Robot path planning method, device and storage medium

Abstract

The present invention discloses a robot path planning method, device and storage medium, wherein the robot obtains the corresponding body posture information of the robot in a working scene, and sends the body posture information to a cloud server; receives target point information, and obtains the corresponding other body posture information of all other robots in the working scene; performs path planning according to the received target point information, with reference to the body posture information and the other body posture information, and applies to the cloud server for a path lock of the planned path; achieves the purpose of planning corresponding navigation paths for robots in a multi-robot system, enables the robots to complete accurate navigation, and avoids collisions between multiple robots.

Description

Technical Field

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

[0002] With the development of indoor autonomous mobile robots, the demand for multi-robot systems is increasing, and the collision problem between robots is a pain point of the current indoor multi-robot system. The key to the precise navigation of robots lies in positioning on the one hand and perception on the other hand. If the robot body can sense the position of other robots, such as the robot behind it or the robots around it, the problem of collision in the multi-robot system can be greatly reduced.

[0003] In the prior art, the solutions to the collision problem of multi-robot systems mainly include: adding sensors to enhance the robot's perception ability, or setting traffic rules for the robot so that the robot passes through in sequence according to fixed traffic rules. Although the method of adding sensors can alleviate the problem of robot collision to a certain extent, the production cost of the robot will increase accordingly, and the addition of sensors will also bring a great burden to the robot's computing power and control system. The method of setting fixed traffic rules for the robot and controlling the robot to pass in sequence greatly limits the robot's degree of freedom and reduces the efficiency of the robot's autonomous movement. Summary of the invention

[0004] The present invention provides a robot path planning method, device and storage medium, which are used to plan corresponding navigation paths for robots in a multi-robot system.

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

[0006] The robot obtains the corresponding body posture information of itself in the working scene, and sends the body posture information to the cloud server;

[0007] The robot receives the target point information and obtains the corresponding body posture information of all other robots in the working scene;

[0008] The robot performs path planning according to the received target point information and with reference to the main body posture information and the other body posture information, and applies to the cloud server for a path lock of the planned path.

[0009] In a second aspect, the present invention provides a robot, comprising:

[0010] A posture acquisition module is used to obtain the corresponding body posture information of the body in the working scene and send the body posture information to the cloud server;

[0011] An information interaction module is used to receive target point information and obtain body posture information corresponding to all other robots in the working scene;

[0012] The path planning module is used to perform path planning based on the received target point information and with reference to the main body posture information and the other body posture information, and apply to the cloud server for a path lock of the planned path to avoid collisions due to repeated navigation paths.

[0013] In a third aspect, the present invention provides a cloud server, wherein the cloud server interacts with the robot to perform the robot path planning method;

[0014] Wherein, the cloud server is used for:

[0015] Receive and store the position and posture information with the unique identification information of the robots themselves sent by multiple robots in the working scene; and when receiving an application from a robot to obtain the position and posture information of other robots except itself, feedback the most recently updated position and posture information corresponding to all other robots to the robot;

[0016] Upon receiving the application information of the path lock of the planned path sent by the robot, determining whether the planned path has been occupied by other robots;

[0017] If the planned path is already occupied by another robot, rejecting the robot's application for a path lock for the planned path;

[0018] If the planned path is not occupied by other robots, identifying the spatial area where the planned path is located;

[0019] If the spatial area where the planned path is located belongs to a deadlock area, the robot's application for a path lock for the planned path is rejected; wherein the deadlock area includes: a dead end and other areas that the robot cannot enter;

[0020] If the spatial area where the planned path is located does not belong to the deadlock area, determine whether the spatial area where the planned path is located belongs to the locked area; wherein the locked area includes: a crossroad, a T-junction, and a common area corresponding to a road that multiple robots must pass through;

[0021] If the spatial area where the planned path is located belongs to the locked area, the usage time corresponding to the planned path and the priority corresponding to the robot are obtained; if the usage time is not in the preset peak period and / or the priority corresponding to the robot is higher than the preset priority level, the robot's application for the path lock of the planned path is allowed, and the path lock corresponding to the planned path is allocated to the robot; if the usage time is in the preset peak period and the priority corresponding to the robot is lower than or equal to the preset priority level, the robot's application for the path lock of the planned path is rejected;

[0022] If the spatial area where the planned path is located does not belong to the locked area, the robot is allowed to apply for the path lock of the planned path, and the path lock corresponding to the planned path is respectively assigned to the robot;

[0023] Among them, when allowing the robot to apply for the path lock of the planned path, the occupancy information corresponding to the planned path is sent to other robots in the work scene for reference when other robots perform path planning.

