection point;

[0025] The preset distance path including the first intersection point in the navigation path is adjusted according to the first intersection point and the obstacle point to obtain a new navigation path.

[0026] Optionally, the step of determining an obstacle point in the intersection area according to the first intersection point comprises:

[0027] Determining a path direction of the navigation path;

[0028] Search is performed in the intersection area on both sides of the path direction to obtain the obstacle point in the intersection area that is farthest from the first intersection point.

[0029] Optionally, the step of adjusting the preset distance path including the first intersection in the navigation path according to the first intersection point and the obstacle point to obtain a new navigation path includes:

[0030] Determine each reference point on the line connecting the first intersection point and the obstacle point according to a first interval distance, and extend each reference point in a preset target direction by a corresponding first extension distance according to a direction from the first intersection point to the second intersection point to obtain each extension point, wherein the first extension distance decreases in sequence in a direction from the first intersection point to the obstacle point; or

[0031] Determine each reference point on the preset distance path according to the second interval distance, and in the area between the preset distance path and the obstacle point, sequentially extend each reference point in the preset first direction by a corresponding second extension distance to obtain each extension point, wherein the second extension distance decreases sequentially in the direction from the first intersection point to the boundary point of the preset distance path;

[0032] The extension points are sequentially connected to form an improved path, and the preset distance path is replaced by the improved path to obtain a new navigation path.

[0033] Optionally, the method further comprises:

[0034] If other obstacles exist in the area where the extension point is extended, or if the other obstacles exist between the currently extended extension point and the previous extension point, the extension of subsequent extension points is stopped.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides a robot, comprising: a memory, a processor, and a navigation path generation program of the robot stored in the memory and executable on the processor, wherein the navigation path generation program of the robot, when executed by the processor, implements the steps of the navigation path generation method of the robot as described above.

[0036] In addition, to achieve the above-mentioned purpose, the present invention further provides a navigation path generating device for a robot, the navigation path generating device for the robot comprising:

[0037] A determination module, configured to determine, in the trapped area where the robot is located, a first area where a target obstacle is distributed, wherein the target obstacle is detected based on a radar configured for the robot;

[0038] A detection module, used to detect an intersection area between the first area and a second area where the robot has walked;

[0039] A path generation module is used to generate a navigation path for the robot to escape from the trapped area according to the intersection area when the intersection area is detected.

[0040] Among them, each functional module of the navigation path generation device of the robot of the present invention implements the steps of the navigation path generation method of the robot as described above during operation.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer storage medium, on which a robot navigation path generation program is stored, and when the robot navigation path generation program is executed by a processor, the steps of the robot navigation path generation method as described above are implemented.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the robot navigation path generation method as described above are implemented.

[0043] The present invention provides a navigation path generation method for a robot, a robot, a navigation path generation device for the robot, a computer storage medium and a computer program product, wherein a first area where a target obstacle exists is determined in a trapped area where the robot is located, wherein the target obstacle is detected based on a target detection device configured for the robot; an intersection area between the first area and a second area where the robot walks is detected; and when the intersection area is detected, a navigation path for the robot to escape from the trapped area is generated according to the intersection area.

[0044] When the robot is in a narrow space and the radar sensor of the robot identifies the edge position of the narrow space as an obstacle, the robot determines a first area where a target obstacle detected and identified by the radar sensor exists in the currently trapped area - the narrow space, and then detects an overlapping intersection area between the first area and a second area that the robot has walked before the current moment. Finally, when the robot detects the intersection area, it directly generates a navigation path for escaping from the narrow space according to the intersection area, so that the robot can walk through the intersection area according to the navigation path to escape from the narrow space.

[0045] The present invention realizes that when the robot is trapped based on the detection of a radar obstacle by a radar sensor, the intersection area between the area where the target obstacle exists and the area that the robot has already passed is determined, and then the target obstacle existing in the intersection area is ignored to generate a navigation path, so that the robot can escape from the currently trapped area based on the intersection area as a breakthrough point, and the purpose of successfully escaping from the narrow space when the radar identifies the edge position of the narrow space as an obstacle is achieved, so that the robot can walk smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of the device structure of the robot hardware operating environment involved in the embodiment of the present invention;

[0047] Figure 2 It is a flowchart of a first embodiment of a method for generating a navigation path for a robot according to the present invention;

[0048] Figure 3 A schematic diagram of an application scenario involved in an embodiment of a method for generating a navigation path for a robot of the present invention;

[0049] Figure 4 A schematic diagram of another application scenario involved in an embodiment of a method for generating a navigation path for a robot of the present invention;

[0050] Figure 5 A schematic diagram of another application scenario involved in an embodiment of a method for generating a navigation path for a robot of the present invention;

[0051] Figure 6 A schematic diagram of another application scenario involved in an embodiment of a method for generating a navigation path for a robot of the present invention;

[0052] Figure 7 This is a schematic diagram of functional modules of an embodiment of a navigation path generating device for a robot according to the present invention.

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] 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.

[0055] Reference Figure 1 , Figure 1 The schematic diagram of the device structure of the hardware operating environment involved in the robot provided by the present invention in one embodiment. The robot in the embodiment of the present invention may be a cleaning robot, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, other cleaning robots, etc.

[0056] like Figure 1 As shown, the robot may include: a processor 1001, such as a CPU, a communication bus 1002, a sensor 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The sensor 1003 may include at least one of the following: a laser radar sensor, a binocular sensor, a line laser sensor, a visual sensor, a ground-penetrating sensor, a cliff sensor, a collision sensor, an ultrasonic sensor, etc. The above sensor 1003 can be used to build a map of the robot's working environment, locate and navigate the robot, detect obstacles in the working environment and other information to control the robot's behavior. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The robot structure shown in the figure does not constitute a limitation of the robot, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, and a robot navigation path generation program.

[0059] exist Figure 1In the robot shown, the network interface 1004 is mainly used to connect the base station, charging station, etc. used with the robot, and to communicate data with the base station. In order to facilitate the use of the user, the base station can be used to cooperate with the use of the robot. The base station can be used to charge robots such as cleaning robots. When the power of the cleaning robot is less than the threshold during the cleaning process, the cleaning robot automatically moves to the base station for charging. For the cleaning robot, the base station can also clean the mopping parts (such as a mop), and the cleaning robot can move to the base station, so that the cleaning mechanism on the base station automatically cleans the mopping parts of the cleaning robot.

