Mobile path planning method, device, robot and storage medium

Abstract

The present invention discloses a mobile path planning method, device, robot and storage medium. The method comprises: when the robot triggers navigation resumption, determining the label type of the current label corresponding to the current position of the robot based on the collected image data; the label type includes at least one of: no label, legal label and illegal label; and planning the movement path of the robot based on the label type. By running the technical solution provided by the embodiment of the present invention, the problem of the robot passively leaving the originally planned movement path during autonomous movement, resulting in the interruption of the robot's navigation state and the inability to continue moving, which reduces the robot's movement efficiency and task execution efficiency, can be solved, thereby achieving the beneficial effect of improving the robot's movement success rate and movement efficiency.

Description

Technical Field

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

[0002] With the popularization of intelligent robots, their application in service and other industries is becoming more and more extensive, which not only reduces labor costs but also improves work efficiency.

[0003] Tag positioning is one of the ways robots navigate and locate. During autonomous movement, robots using tag positioning may be forced off their planned paths due to factors such as human prodding. When the robot resumes navigation, path planning may fail at its current location due to factors such as being in an unknown range of motion. This can cause the robot to be unable to continue moving, reducing its mobility and task execution efficiency. Summary of the Invention

[0004] The present invention provides a mobile path planning method, device, robot and storage medium to improve the movement success rate and movement efficiency of the robot.

[0005] According to one aspect of the present invention, a mobile path planning method is provided, which is applied to a robot. The method comprises:

[0006] When the robot triggers to resume navigation, determining a label type of a current label corresponding to the current position of the robot based on the collected image data; the label type includes at least one of: no label, a legal label, and an illegal label;

[0007] The movement path of the robot is planned according to the tag type.

[0008] According to another aspect of the present invention, a mobile path planning device is provided, which is configured for a robot and includes:

[0009] a tag type determination module, configured to determine, when the robot triggers navigation resumption, a tag type of a current tag corresponding to the current position of the robot based on the collected image data; the tag type comprising at least one of: no tag, a legal tag, and an illegal tag;

[0010] A movement path planning module is used to plan the movement path of the robot according to the tag type.

[0011] According to another aspect of the present invention, there is provided a robot, comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the mobile path planning method described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the mobile path planning method described in any embodiment of the present invention when executed.

[0016] The technical solution of the embodiment of the present invention is to determine the label type of the current label corresponding to the current position of the robot based on the collected image data when the robot triggers the resumption of navigation; the label type includes: at least one of: no label, legal label and illegal label; according to the label type, the movement path of the robot is planned, which solves the problem that the robot passively leaves the original planned movement path during autonomous movement, resulting in the interruption of the robot's navigation state and the inability to continue moving, thereby reducing the robot's movement efficiency and task execution efficiency, and achieves the beneficial effect of improving the robot's movement success rate and movement efficiency.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A flow chart of a mobile path planning method provided in Example 1 of the present invention;

[0019] Figure 2 A flow chart of a mobile path planning method provided in the second embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the structure of a mobile path planning device provided in Embodiment 3 of the present invention;

[0021] Figure 4 Schematic diagram of the structure of a robot used to implement an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," "target," and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0024] Example 1

[0025] Figure 1 This is a flow chart of a mobile path planning method provided in the first embodiment of the present invention. This embodiment is applicable to the case where a robot performs mobile path planning when the navigation state is interrupted. This method can be executed by the mobile path planning device provided in the embodiment of the present invention. The device can be implemented in software and / or hardware and can be integrated into the robot. Figure 1 The mobile path planning method provided in this embodiment includes:

[0026] S110. When the robot triggers navigation resumption, determine the label type of the current label corresponding to the current position of the robot based on the collected image data; the label type includes: at least one of: no label, legal label, and illegal label.

[0027] The robot's navigation resumption may be triggered by a previous navigation interruption. This interruption may be caused by a manual pause, an automatic system pause, the robot being pushed into an area where normal path planning is not possible, or the robot malfunctioning into an area where normal path planning is not possible, etc. This embodiment does not limit this.

[0028] If the robot resumes navigation through human intervention or self-triggered abnormal recovery, the robot's image acquisition device may capture image data within a preset range. The preset range may be the capture range of the image acquisition device, which is not limited in this embodiment. The reason for the robot's self-triggered abnormal recovery may be detection of a loss of positioning, or a navigation interruption of a certain duration.

[0029] Image data is collected at the current position of the robot, and the tag type of the current tag corresponding to the current position of the robot is determined based on the image data. The image data can be subjected to image recognition to determine the corresponding tag type. The tag is pre-fixed, for example, affixed to the indoor ceiling, and is used by the robot to perform indoor positioning and navigation based on the identification information of the tag and the location information of the tag. The identification information and location information of each tag, such as ID and map coordinates, can be recorded in the navigation map. Specifically, a tag can be composed of a plurality of circular tags arranged in an array. The robot can determine its own position based on information such as the position of the tag, the installation height of the image acquisition device, the acquisition angle, and the height of the tag.

[0030] When the tag type is no tag, that is, the image acquisition device does not capture the tag, it indicates that the image data does not contain tag data; when the tag type is an illegal tag, it may indicate that the current tag is a tag that has not been entered in the current navigation map, that is, the image data contains tag image data, but when the robot identifies the tag image data, it cannot obtain the location information corresponding to the tag; when the tag type is a legal tag, it indicates that the current tag is a tag that has been entered in the current navigation map, that is, the image data contains tag image data, and when the robot identifies the tag image data, it can obtain the tag location information corresponding to the tag. The tag location information can be the latitude and longitude information of the tag's location or the coordinates in the navigation map, etc. This embodiment does not limit this.