[0024] In a fourth aspect, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a path planning program that can be run on the processor, and when the path planning program is run by the processor, the robot path planning method is executed.

[0025] In a fifth aspect, the present invention provides a computer-readable storage medium having a path planning program stored thereon, and the path planning program can be executed by one or more processors to implement the steps of the robot path planning method.

[0026] The present invention provides a robot path planning method, device and storage medium, which obtain the corresponding body posture information of the robot in a working scene, and send the body posture information to a cloud server; receive target point information, and obtain the corresponding other body posture information of all other robots in the working scene; perform path planning according to the received target point information, refer to the body posture information and the other body posture information, and apply to the cloud server for a path lock of the planned path; achieve the purpose of planning corresponding navigation paths for robots in a multi-robot system, so that the robots complete accurate navigation and avoid collisions between multiple robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0028] In the attached picture:

[0029] Figure 1 It is a flow chart of an implementation method of the robot path planning method of the present invention.

[0030] Figure 2 It is a schematic diagram of functional modules of an embodiment of the robot of the present invention.

[0031] Figure 3 It is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0033] The present invention provides a robot path planning method, device and storage medium, which plan corresponding navigation paths for robots in a multi-robot system, so that the robots can complete precise navigation, thereby avoiding collisions between multiple robots.

[0034] like Figure 1 As shown, Figure 1 It is a flowchart of an implementation method of the robot path planning method of the present invention; the robot path planning method of the present invention can be implemented as steps S10-S30 described below.

[0035] Step S10: The robot obtains the corresponding body posture information of itself in the working scene, and sends the body posture information to the cloud server.

[0036] In the embodiment of the present invention, multiple robots working in the same working scene are all connected to the cloud server for data communication. Each robot obtains its own corresponding body posture information in the working scene in real time or according to a preset period, or when the posture of each robot changes, it obtains its own corresponding body posture information, and sends the obtained body posture information to the cloud server for storage by the cloud server.

[0037] Furthermore, in one embodiment, in order to facilitate information storage and query, when each robot uploads its corresponding body posture information to the cloud server, the body posture information carries unique identification information that can uniquely identify a robot; while the cloud server receives and stores the posture information corresponding to each robot, it also stores the unique identification information corresponding to the robot bound to the posture information; when necessary, the cloud server directly searches for and obtains the posture information of the corresponding robot based on the unique identification information.

[0038] Step S20: The robot receives the target point information and obtains the corresponding body posture information of all other robots in the working scene.

[0039] The robot obtains the corresponding task to be executed from the cloud server, receives the corresponding target point information, obtains the corresponding target point position, and at the same time, sends a posture acquisition request to the cloud server, receives and obtains the other body posture information corresponding to all other robots in the work scene except the robot fed back by the cloud server. The "other body posture information" in the embodiment of the present invention can be understood as: in addition to the body posture information corresponding to the robot itself, the posture information corresponding to all other robots in the same work scene.

[0040] Step S30: The robot performs path planning according to the received target point information and with reference to the main body posture information and the other body posture information, and applies to the cloud server for a path lock of the planned path.

[0041] Based on the received target point information, the robot can know the target point position corresponding to the target point information; based on the acquired body posture information, the robot can know the current position of the robot; based on the other body posture information corresponding to other robots in the same working scene, the robot can know the positions of other robots. Based on its current position, the target point position, and the positions of other robots, the robot can perform path planning and obtain the corresponding navigation path using the corresponding navigation algorithm. At the same time, the robot applies to the cloud server for the path lock of the planned path, thereby avoiding problems such as confusion and congestion caused by repeated planning paths of multiple robots.

[0042] Furthermore, in one embodiment, the robot performs path planning based on the received target point information and with reference to the main body posture information and the other body posture information, which can be implemented by the following technical means:

[0043] The robot obtains the target point position to be reached according to the received target point information; the robot obtains its current position according to the body posture information; the robot obtains the position information corresponding to all other robots by referring to the obtained other body posture information, and marks the position information corresponding to all other robots as obstacles on the navigation map; according to the obtained target point position, the current position and the marked obstacles, the robot plans the navigation path from the current position to the target point position according to the preset navigation algorithm.