[0060] The processor 1001 may be used to call the robot navigation path generation program stored in the memory 1005 and perform the following operations:

[0061] In the trapped area where the robot is located, determining a first area where a target obstacle exists, wherein the target obstacle is detected based on a target detection device configured for the robot;

[0062] Detecting an intersection area between the first area and a second area through which the robot walks;

[0063] When the intersection area is detected, a navigation path for the robot to escape from the trapped area is generated according to the intersection area.

[0064] Further, the processor 1001 may call the robot's navigation path generation program stored in the memory 1005, and further perform the following operations:

[0065] Detecting whether there are other obstacles in the intersection area, wherein the other obstacles are detected based on environment perception sensors other than the target detection device configured by the robot;

[0066] When it is detected that the other obstacles do not exist in the intersection area, the target obstacle existing in the intersection area is ignored, and a navigation path for the robot to escape from the trapped area through the intersection area is generated;

[0067] When it is detected that the other obstacles exist in the intersection area, the other obstacles are marked as circumventable obstacles, and the navigation path is generated, so that when the robot moves to the intersection area according to the navigation path, it can bypass the other obstacles along the edge to escape from the trapped area.

[0068] Further, the processor 1001 may call a navigation path generation program of the robot stored in the memory 1005, and after executing the step of ignoring the target obstacle in the intersection area and generating a navigation path for the robot to directly pass through the intersection area and escape from the trapped area, further perform the following operations:

[0069] According to the navigation path, ignoring the target obstacle in the intersection area, walking is performed to try to escape from the trapped area;

[0070] When the robot successfully escapes from the trapped area, stopping walking while ignoring the target obstacle;

[0071] When the robot fails to escape from the trapped area, a preset trapped prompt is output.

[0072] Further, the processor 1001 may call the robot's navigation path generation program stored in the memory 1005, and further perform the following operations:

[0073] When the intersection area is not detected, the target obstacle is detoured along the edge, and when the preset collision sensor does not detect the target obstacle, the target obstacle is ignored until the trapped area is successfully escaped.

[0074] Further, the processor 1001 may call a navigation path generation program of the robot stored in the memory 1005, and after executing the step of generating a navigation path for the robot to escape from the trapped area according to the intersection area, further perform the following operations:

[0075] The navigation path is adjusted to obtain a new navigation path, so that the robot can walk along the new navigation path to escape from the trapped area.

[0076] Further, the processor 1001 may call the robot's navigation path generation program stored in the memory 1005, and further perform the following operations:

[0077] Determine a first intersection point between the navigation path and the intersection area close to a side of the robot;

[0078] Determine an obstacle point in the intersection area according to the first intersection point;

[0079] The preset distance path including the first intersection point in the navigation path is adjusted according to the first intersection point and the obstacle point to obtain a new navigation path.

[0080] Further, the processor 1001 may call the robot's navigation path generation program stored in the memory 1005, and further perform the following operations:

[0081] Determining a path direction of the navigation path;

[0082] Search is performed in the intersection area on both sides of the path direction to obtain the obstacle point in the intersection area that is farthest from the first intersection point.

[0083] Further, the processor 1001 may call the robot's navigation path generation program stored in the memory 1005, and further perform the following operations:

[0084] Determine each reference point on the line connecting the first intersection point and the obstacle point according to a first interval distance, and extend each reference point in a preset target direction by a corresponding first extension distance according to a direction from the first intersection point to the second intersection point to obtain each extension point, wherein the first extension distance decreases in sequence in a direction from the first intersection point to the obstacle point; or

[0085] Determine each reference point on the preset distance path according to the second interval distance, and in the area between the preset distance path and the obstacle point, sequentially extend each reference point in the preset first direction by a corresponding second extension distance to obtain each extension point, wherein the second extension distance decreases sequentially in the direction from the first intersection point to the boundary point of the preset distance path;

[0086] The extension points are sequentially connected to form an improved path, and the preset distance path is replaced by the improved path to obtain a new navigation path.

[0087] Further, the processor 1001 may call the robot's navigation path generation program stored in the memory 1005, and further perform the following operations:

[0088] If other obstacles exist in the area where the extension point is extended, or if the other obstacles exist between the currently extended extension point and the previous extension point, the extension of subsequent extension points is stopped.

[0089] Based on the above hardware structure, various embodiments of the navigation path generation method of the robot of the present invention are proposed. It should be noted that when the current cleaning robot enters a narrow space with a small upper and lower spacing (such as the bottom of sofas, beds and large appliances) while cleaning the house along the edge, due to the influence of the setting positions of various sensors for sensing the environment on the cleaning robot, the target detection device (such as laser radar) set at a relatively high position among the various sensors will usually identify the surrounding edge positions of the narrow space as obstacles. In this way, when the cleaning robot needs to come out of the narrow space, since the target detection device has already identified the surrounding edge positions of the narrow space as obstacles, the cleaning robot will be mistakenly trapped in the narrow space and unable to escape.

[0090] In summary, currently when the target detection device of the robot identifies the edge of a narrow space as an obstacle, the robot cannot successfully escape from the narrow space, causing the robot to walk very unsmoothly.

[0091] In view of the above phenomenon, the present invention provides a method for generating a navigation path for a robot. Figure 2 , Figure 2 1 is a flow chart of a first embodiment of a method for generating a navigation path of a robot according to the present invention. In this embodiment, the method for generating a navigation path of the robot is applied to the above-mentioned robot. The method for generating a navigation path of the robot according to the present invention includes:

[0092] Step S10, determining a first area where a target obstacle exists in the trapped area where the robot is located, wherein the target obstacle is detected by a target detection device configured for the robot;

[0093] It should be noted that, in this embodiment, the target detection device configured by the robot includes but is not limited to a laser radar sensor, which can usually be convexly arranged on the upper surface of the robot body, so that, relative to other sensors arranged on the robot, the detection range of the laser radar sensor is higher than the detection range of other sensors, so that higher obstacles can be detected. When the robot is in a narrow space with a small upper and lower spacing, even if the various sensors on the robot for sensing the environment do not detect obstacles, the laser radar set at a relatively high position among the various sensors will identify the edges of the narrow space as obstacles. In this way, the robot will walk along the obstacles detected and identified by the laser radar in a way of walking along the edge in the normal house cleaning mode, and because the laser radar has identified the edges of the narrow space as obstacles, the robot cannot escape from the narrow space (i.e., walk to the area outside the narrow space) according to the normal house cleaning mode, and then the robot determines that it is trapped based on the obstacles identified by the laser radar, and marks the narrow space as the currently trapped area.

[0094] When the robot determines that it is currently in a trapped area, it first determines in the trapped area a first area where various sensors are distributed and a laser radar sensor that is set at a relatively high position detects and identifies a target obstacle in the trapped area.

[0095] Specifically, for example, please refer to Figure 3In the application scenario shown, the robot enters a narrow space with a small upper and lower spacing, such as under a bed or a sofa, while executing a normal working mode of cleaning the house. In fact, only four corner points or parts of the four sides of the narrow space have real obstacles. However, among the various sensors configured on the robot for sensing the environment, a laser radar sensor that is set at a relatively high position will detect and identify the surrounding areas of the bottom of the bed or the sofa as obstacles due to the influence of its setting position. Therefore, the robot confirms that it is trapped after executing the normal working mode to walk along the obstacle that forms a closed area (the obstacle distribution detected by the laser radar in the figure is around the bottom of the bed or the sofa), and marks the current bottom of the bed or the sofa as the trapped area.

[0096] Therefore, after confirming that it is trapped, the robot immediately switches from the normal house cleaning working mode to the escape mode, and immediately determines the distribution area of ​​the target obstacle detected and identified by the lidar sensor in the trapped area - the current bottom of the bed or sofa (the area enclosed by the solid line for the robot as shown in the figure) as the first area.

[0097] Step S20, detecting an intersection area between the first area and a second area through which the robot walks;

[0098] After determining the first area where the target obstacle is distributed, the robot further compares the pre-recorded second area where the robot has walked with the first area, so as to determine the intersection area where the first area and the second area store overlaps.

[0099] It should be noted that in this embodiment, during the entire process of starting and running, the robot will record the path area that has been walked in the environment in the past. For example, the robot can specifically use a queue storage structure to record the path area that has been walked when performing normal cleaning in the house area or escaping from the trapped area. It should be understood that based on different design needs of actual applications, in different feasible implementations, the way the robot records the path area or the specific recorded path, etc., can be different, and the navigation path generation method of the robot of the present invention does not limit the specific content of the recording method or path.

[0100] Specifically, for example, please refer to Figure 3In the application scenario shown, after the robot confirms that it is trapped and immediately determines the distribution area of ​​the obstacles detected and identified by the target detection device in the trapped area, which is currently under the bed or sofa, as the first area, the robot then begins to read the pre-recorded second area that it has walked through when performing the normal house cleaning working mode (the wide solid line area filled with grayscale in the figure), and combines and splices the first area with the second area according to their actual position distribution in the environment, thereby determining the intersection area with overlapping positions between the first area and the second area (the area selected by the dotted box in the figure).

[0101] It should be noted that, in this embodiment, the robot can specifically use the method of superimposing grid maps to superimpose the grid map of the first area and the recorded grid map of the second area, so as to combine and splice the first area with the second area according to the actual location distribution. It should be understood that based on different design requirements of actual applications, in different feasible implementations, the robot can of course also use other feasible methods to combine and splice the first area and the second area. The navigation path generation method of the robot of the present invention does not limit the specific method of combining and splicing the first area and the second area by the robot.

[0102] Step S30: When the intersection area is detected, a navigation path for the robot to escape from the trapped area is generated according to the intersection area.

[0103] When the robot compares a first area where target obstacles are distributed with a second area that the robot has previously recorded as having walked through, thereby determining an overlapping intersection area between the first area and the second area, if it is determined that the intersection area does exist between the first area and the second area, the robot will generate a navigation path currently used by the robot to escape from the trapped area based on the intersection area and using a path passing through the intersection area.

[0104] Specifically, for example, please refer to Figure 4In the application scenario shown, when the robot combines and splices the first area where the radar obstacles are distributed and the second area that has been walked in advance according to the actual position distribution in the environment, so as to determine that there is indeed an intersection area with overlapping positions between the first area and the second area, it means that the robot has walked into the trapped area - under the bed or under the sofa based on the intersection area from the current trapped area - the area outside the bottom of the bed or the bottom of the sofa, based on the need of normal house cleaning. In this way, the robot can naturally walk from the trapped area - under the bed or under the sofa to the area outside the bottom of the bed or the bottom of the sofa according to the intersection area. Therefore, the robot directly ignores the radar obstacles distributed in the intersection area, and uses a path passing through the intersection area to generate a navigation path (the path generated in the figure) that can currently escape from the trapped area - under the bed or under the sofa to the external area. Then, the robot can smoothly walk to the current trapped area - the area outside the bottom of the bed or the bottom of the sofa (as shown in the figure, goal: the area where the target point is located) according to the navigation path.

[0105] Furthermore, in a feasible embodiment, the navigation path generation method of the robot of the present invention may also include:

[0106] Step S40: When the intersection area is not detected, executing a detour along the edge for the target obstacle, and when the preset collision sensor does not detect the target obstacle, ignoring the target obstacle until successfully escaping from the trapped area.

[0107] It should be noted that, in this embodiment, the preset collision sensor is one of the many sensors provided in the robot, and the collision sensor is used to detect whether the robot encounters a collision with an actual obstacle during the real-time walking process.

[0108] When the robot compares a first area where target obstacles are distributed with a second area that the robot has pre-recorded to have walked through, thereby determining an overlapping intersection area between the first area and the second area, if it is determined that the intersection area does not actually exist between the first area and the second area, the robot will directly execute a detour along the target obstacles distributed in the first area, and determine that the target obstacle does not actually exist when the preset collision sensor does not detect the target obstacle. Then, the robot can directly ignore the target obstacle and walk until it successfully escapes from the current trapped area.