[0044] For example, the robot widens the location of other robots by the robot radius C-space and marks them as obstacles in the navigation map. When the robot performs path planning, it avoids the marked obstacles, thereby avoiding collisions between robots.

[0045] Furthermore, in one embodiment, after the robot applies to the cloud server for a path lock of a planned path, the following steps are further included:

[0046] The robot identifies whether the path lock applied to the cloud server is successfully applied; if the path lock is successfully applied, the robot uses the planned path to navigate, reaches the target point corresponding to the target point information, and performs related tasks.

[0047] If the path lock is not applied successfully, the robot enters the slow driving stage on the current path at the preset speed and continues to plan the path. For example, when the robot is in the slow driving stage, the robot's driving speed is relatively slow, so the positioning accuracy of the robot is guaranteed, thereby avoiding possible collision problems of the robot.

[0048] Furthermore, in one embodiment, the robot enters a slow travel phase on the current path at a preset travel speed and continues to perform path planning, which can be implemented by the following technical means:

[0049] The robot enters a slow progress stage on the current path at the preset travel speed lower than the average travel speed, and sends an application to the cloud server to obtain the occupied information of the planned path; wherein the preset travel speed can be configured by the robot itself according to the specific situation of the current working scene, or set in advance by the system, and once the robot meets the conditions for entering the slow progress stage, the robot can travel slowly at the preset travel speed set in advance. The preset travel speed can be specifically configured according to the specific configuration, specific model and specific working scene of the robot, and the embodiment of the present invention does not limit the specific value of the preset travel speed.

[0050] The robot obtains the occupied time period corresponding to the planned path based on the acquired occupied information; based on the occupied time period, the robot calculates the distance between the planned path and the current path, and determines whether the planned path has been released when the path entrance of the planned path is reached at the preset travel speed; if the planned path has been released, or the planned path has not been released but the remaining occupied time is not greater than the preset waiting time, the robot continues to apply to the cloud server for the path lock of the planned path as the next occupant; if the planned path has not been released and the remaining occupied time is greater than the preset waiting time, the robot applies to the cloud server for the current and latest other body posture information corresponding to other robots respectively, and replans the path.

[0051] Furthermore, in one embodiment, in order to avoid other robots wasting time and system computing resources due to repeated application for the same planned path, if the path lock application corresponding to the robot is successful, the cloud server sends the occupancy information corresponding to the planned path to other robots in the work scene for reference when other robots perform path planning.

[0052] Furthermore, in one embodiment, the robot receives the target point information and obtains the body posture information corresponding to all other robots in the working scene, which can be implemented by the following technical means:

[0053] The robot obtains the corresponding task to be executed from the cloud server, and obtains the corresponding target point information based on the task to be executed; the robot sends posture application information carrying its own unique identification information to the cloud server, requesting to obtain the corresponding posture information of all robots other than itself in the work scene.

[0054] The cloud server receives the posture application information sent by the robot, and searches for the most recently updated other-body posture information corresponding to all other robots in the work scene except the unique identification information according to the unique identification information carried by the robot, and sends the other-body posture information to the robot; the robot receives and obtains the other-body posture information corresponding to all other robots in the work scene fed back by the cloud server; wherein each robot in the work scene corresponds to one unique identification information, and the posture information corresponding to each robot is bound to the unique identification information.

[0055] Furthermore, in one embodiment, after the robot applies to the cloud server for a path lock of a planned path, at the cloud server end, the cloud server receives the application information for the path lock of the planned path sent by the robot, and determines whether the planned path has been occupied by other robots. If the planned path has been occupied by other robots, the application of the robot for the path lock of the planned path is directly rejected.

[0056] If the planned path is not occupied by other robots, the spatial area where the planned path is located is identified. If the spatial area where the planned path is located is a deadlock area, the robot's application for a path lock for the planned path is directly rejected. In the embodiment of the present invention, the deadlock area includes but is not limited to: dead ends and other paths that can only be returned by the original route after entering and there are no executable tasks during the period from entering to returning, as well as other areas that cannot be entered by other robots.

[0057] If the spatial area where the planned path is located does not belong to the deadlock area, it is determined whether the spatial area where the planned path is located belongs to the locked area. The locked area includes but is not limited to: a crossroad, a T-junction, and a common area corresponding to a road that multiple robots must pass through.