[0109] Specifically, for example, when the robot combines and splices the first area where radar obstacles are distributed and the second area that has been walked through in advance according to the actual position distribution in the environment, thereby determining that there is actually no intersection area between the first area and the second area where the position overlaps, it means that the robot was directly placed in the current trapped area - under the bed or under the sofa before starting to run. In this way, the robot directly uses the closest target radar obstacle among the radar obstacles distributed in the first area as a breakthrough point to directly execute a walking method of bypassing the target radar obstacle, and in the process of executing the bypassing method, the collision sensor is used at all times to detect whether a collision occurs with the target radar obstacle or other radar obstacles. Then, when the robot's collision sensor does not detect a collision with the target radar obstacle or other radar obstacles, thereby completely bypassing the target radar obstacle, the robot successfully and smoothly escapes from the trapped area - under the bed or under the sofa to an area outside the trapped area - under the bed or under the sofa.

[0110] Furthermore, in this embodiment, the navigation path generation method of the robot of the present invention is that after the robot successfully and smoothly escapes from the trapped area, the robot resumes the normal working mode of cleaning the house, thereby no longer ignoring the radar obstacles detected and identified by the radar sensor.

[0111] An embodiment of the present invention provides a method for generating a navigation path for a robot. When the robot determines that it is currently in a trapped area, the robot first determines, in the trapped area, a first area where radar obstacles detected and identified by a radar sensor relatively high among various sensors are distributed; after determining the first area where radar obstacles detected and identified by the radar sensor in the trapped area are distributed, the robot further compares a pre-recorded second area where the robot has walked with the first area, thereby determining an intersection area where overlaps are stored between the first area and the second area; the robot compares the first area where radar obstacles identified by the radar sensor are distributed with the pre-recorded second area where the robot has walked In the process of comparing and determining that there is an overlapping intersection area between the first area and the second area, if it is determined that the intersection area does exist between the first area and the second area, the robot generates a navigation path currently used by the robot to escape from the trapped area based on the intersection area and using a path passing through the intersection area. Alternatively, if it is determined that there is actually no intersection area between the first area and the second area, the robot directly executes a detour along the distributed radar obstacles in the first area, and determines that the radar obstacle does not actually exist when the preset collision sensor does not detect the radar obstacle. Then, the robot can directly ignore the radar obstacle and walk until it successfully escapes from the current trapped area.

[0112] The present invention realizes that when the robot is trapped due to a radar obstacle detected by a radar sensor, the intersection area between the area where the radar obstacle is distributed and the area that the robot has passed through is determined, and then the obstacles existing in the intersection area are ignored to generate a navigation path, so that the robot can escape from the currently trapped area based on the intersection area as a breakthrough point, and the purpose of the robot being able to successfully escape from the narrow space when the radar identifies the edge position of the narrow space as an obstacle is achieved, so that the robot can walk smoothly.

[0113] Further, based on the above first embodiment, a second embodiment of the method for generating a navigation path of a robot of the present invention is proposed. The main difference between this embodiment and the above first embodiment is that, in this embodiment, in the above step S30, the step of "generating a navigation path for the robot to escape from the trapped area according to the intersection area" may include:

[0114] Step S301, detecting whether there are other obstacles in the intersection area, wherein the other obstacles are detected based on the environment perception sensors other than the target detection device configured by the robot;

[0115] When the robot compares a first area where a target obstacle is distributed with a second area where the robot has walked in advance, thereby determining that there is indeed an overlapping intersection area between the first area and the second area, the robot further detects whether there are other obstacles detected by environmental perception sensors other than the target detection device that detects the target obstacle based on the configuration of the robot. Specifically, the environmental perception sensor can detect obstacles below the detection range of the target detection device, wherein the environmental perception sensor can be at least one of the following: a binocular sensor, a line laser sensor, a visual sensor, a collision sensor, an ultrasonic sensor, etc., which are not limited here.

[0116] Specifically, for example, Figure 3 or Figure 4 In the application scenario shown, when the robot determines that there is an overlapping intersection area (the area selected by the dotted box in the figure) between the first area (the area with radar obstacles) and the second area (the area the robot has walked through), the robot can further detect and identify whether there are actually obstacles in the intersection area through infrared sensors or collision sensors among all the currently configured sensors for sensing the environment.

[0117] It should be noted that in this embodiment, based on the influence of the respective setting positions of other sensors (such as the above-mentioned infrared sensor or collision sensor, etc.) configured by the robot except radar, when the robot further detects whether there are actually obstacles in the intersection area, it can walk near the intersection area based on the current position of the robot in advance, and then call the other sensors to perform the detection and identification process.

[0118] Step S302, when it is detected that the other obstacles do not exist in the intersection area, ignoring the target obstacle in the intersection area, and generating a navigation path for the robot to escape from the trapped area through the intersection area;

[0119] When the robot further detects that there are indeed no other obstacles distributed in the intersection area, the robot can directly ignore the target obstacles distributed in the intersection area, and use the path passing through the intersection area to generate the navigation path currently used by the robot to escape from the trapped area.

[0120] Specifically, for example, please refer to Figure 4In the application scenario shown, when the robot further detects and identifies that there are actually no obstacles in the intersection area through infrared sensors or collision sensors among all the sensors currently configured for sensing the environment, the robot directly ignores the radar obstacles distributed in the intersection area, and uses a path passing through the intersection area to generate a navigation path (the path generated in the figure) that can escape from the trapped area - under the bed or under the sofa - to the external area.

[0121] Furthermore, in a feasible embodiment, after the above step S302, the navigation path generation method of the robot of the present invention may further include:

[0122] Step A, walking according to the navigation path, ignoring the target obstacle in the intersection area, to try to escape from the trapped area;

[0123] After generating a navigation path for escaping from the currently trapped area, the robot walks according to the navigation path by ignoring target obstacles distributed in the intersection area, thereby starting to try to escape from the trapped area.

[0124] Specifically, for example, please refer to Figure 4 In the application scenario shown, after generating a navigation path, the robot can ignore the radar obstacles detected by the radar sensor distributed in the intersection area according to the navigation path, thereby trying to escape from the current trapped area - under the bed or sofa, and walk smoothly in the area outside (such as the goal in the figure: the area where the target point is located). Among them, the robot can mark the target obstacle on the obstacle map, and the next time the robot passes through the same area, the robot can confirm the existence of the target obstacle at that location through the obstacle map.

[0125] Step B, when the robot successfully escapes from the trapped area, stops walking while ignoring the target obstacle;

[0126] The robot attempts to escape from the trapped area by ignoring the target obstacles in the intersection area, and after smoothly walking to the target point outside the trapped area, it determines that it has successfully escaped from the trapped area. Therefore, the robot no longer ignores the new target obstacles detected and identified by the target detection device, but resumes the normal working mode of cleaning the house to continue the walking process.

[0127] Step C: when the robot fails to escape from the trapped area, output a preset trapped prompt.

[0128] It should be noted that, in the present embodiment, the preset trapped prompt is a voice prompt or message prompt in which the robot sends a message to the user robot directly through sound or notification server through a configured signal output module such as a speaker or a communication module, notifying the user that the robot is currently trapped and needs human assistance. It should be understood that based on different design requirements of actual applications, in different feasible implementation methods, the trapped prompt may of course be different, and the navigation path generation method of the robot of the present invention does not limit the output form and specific content of the trapped prompt.

[0129] The robot attempts to escape from the trapped area by ignoring the target obstacles distributed in the intersection area, but is still intercepted by actual obstacles that are not detected and identified by other sensors in the intersection area, and is unable to move smoothly out of the trapped area. The robot determines that it has failed to escape from the trapped area. Therefore, the robot uses a configured signal output module or communication module such as a speaker to directly send a message to the user robot through sound or a notification server, informing the user that the robot is currently trapped and needs a sound prompt or message prompt for human assistance.

[0130] Step S303, when it is detected that the other obstacles exist in the intersection area, the other obstacles are marked as circumventable obstacles, and the navigation path is generated, so that when the robot moves to the intersection area according to the navigation path, it can bypass the other obstacles along the edge to escape from the trapped area.

[0131] When the robot further detects that there are indeed other obstacles detected by environmental perception sensors other than the target detection device configured based on the robot in the intersection area, the robot still ignores the target obstacles detected by the target detection device distributed in the intersection area, and marks the other obstacles as circumventable obstacles, and adopts the method executed for the other obstacles, using the path passing through the intersection area to generate the navigation path currently used by the robot to escape from the trapped area, thereby avoiding the circumventable obstacles.

[0132] Specifically, for example, the robot further detects and identifies the actual existence of an obstacle in the intersection area through infrared sensors or collision sensors among all the sensors currently configured for perceiving the environment, but because the obstacle has a small interception effect on the robot and is able to bypass the obstacle, the robot will mark the obstacle as a bypassable obstacle and then also ignore the radar obstacles distributed in the intersection area, and use a path passing through the intersection area to generate a navigation path that can escape from the trapped area - under the bed or under the sofa - to the external area.

[0133] In this embodiment, when the robot compares a first area where a target obstacle is distributed with a second area where the robot has walked in advance, thereby determining that there is indeed an overlapping intersection area between the first area and the second area, the robot further detects whether other obstacles detected by environmental perception sensors other than radar configured by the robot are distributed in the intersection area; when the robot further detects that other obstacles detected by environmental perception sensors other than the target detection device configured by the robot are indeed not distributed in the intersection area, the robot can directly ignore the target obstacles detected by the target detection device distributed in the intersection area, so as to use the path passing through the intersection area to generate the navigation path currently used by the robot to escape from the trapped area; or, when the robot further detects that other obstacles detected by environmental perception sensors other than the target detection device configured by the robot are indeed distributed in the intersection area, the robot still ignores the target obstacles distributed in the intersection area, and marks the other obstacles as circumventable obstacles, so as to adopt a method executed for the other obstacles and use the path passing through the intersection area to generate the navigation path currently used by the robot to escape from the trapped area.

[0134] In this way, the navigation path generation method of the robot of the present invention realizes that when the robot is trapped based on the detection of a radar obstacle by the radar sensor, based on whether there is an actual obstacle in the intersection area between the area where the radar obstacle is distributed and the area where the robot has passed, and whether the actual obstacle can be circumvented, the radar obstacle in the intersection area is ignored to generate a navigation path, thereby improving the success rate of the robot's escape from the trapped area, and enabling the robot to efficiently escape and walk smoothly in the narrow space when the radar identifies the edge position of the narrow space as an obstacle.

[0135] In addition, in this embodiment, after the robot generates a navigation path to escape from the currently trapped area, it immediately walks according to the navigation path by ignoring the radar obstacles distributed in the intersection area, thereby starting to try to escape from the trapped area; the robot attempts to escape from the trapped area by ignoring the radar obstacles distributed in the intersection area, and after smoothly walking to the target point outside the trapped area, it determines that it has successfully escaped from the trapped area, so that the robot stops ignoring the radar obstacles detected and identified by the laser radar sensor, and resumes the normal working mode of cleaning the house to continue the walking process; the robot attempts to escape from the trapped area by ignoring the radar obstacles distributed in the intersection area, but is still intercepted by actual obstacles that are not detected and identified by other sensors in the intersection area, and thus fails to walk smoothly outside the trapped area, the robot determines that the current escape from the trapped area has failed, so the robot directly sends a message to the user terminal device through a configured signal output module such as a speaker or a communication module through sound or a notification server, notifying the user that the robot is currently trapped and needs a sound prompt or message prompt for human assistance.

[0136] In this way, the present invention enables the robot to immediately resume its normal house cleaning working mode after successfully escaping from the trapped area, instead of continuing to ignore obstacles identified by the radar sensor, thereby ensuring the cleaning efficiency and work safety of the robot when cleaning the house normally. In addition, the robot outputs a trapped prompt for user assistance only when it cannot successfully escape from the trapped area, rather than outputting the prompt at the beginning when it determines that it is trapped based on the radar obstacle without attempting to escape, thereby improving the intelligence of the robot.

[0137] Further, based on the above-mentioned first and second embodiments, a third embodiment of a navigation path generation method of a robot of the present invention is proposed. The main difference between this embodiment and the above-mentioned first and second embodiments is that, after the above-mentioned step S30 of "generating a navigation path for the robot to escape from the trapped area according to the intersection area", the navigation path generation method of the robot of the present invention may further include:

[0138] Step S50, adjusting the navigation path to obtain a new navigation path, so that the robot can walk along the new navigation path to escape from the trapped area.

[0139] After the robot generates a navigation path to escape from the current trapped area, and before walking along the navigation path to try to escape the trapped area, the robot can also adjust the currently generated navigation path as needed, thereby generating a new navigation path for the robot to walk along the new navigation path to escape the trapped area.