[0058] If the spatial area where the planned path is located belongs to a locked area, the usage time corresponding to the planned path and the priority corresponding to the robot are obtained; based on the usage time of the planned path and the priority corresponding to the robot, it is determined whether the robot can have the path lock of the planned path.

[0059] When making a specific judgment, the cloud server can make a specific judgment based on the specific location of the locked area in the work scene. In the embodiment of the present invention, the locked area includes but is not limited to: a crossroad, a T-junction, and other common areas corresponding to the roads that multiple robots must pass through, etc. Therefore, a specific judgment can be made in combination with the specific location of the locked area and the use time information of the planned path (including the start time point, duration, end time point, etc.).

[0060] For example, for public areas corresponding to crossroads, T-junctions, and other roads that multiple robots must pass through, the usage time corresponding to the planned path is judged to determine whether the usage time is in the preset peak period of multi-robot activities. If the usage time is in the preset peak period, it is determined whether the priority of the robot is higher than the preset priority level. In an embodiment of the present invention, the priority of the robot includes the task execution priority of the robot. If the priority of the robot is higher than the preset priority level, the robot is allowed to apply for the path lock of the planned path, and the path lock corresponding to the planned path is allocated to the robot. If the priority of the robot is lower than or equal to the preset priority level, the robot's application for the path lock of the planned path is rejected.

[0061] When the spatial area where the planned path is located belongs to the locked area, when judging whether the usage time is in the preset peak period of multi-robot activities, if the usage time corresponding to the planned path is not in the preset peak period, the robot is directly allowed to apply for the path lock of the planned path, and the path lock corresponding to the planned path is allocated to the robot.

[0062] If the spatial area where the planned path is located does not belong to the locked area, for example, it belongs to other spatial areas except the deadlock area and the locked area, the robot is directly allowed to apply for the path lock of the planned path, and the path lock corresponding to the planned path is allocated to the robot.

[0063] The robot path planning method of the present invention obtains the corresponding body posture information of the robot in the working scene, and sends the body posture information to the cloud server; receives the target point information, and obtains the corresponding other body posture information of all other robots in the working scene; performs path planning according to the received target point information, refers to the body posture information and the other body posture information, and applies to the cloud server for the path lock of the planned path; achieves the purpose of planning the corresponding navigation path for the robot in the multi-robot system, enables the robot to complete accurate navigation, and avoids collisions between multiple robots.

[0064] Corresponding to the robot path planning method described in the above embodiment, the present invention also provides a robot; the robot can plan a navigation path according to the robot path planning method, thereby avoiding collisions between multiple robots. Figure 2 As shown, Figure 2 It is a schematic diagram of functional modules of an embodiment of the robot of the present invention. Figure 2 The embodiment only describes the robot from the functional point of view. Figure 2 In the embodiment, the robot functionally includes: a posture acquisition module 100, an information interaction module 200 and a path planning module 300.

[0065] The posture acquisition module 100 is used to obtain the corresponding body posture information of the body in the working scene, and send the body posture information to the cloud server.

[0066] The information interaction module 200 is used to receive target point information and obtain body posture information corresponding to all other robots in the working scene.

[0067] The path planning module 300 is used to: perform path planning based on the received target point information, refer to the main body posture information and the other body posture information, and apply to the cloud server for a path lock of the planned path to avoid collision due to repeated navigation paths.

[0068] The implementation principle and specific workflow of the robot path planning method of the present invention are similar to Figure 1 The embodiments are consistent and will not be described again here.

[0069] The robot of the present invention obtains its own body posture information corresponding to the working scene, and sends the body posture information to the cloud server; receives target point information, and obtains the other body posture information corresponding to all other robots in the working scene; performs path planning according to the received target point information, with reference to the body posture information and the other body posture information, and applies to the cloud server for a path lock of the planned path; achieves the purpose of planning corresponding navigation paths for robots in a multi-robot system, enables the robots to complete accurate navigation, and avoids collisions between multiple robots.

[0070] The present invention also provides a cloud server, which interacts with the robot described in the above embodiment to perform the robot path planning method.

[0071] The cloud server receives and stores the posture information carrying the unique identification information of the robots themselves sent by multiple robots in the working scene; and when receiving an application from a robot to obtain the posture information of other robots except itself, it feeds back the most recently updated posture information corresponding to all other robots to the robot.