[0140] Further, in a feasible embodiment, in the above step S50, the step of "adjusting the navigation path to obtain a new navigation path" may include:

[0141] Step S501, determining a first intersection point between the navigation path and the intersection area close to a side of the robot;

[0142] After generating a navigation path to escape from the currently trapped area, the robot further determines a side of the intersection area closest to the current position of the robot, and determines a first intersection point between the navigation path and a side of the intersection area close to the current position of the robot.

[0143] Specifically, for example, please refer to Figure 5 In the application scenario shown, the robot determines in advance in a first area where radar obstacles detected and identified by radar sensors are distributed, and encloses the radar obstacles close to the current position of the robot to form an innermost circle of obstacles. Then, the intersection point A between the innermost obstacle in the intersection area between the first area and the second area in the innermost circle of obstacles and the generated navigation path that can escape from the trapped area is marked as the first intersection point.

[0144] Step S502, determining an obstacle point in the intersection area according to the first intersection point;

[0145] After determining a first intersection point between the navigation path and a side of the intersection area close to the current position of the robot, the robot further determines an obstacle point between the intersection area and a first area where radar obstacles detected and identified by radar are distributed according to the first intersection point.

[0146] Further, in a feasible embodiment, step S502 may include:

[0147] Step S5021, determining the path direction of the navigation path;

[0148] Step S5022: Search in the intersection area on both sides of the path direction to obtain the obstacle point in the intersection area that is farthest from the first intersection point.

[0149] When the machine determines the second intersection point between the intersection area and the first area where radar obstacles are distributed based on the first intersection point, it first determines the path direction of the navigation path currently generated by the robot, and then searches along both sides of the path direction in the intersection area to find the obstacle point in the intersection area where the intersection area and the first area are connected and the obstacle is farthest from the first intersection point.

[0150] Specifically, for example, please refer to Figure 5 In the application scenario shown, after determining the first intersection point A between the innermost obstacle in the intersection area and the generated navigation path that can escape the trapped area, the robot searches for obstacles along the path direction of the navigation path on both sides of the path direction, and determines the obstacle point B where the obstacle is farthest from the first intersection point but exists at the contact position between the intersection area and the first area on the side of the first area where radar obstacles are distributed in the path direction.

[0151] Step S503: adjusting the preset distance path including the first intersection in the navigation path according to the first intersection and the obstacle point to obtain a new navigation path.

[0152] After determining the first intersection point and the obstacle point, the robot connects the first intersection point and the obstacle point to obtain a line. Thus, the robot can adjust the preset distance path containing the first intersection point in the generated navigation path based on the line to obtain a new adjusted navigation path.

[0153] It should be noted that, in this embodiment, the preset distance path is a path of a preset distance among the generated navigation paths. The preset distance can be specifically limited based on the design needs of the actual application. The navigation path generation method of the robot of the present invention does not limit the specific size of the preset distance.

[0154] Further, in a feasible embodiment, step S503 may include:

[0155] Step S5031, determining each reference point on the line connecting the first intersection point and the obstacle point according to a preset first interval distance, and extending each reference point by a corresponding first extension distance in a preset target direction to obtain each extension point, wherein the first extension distance decreases in sequence in the direction from the first intersection point to the obstacle point;

[0156] It should be noted that, in this embodiment, the preset first spacing distance and the first extension distance can be set based on the design needs of the actual application, wherein the first extension distance corresponds to each reference point, and each first extension distance decreases in sequence in the direction from the first intersection to the obstacle point as the distance between the reference point and the first intersection increases. In addition, the preset target direction is a direction perpendicular to the line between the first intersection and the obstacle point.

[0157] After the robot determines the first intersection point and the obstacle point to obtain the connecting line between the first intersection point and the obstacle point, that is, on the connecting line, starting from the first intersection point, each interval of a preset first interval distance is taken as a reference point, and so on until the obstacle point, then, the robot follows the direction from the first intersection point to the obstacle point, and successively takes the reference point to extend the first extension distance corresponding to the current reference point in the direction perpendicular to the connecting line to obtain an extension point, and in this way, each reference point is sequentially extended to obtain each extension point.

[0158] Specifically, for example, please refer to Figure 5 In the application scenario shown, after the robot determines the first intersection A and the obstacle B to obtain the AB line, it takes a point on the AB line at every preset first interval distance a as a reference point, and then, the robot expands each reference point outward by a first extension distance in a direction perpendicular to the AB line to obtain each extension point, and when the robot expands the reference point outward, the first extension distance decreases successively in the direction from the first intersection point to the obstacle point as the distance between the current reference point and the first intersection A increases.

[0159] Step S5032, determining each reference point on the preset distance path according to the second interval distance, and in the area between the preset distance path and the obstacle point, sequentially extending each reference point in the preset first direction by a corresponding second extension distance to obtain each extension point, wherein the second extension distance sequentially decreases in the direction from the first intersection point to the boundary point of the preset distance path;

[0160] It should be noted that, in this embodiment, similarly, the preset second spacing distance and the second extension distance can be set based on the design needs of the actual application, wherein the second extension distance corresponds to each reference point, and each second extension distance decreases in sequence in the direction from the first intersection to the boundary point of the preset distance path as the distance between the reference point and the first intersection increases (that is, the second extension distance increases in sequence in the direction from the first intersection to the obstacle point as the distance between the current reference point and the first intersection decreases, and when the reference point coincides with the first intersection, the second extension distance increases to the maximum and is equal to the distance between the first intersection and the obstacle point). In addition, the preset first direction is the direction pointing to the side of the preset distance path that deviates from the obstacle point.

[0161] In this embodiment, in addition to expanding based on the line between the first intersection point and the obstacle point to generate each extension point, the robot can also directly determine the reference point based on the preset distance path containing the first intersection point in the currently generated navigation path and expand the reference point to obtain the extension point, that is, the robot starts on the preset distance path from the first boundary point where the preset distance path is within the trapped area to the second boundary point where the preset distance path is outside the trapped area, and takes a point as a reference point at every preset second interval distance. Then, the robot follows the intersection of the preset distance path with the line between the first intersection point and the obstacle point to the directions of the first boundary point and the second boundary point, and successively takes the reference point in a direction parallel to the line to extend the second extension distance corresponding to the current reference point to obtain the extension point. In this way, each reference point is sequentially extended to obtain each extension point.