[0072] When receiving the application information for the path lock of the planned path sent by the robot, the cloud server determines whether the planned path has been occupied by other robots; if the planned path has been occupied by other robots, the robot's application for the path lock of the planned path is rejected.

[0073] If the planned path is not occupied by other robots, the cloud server identifies the spatial area where the planned path is located; if the spatial area where the planned path is located belongs to a deadlock area, the robot's application for a path lock for the planned path is rejected; wherein the deadlock area includes: dead ends and other areas that robots cannot enter.

[0074] If the spatial area where the planned path is located does not belong to the locked area, the cloud server determines whether the spatial area where the planned path is located belongs to the locked area; wherein the locked area includes: crossroads, T-junctions, and shared areas corresponding to the roads that multiple robots must pass through.

[0075] If the spatial area where the planned path is located belongs to a locked area, the cloud server obtains the usage time corresponding to the planned path and the priority corresponding to the robot; if the usage time is not in the preset peak period and / or the priority corresponding to the robot is higher than the preset priority level, the robot is allowed to apply for the path lock of the planned path, and the path lock corresponding to the planned path is allocated to the robot; if the usage time is in the preset peak period and the priority corresponding to the robot is lower than or equal to the preset priority level, the robot's application for the path lock of the planned path is rejected.

[0076] If the spatial area where the planned path is located does not belong to the locked area, the cloud server allows the robot to apply for the path lock of the planned path, and sends the path lock corresponding to the planned path to the robot.

[0077] Among them, when allowing the robot to apply for the path lock of the planned path, the occupancy information corresponding to the planned path is sent to other robots in the work scene for reference when other robots perform path planning.

[0078] The cloud server of the present invention implements the robot path planning method by interacting with the robot, so that the robot can complete accurate navigation, thereby avoiding collisions between multiple robots.

[0079] The present invention also provides an electronic device, which can Figure 1 The robot path planning method performs path planning and exchanges data with the cloud server. Figure 3 As shown, Figure 3 It is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.

[0080] In this embodiment, the electronic device 1 may be a PC (Personal Computer), or a terminal device such as a smart phone, a tablet computer, or a portable computer. The electronic device 1 at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.

[0081] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as a hard disk of the electronic device 1. In other embodiments, the memory 11 can also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 11 can also include both an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the path planning program 01, etc., but also can be used to temporarily store data that has been output or is to be output.

[0082] In some embodiments, the processor 12 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 11, such as executing the path planning program 01.

[0083] The communication bus 13 is used to realize the connection and communication between these components.

[0084] The network interface 14 may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0085] Optionally, the electronic device 1 may further include a user interface, which may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0086] Figure 3 Only the electronic device 1 having components 11-14 and the path planning program 01 is shown. It can be understood by those skilled in the art that Figure 3The structure shown does not constitute a limitation on the electronic device 1 , and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0087] based on Figure 1 , Figure 2 The description of the embodiments is in Figure 3 In the embodiment of the electronic device 1 shown, a path planning program 01 is stored in the memory 11; the path planning program 01 stored in the memory 11 can be run on the processor 12, and the path planning program 01 is executed by the processor 12 to implement the following steps:

[0088] Obtaining the robot's own body posture information corresponding to the working scene, and sending the body posture information to the cloud server;

[0089] The robot receives the target point information and obtains the corresponding body posture information of all other robots in the working scene;

[0090] The robot performs path planning according to the received target point information and with reference to the main body posture information and the other body posture information, and applies to the cloud server for a path lock of the planned path.

[0091] The electronic device of the present invention obtains the corresponding body posture information of itself in the working scene through the robot, and sends the body posture information to the cloud server; receives the target point information, and obtains the corresponding other body posture information of all other robots in the working scene; performs path planning according to the received target point information, with reference to the body posture information and the other body posture information, and applies to the cloud server for the path lock of the planned path; achieves the purpose of planning the corresponding navigation path for the robot in the multi-robot system, so that the robot completes the accurate navigation and avoids the collision between the multiple robots.

[0092] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a path planning program is stored, and the path planning program can be executed by one or more processors to implement the following operations:

[0093] Obtaining the robot's own body posture information corresponding to the working scene, and sending the body posture information to the cloud server;

[0094] Receive target point information and obtain body position information corresponding to all other robots in the work scene;

[0095] According to the received target point information, the path planning is performed with reference to the main body posture information and the other body posture information, and a path lock of the planned path is applied to the cloud server.

[0096] The specific implementation of the computer-readable storage medium of the present invention is basically the same as the implementation principles of the above-mentioned robot path planning method, robot and electronic device corresponding to each embodiment, and will not be repeated here.

[0097] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.

[0098] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot path planning method, It is characterized in that The robot path planning method comprises: The robot obtains the corresponding body posture information of itself in the working scene, and sends the body posture information to the cloud server; The robot receives the target point information and obtains the corresponding body position information of all other robots in the working scene; The robot performs path planning according to the received target point information and with reference to the main body posture information and the other body posture information, and applies to the cloud server for a path lock of the planned path; The robot identifies whether the path lock applied to the cloud server is successfully applied for; If the path lock is not applied successfully, the robot enters a slow driving phase on the current path at a preset speed and continues path planning; The robot enters a slow travel phase on the current path at a preset travel speed and continues to perform path planning, including: The robot enters a slow progress phase on the current path at the preset travel speed lower than the average travel speed, and sends an application to the cloud server to obtain occupied information of the planned path; Obtaining an occupied time period corresponding to the planned path according to the acquired occupied information; According to the occupied time period, the robot calculates the distance between the planned path and the current path, and determines whether the planned path has been released when the robot reaches the path entrance of the planned path at the preset travel speed; If the planned path has been released, or the planned path has not been released but its remaining occupancy time is not greater than the preset waiting time, the robot continues to apply for the path lock of the planned path from the cloud server as the next occupant; If the planned path has not been released and the remaining occupied time is greater than the preset waiting time, the robot applies to the cloud server for the latest current body posture information corresponding to other robots and replans the path.

2. The robot path planning method according to claim 1, It is characterized in that The step of applying to the cloud server for a path lock of the planned path further includes: If the path lock application is successful, the robot uses the planned path to navigate, reaches the target point corresponding to the target point information, and performs related tasks.

3. The robot path planning method according to claim 2, It is characterized in that The robot path planning method also includes: If the path lock application is successful, the cloud server sends the occupancy information corresponding to the planned path to other robots in the work scene for reference when other robots perform path planning.

4. The robot path planning method according to any one of claims 1 to 3, It is characterized in that The robot performs path planning according to the received target point information and with reference to the main body posture information and the other body posture information, including: The robot obtains the position of the target point to be reached according to the received target point information; According to the body posture information, the robot obtains its current position; Referring to the acquired other body posture information, the robot obtains the position information corresponding to all other robots respectively, and marks the position information corresponding to all other robots as obstacles on the navigation map; Based on the acquired target point position, current position and marked obstacles, the robot plans a navigation path from the current position to the target point position according to a preset navigation algorithm.

5. The robot path planning method according to any one of claims 1 to 3, It is characterized in that The robot receives the target point information and obtains the body posture information corresponding to all other robots in the working scene, including: The robot obtains the corresponding task to be executed from the cloud server, and obtains the corresponding target point information according to the task to be executed; The robot sends a posture application message carrying its own unique identification information to the cloud server, requesting to obtain the posture information of all other robots except itself in the working scene; The cloud server receives the posture application information sent by the robot, searches for the most recently updated other-body posture information corresponding to all other robots in the work scene except for the unique identification information according to the unique identification information carried by the robot, and sends the other-body posture information to the robot; The robot receives and obtains the other body posture information corresponding to all other robots in the working scene respectively fed back by the cloud server; Among them, each robot in the working scene corresponds to a unique identification information, and the posture information corresponding to each robot is bound to the unique identification information.