[0162] Specifically, for example, please refer to Figure 5 In the application scenario shown, after the robot determines the first intersection A and the obstacle B to obtain the AB line, on the preset distance path that includes the first intersection A in the currently generated navigation path, a point is taken as a reference point at every preset second interval distance b starting from the first boundary point of the preset distance path within the trapped area, until the reference point reaches the second boundary point of the preset distance path outside the trapped area, and then, the robot expands each reference point outward by a second extension distance in a direction parallel to the AB line to obtain each extension point, and when the robot expands the reference point outward, the second extension distance increases successively in the direction from the first intersection point to the obstacle point as the distance between the current reference point and the first intersection A decreases.

[0163] Furthermore, in a feasible embodiment, the navigation path generation method of the robot of the present invention may also include:

[0164] If other obstacles exist in the area where the extension point is extended, or if the other obstacles exist between the currently extended extension point and the previous extension point, the extension of subsequent extension points is stopped.

[0165] It should be noted that, in this embodiment, when the robot determines a reference point on the AB line, when the distance between the reference point and the first intersection A is greater than the preset maximum distance, the position of the reference point belongs to the distribution area of ​​the radar obstacles in the first area, and / or the line between the corresponding extension points of the reference point belongs to the distribution area of ​​the radar obstacles in the first area, the reference point will no longer be determined.

[0166] Step S5033: connect the extension points in sequence to form an improved path, and use the improved path to replace the preset distance path including the first intersection point in the navigation path to obtain a new navigation path.

[0167] After the robot expands each reference point outward to obtain each extension point, it connects each extension point in sequence to form an improved path that replaces the preset distance path including the first intersection in the navigation path. Therefore, the robot obtains a new navigation path after replacing the preset distance path including the first intersection with the improved path.

[0168] Specifically, for example, please refer to Figure 5 and Figure 6 In the application scenario shown in the figure, after the robot expands each reference point on the AB line to obtain each extension point, the robot sequentially connects each extension point to form an improved path for replacing the preset distance path including the first intersection point A in the navigation path. Then, after the robot replaces the preset distance path including the first intersection point with the improved path, the robot obtains the following Figure 6 The new navigation path is shown.

[0169] In this embodiment, after the robot generates a navigation path to escape from the currently trapped area and before walking according to the navigation path to try to escape from the trapped area, the robot can also adjust the currently generated navigation path as needed, thereby generating a new navigation path for the robot to walk according to the new navigation path to escape from the trapped area. Thus, on the basis of ensuring that the robot can smoothly escape from the trapped area based on the navigation path, the adjustment of the navigation path can be further implemented, thereby improving the flexibility of the robot in generating a navigation path to smoothly escape from the trapped area.

[0170] Furthermore, the present invention also provides a navigation path generation device for a robot. Figure 7 , Figure 7 FIG. 1 is a schematic diagram of functional modules of an embodiment of a navigation path generating device for a robot according to the present invention. Figure 7 As shown, the navigation path generating device of the robot of the present invention comprises:

[0171] A determination module 10 is used to determine a first area where a target obstacle is distributed in the trapped area where the robot is located, wherein the target obstacle is obtained based on radar detection configured by the robot;

[0172] A detection module 20, configured to detect an intersection area between the first area and a second area where the robot has walked;

[0173] The path generation module 30 is used to generate a navigation path for the robot to escape from the trapped area according to the intersection area when the intersection area is detected.

[0174] Furthermore, the path generation module 30 includes:

[0175] A detection unit, used to detect whether there are other obstacles in the intersection area, wherein the other obstacles are detected based on an environment perception sensor other than the target detection device configured by the robot;

[0176] A first path generating unit is configured to ignore the target obstacle existing in the intersection area and generate a navigation path for the robot to escape from the trapped area through the intersection area when detecting that the other obstacles do not exist in the intersection area;

[0177] The second path generation unit is used to mark the other obstacles as circumventable obstacles when detecting the existence of the other obstacles in the intersection area, and generate the navigation path, so that when the robot moves to the intersection area according to the navigation path, it can bypass the other obstacles along the edge to escape from the trapped area.

[0178] Furthermore, the path generation module 30 further includes:

[0179] an escape execution unit, configured to execute walking according to the navigation path, ignoring the target obstacle existing in the intersection area, to try to escape from the trapped area;

[0180] an abandonment unit, configured to stop ignoring the target obstacle and executing walking when the robot successfully escapes from the trapped area;

[0181] The prompt output unit is used to output a preset trapped prompt when the robot fails to escape from the trapped area.

[0182] Furthermore, the navigation path generating device of the robot of the present invention further comprises:

[0183] The edge escape module is used to perform edge detour for the target obstacle when the intersection area is not detected, and ignore the target obstacle when the preset collision sensor does not detect the target obstacle until the trapped area is successfully escaped.

[0184] Furthermore, the navigation path generating device of the robot of the present invention further comprises:

[0185] The path adjustment module is used to adjust the navigation path to obtain a new navigation path, so that the robot can walk according to the new navigation path to escape from the trapped area.

[0186] Furthermore, the path adjustment module includes:

[0187] A first determining unit, used to determine a first intersection point between the navigation path and the intersection area close to a side of the robot;

[0188] A second determining unit, configured to determine an obstacle point in the intersection area according to the first intersection point;

[0189] An adjustment unit is used to adjust a preset distance path including the first intersection in the navigation path according to the first intersection point and the obstacle point to obtain a new navigation path.

[0190] Furthermore, the second determining unit includes:

[0191] A direction determination subunit, used to determine the path direction of the navigation path;

[0192] The search subunit is used to search in the intersection area on both sides of the path direction to obtain the obstacle point in the intersection area that is farthest from the first intersection point.

[0193] Furthermore, the adjustment unit further includes:

[0194] A first extension subunit is configured to determine each reference point on a line connecting the first intersection point and the obstacle point according to a first interval distance, and to extend each reference point in a preset target direction by a corresponding first extension distance according to a direction from the first intersection point to the second intersection point to obtain each extension point, wherein the first extension distance decreases in sequence in a direction from the first intersection point to the obstacle point;

[0195] A second extension subunit is used to determine each reference point on the preset distance path according to a second interval distance, and in the area between the preset distance path and the obstacle point, sequentially extend each reference point in the preset first direction by a corresponding second extension distance to obtain each extension point, wherein the second extension distance decreases sequentially in the direction from the first intersection point to the boundary point of the preset distance path;

[0196] The replacement unit is used to sequentially connect the extension points to form an improved path, and use the improved path to replace the preset distance path containing the first intersection in the navigation path to obtain a new navigation path.

[0197] Furthermore, the expansion unit is further configured to stop expanding subsequent expansion points if other obstacles exist in the area where the expansion points are expanded, or if the other obstacles exist between the currently expanded expansion point and the previous expansion point.

[0198] Among them, the functional implementation of each module in the above-mentioned robot navigation path generation device corresponds to the various steps in the above-mentioned robot navigation path generation method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0199] The present invention also provides a computer storage medium storing a robot navigation path generation program, which, when executed by a processor, implements the steps of the robot navigation path generation method as described in any of the above embodiments.

[0200] The specific embodiments of the computer storage medium of the present invention are basically the same as the embodiments of the above-mentioned robot navigation path generation method, and will not be described in detail here.

[0201] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the robot navigation path generation method as described in any of the above embodiments are implemented.

[0202] The specific embodiments of the computer storage medium of the present invention are basically the same as the embodiments of the above-mentioned robot navigation path generation method, and will not be described in detail here.

[0203] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0204] 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 embodiments.

[0205] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a robot to execute the methods described in each embodiment of the present invention.

[0206] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for generating a navigation path of a robot, characterized in that: The robot's navigation path generation method comprises: In the trapped area where the robot is located, determining a first area where a target obstacle exists, wherein the target obstacle is detected based on a target detection device configured for the robot; Detecting an intersection area between the first area and a second area through which the robot walks; When the intersection area is detected, a navigation path for the robot to escape from the trapped area is generated according to the intersection area.

2. The method for generating a navigation path of a robot according to claim 1, wherein: The step of generating a navigation path for the robot to escape from the trapped area according to the intersection area comprises: Detecting whether there are other obstacles in the intersection area, wherein the other obstacles are detected based on environment perception sensors other than the target detection device configured by the robot; When it is detected that the other obstacles do not exist in the intersection area, the target obstacle existing in the intersection area is ignored, and a navigation path for the robot to escape from the trapped area through the intersection area is generated; When it is detected that the other obstacles exist in the intersection area, the other obstacles are marked as circumventable obstacles, and the navigation path is generated, so that when the robot moves to the intersection area according to the navigation path, it can bypass the other obstacles along the edge to escape from the trapped area.

3. The method for generating a navigation path of a robot according to claim 2, wherein: After the step of ignoring the target obstacle existing in the intersection area and generating a navigation path for the robot to directly pass through the intersection area and escape from the trapped area, the method further includes: According to the navigation path, ignoring the target obstacle in the intersection area, walking is performed to try to escape from the trapped area; When the robot successfully escapes from the trapped area, stopping walking while ignoring the target obstacle; When the robot fails to escape from the trapped area, a preset trapped prompt is output.

4. The method for generating a navigation path of a robot according to claim 1, wherein: The method further comprises: When the intersection area is not detected, the target obstacle is detoured along the edge, and when the preset collision sensor does not detect the target obstacle, the target obstacle is ignored until the trapped area is successfully escaped.

5. The method for generating a navigation path of a robot according to claim 1, wherein: After the step of generating a navigation path for the robot to escape from the trapped area according to the intersection area, the method further includes: The navigation path is adjusted to obtain a new navigation path, so that the robot can walk along the new navigation path to escape from the trapped area.

6. The method for generating a navigation path of a robot according to claim 5, characterized in that: The step of adjusting the navigation path to obtain a new navigation path includes: Determine a first intersection point between the navigation path and the intersection area close to a side of the robot; Determine an obstacle point in the intersection area according to the first intersection point; The preset distance path including the first intersection point in the navigation path is adjusted according to the first intersection point and the obstacle point to obtain a new navigation path.

7. The method for generating a navigation path of a robot according to claim 6, wherein: The step of determining the obstacle point in the intersection area according to the first intersection point comprises: Determining a path direction of the navigation path; Search is performed in the intersection area on both sides of the path direction to obtain the obstacle point in the intersection area that is farthest from the first intersection point.

8. The method for generating a navigation path of a robot as claimed in claim 6 or 7, characterized in that: The step of adjusting the preset distance path including the first intersection point in the navigation path according to the first intersection point and the obstacle point to obtain a new navigation path includes: Determine each reference point on the line connecting the first intersection point and the obstacle point according to a first interval distance, and extend each reference point in a preset target direction by a corresponding first extension distance to obtain each extension point, wherein the first extension distance decreases in sequence in the direction from the first intersection point to the obstacle point; or Determine each reference point on the preset distance path according to the second interval distance, and in the area between the preset distance path and the obstacle point, sequentially extend each reference point in the preset first direction by a corresponding second extension distance to obtain each extension point, wherein the second extension distance decreases sequentially in the direction from the first intersection point to the boundary point of the preset distance path; The extension points are sequentially connected to form an improved path, and the preset distance path is replaced by the improved path to obtain a new navigation path.

9. The method for generating a navigation path of a robot according to claim 8, wherein: The method further comprises: If other obstacles exist in the area where the extension point is extended, or if the other obstacles exist between the currently extended extension point and the previous extension point, the extension of subsequent extension points is stopped.

10. A robot, characterized in that: The robot includes: a memory, a processor, and a navigation path generation program of the robot stored in the memory and executable on the processor. When the navigation path generation program of the robot is executed by the processor, the steps of the navigation path generation method of the robot as described in any one of claims 1 to 9 are implemented.

11. A navigation path generating device for a robot, the navigation path generating device for the robot comprising: A determination module, configured to determine, in the trapped area where the robot is located, a first area where a target obstacle is distributed, wherein the target obstacle is detected based on a radar configured for the robot; A detection module, used to detect an intersection area between the first area and a second area where the robot has walked; A path generation module is used to generate a navigation path for the robot to escape from the trapped area according to the intersection area when the intersection area is detected.

12. A computer storage medium, characterized in that: The computer storage medium stores a robot navigation path generation program, and when the robot navigation path generation program is executed by the processor, the steps of the robot navigation path generation method according to any one of claims 1 to 9 are implemented.

Images