6. The robot path planning method according to any one of claims 1 to 3, It is characterized in that The step of applying to the cloud server for a path lock of the planned path further includes: The cloud server receives the application information of the path lock of the planned path sent by the robot, and determines whether the planned path has been occupied by other robots; If the planned path is already occupied by another robot, rejecting the robot's application for a path lock for the planned path; If the planned path is not occupied by other robots, identifying the spatial area where the planned path is located; If the spatial area where the planned path is located belongs to a deadlock area, the robot's application for a path lock for the planned path is rejected; wherein the deadlock area includes: a dead end and other areas that the robot cannot enter; If the spatial area where the planned path is located does not belong to the deadlock area, determine whether the spatial area where the planned path is located belongs to the locked area; wherein the locked area includes: a crossroad, a T-junction, and a common area corresponding to a road that multiple robots must pass through; If the spatial area where the planned path is located belongs to the locked area, the usage time corresponding to the planned path and the priority corresponding to the robot are obtained; if the usage time is not in the preset peak period and / or the priority corresponding to the robot is higher than the preset priority level, the robot's application for the path lock of the planned path is allowed, and the path lock corresponding to the planned path is allocated to the robot; if the usage time is in the preset peak period and the priority corresponding to the robot is lower than or equal to the preset priority level, the robot's application for the path lock of the planned path is rejected; If the spatial area where the planned path is located does not belong to the locked area, the robot is allowed to apply for the path lock of the planned path, and the path lock corresponding to the planned path is respectively assigned to the robot.

7. A robot, It is characterized in that The robot comprises: A posture acquisition module is used to obtain the corresponding body posture information of the body in the working scene and send the body posture information to the cloud server; An information interaction module is used to receive target point information and obtain body posture information corresponding to all other robots in the working scene; The path planning module is used to perform path planning according to the received target point information, refer to the main body posture information and the other body posture information, and apply to the cloud server for a path lock of the planned path to avoid collision due to repeated navigation paths, and identify whether the path lock applied to the cloud server is successfully applied. If the path lock is not successfully applied, the robot enters a slow driving stage on the current path according to a preset travel speed that is lower than the average travel speed, sends an application to the cloud server, obtains the occupied information of the planned path, and obtains the path of the planned path according to the acquired occupied information. The robot calculates the distance between the planned path and the current path according to the occupied time period, and determines whether the planned path has been released when the planned path entrance is reached at the preset travel speed. If the planned path has been released, or the planned path has not been released but the remaining occupation time is not greater than the preset waiting time, the robot continues to apply to the cloud server for the path lock of the planned path as the next occupant. If the planned path has not been released and the remaining occupation time is greater than the preset waiting time, the robot applies to the cloud server for the latest current body posture information corresponding to other robots respectively, and replans the path.

8. A cloud server, It is characterized in that The cloud server interacts with the robot to perform the robot path planning method; Wherein, the cloud server is used for: Receive and store the position and posture information with the unique identification information of the robots themselves sent by multiple robots in the working scene; and when receiving an application from a robot to obtain the position and posture information of other robots except itself, feedback the most recently updated position and posture information corresponding to all other robots to the robot; Upon receiving the application information of the path lock of the planned path sent by the robot, determining whether the planned path has been occupied by other robots; If the planned path is already occupied by another robot, rejecting the robot's application for a path lock for the planned path; If the planned path is not occupied by other robots, identifying the spatial area where the planned path is located; If the spatial area where the planned path is located belongs to a deadlock area, the robot's application for a path lock for the planned path is rejected; wherein the deadlock area includes: a dead end and other areas that the robot cannot enter; If the spatial area where the planned path is located does not belong to the deadlock area, determine whether the spatial area where the planned path is located belongs to the locked area; wherein the locked area includes: a crossroad, a T-junction, and a common area corresponding to a road that multiple robots must pass through; If the spatial area where the planned path is located belongs to the locked area, the usage time corresponding to the planned path and the priority corresponding to the robot are obtained; if the usage time is not in the preset peak period and / or the priority corresponding to the robot is higher than the preset priority level, the robot's application for the path lock of the planned path is allowed, and the path lock corresponding to the planned path is allocated to the robot; if the usage time is in the preset peak period and the priority corresponding to the robot is lower than or equal to the preset priority level, the robot's application for the path lock of the planned path is rejected; If the spatial area where the planned path is located does not belong to the locked area, the robot is allowed to apply for the path lock of the planned path, and the path lock corresponding to the planned path is respectively assigned to the robot; Among them, when allowing the robot to apply for the path lock of the planned path, the occupancy information corresponding to the planned path is sent to other robots in the work scene for reference when other robots perform path planning.

9. An electronic device, It is characterized in that The electronic device includes a memory and a processor, wherein the memory stores a path planning program that can be run on the processor, and when the path planning program is run by the processor, the robot path planning method according to any one of claims 1 to 6 is executed.

10. A computer-readable storage medium, It is characterized in that The storage medium stores a path planning program, which can be executed by one or more processors to implement the steps of the robot path planning method as described in any one of claims 1 to 6.

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