[0031] In this embodiment, optionally, after determining the tag type of the current tag corresponding to the current location, the method further includes:

[0032] Determine the fault prompt method and content according to the label type;

[0033] Prompt a fault according to the fault prompt method and content.

[0034] Among them, the fault prompt method is to prompt the fault method. For example, the fault prompt method can be voice broadcast through the robot, or it can be sending fault information to the mobile control terminal bound to the robot, etc. This embodiment does not limit this.

[0035] The content of the fault prompt may include the tag type or the information obtained through the tag. For example, if the tag type is an illegal tag, the content of the fault prompt may include that the current tag type is an illegal tag or that the location information cannot be obtained from the tag.

[0036] By determining the fault prompt method and content corresponding to the tag type, fault prompts are provided to improve the accuracy and effectiveness of fault prompts. This allows users to promptly learn the cause of the fault, facilitates subsequent processing of the robot or operating environment based on the fault prompt, and improves the efficiency and accuracy of subsequent fault processing.

[0037] S120: Plan a movement path of the robot according to the tag type.

[0038] Because when the robot triggers the recovery navigation, the robot may be in an area where normal path planning cannot be performed, for example, the robot may be in an unlabeled area, and the present application can differentiate the mobile path planning according to the different tag types when the robot triggers the recovery navigation, helping the robot to return to the normal navigation state. For example, when the tag type is unlabeled or illegal, the robot can be controlled to return from the current position to the original planned path. Specifically, the tag type can be reported to the robot control platform, so that after the robot control platform controls the robot to return from the current position to the original planned path, the robot continues to move according to the original planned path.

[0039] When the tag type is a legal tag, the moving path can be planned directly according to the location information in the legal tag and the destination location corresponding to the original moving path.

[0040] In this embodiment, optionally, if the tag type is a legal tag, planning the movement path of the robot according to the tag type includes:

[0041] A portion of the preset virtual wall is removed according to the current position, and a moving path of the robot is planned from the current position to the tag position of the legal tag.

[0042] If the tag type is a valid tag, the robot's current position can be determined based on the tag's location information and the angle of the captured image. The robot's current position is then determined to be outside a preset virtual wall, i.e., a restricted area. The preset virtual wall is a pre-determined virtual wall, such as one set during the robot's mapping process. To determine whether the robot's current position is outside a virtual wall, refer to the method disclosed in CN113172630A.

[0043] If the current position is outside the preset virtual wall, and the valid tag position is within the preset virtual wall, the preset virtual wall can be partially removed and a movement path can be planned, allowing the robot to return from the current position to the valid tag position within the virtual wall. The robot can then move from the valid tag position to the original planned path and continue moving along the original planned path. Alternatively, the robot can plan the current movement path based on the valid tag position and the destination location corresponding to the original movement path, and this embodiment does not limit this.

[0044] By removing some of the preset virtual walls based on the robot's current position and moving to the location of a valid tag, the robot can return to the preset virtual wall from its current position. This avoids the problem of path planning failure and inability to move when the robot is outside the virtual wall, which reduces task execution efficiency. Furthermore, by moving directly to the location of a valid tag, the robot is placed inside the virtual wall after moving, avoiding the need to repeatedly determine whether it is inside the virtual wall during the process of automatically finding its way back inside, which reduces movement efficiency. This improves the success rate of path planning and task execution efficiency.

[0045] The technical solution provided in this embodiment determines the appropriate movement path planning method based on the different tag types identified when the robot's navigation state is interrupted. This solves the problem of the robot's navigation state being interrupted and the robot being unable to perform path planning due to reasons such as being in an unknown movement range, which reduces the robot's movement efficiency and task execution efficiency. The robot is able to plan a route and resume movement when its navigation state is interrupted, achieving the beneficial effect of improving the robot's movement success rate and efficiency.

[0046] Example 2

[0047] Figure 2 This is a flowchart of a mobile path planning method provided in Example 2 of the present invention. This technical solution provides additional explanation for the process of planning the robot's mobile path based on the tag type if the tag type is no tag or an illegal tag. Compared with the above solution, this solution is specifically optimized to plan the robot's mobile path based on the tag type if the tag type is no tag or an illegal tag, including:

[0048] Obtaining backup information of the robot's movement path;

[0049] According to the movement path backup information, the movement path of the robot is planned to return from the current position to the path planning area. Specifically, the flow chart of the movement path planning method is as follows Figure 2 As shown:

[0050] S210. When the robot triggers navigation resumption, determine the label type of the current label corresponding to the current position of the robot based on the collected image data; the label type includes: at least one of: no label, legal label and illegal label.

[0051] S220: If the tag type is no tag or an illegal tag, obtain the movement path backup information of the robot.

[0052] The movement path backup information is the route information recorded by the robot during its historical movement. Optionally, after the robot is started, a gyroscope sensor or other device on the robot can be used to record and store the location information of the robot's movement in real time as the robot moves, and this information can be used as the movement path backup information. The location information can be the coordinate point information of the navigation map stored by the robot in the map coordinate system, and this embodiment is not limited to this.

[0053] If the tag type is determined to be no tag or an illegal tag, the movement path backup information stored by the robot can be obtained.

[0054] S230 : Planning a movement path for the robot to return from the current position to the path planning area according to the movement path backup information.

[0055] The moving path can be planned according to the moving path backup information content and the information recording sequence. For example, if the moving path backup information recorded when the robot is turned on is point information A0A1A2...A n , you can follow A n A n- 1A n-2 ...A0 points are sequentially planned to move along a path, so that the robot returns from its current position to the path planning area.

[0056] It should be noted that when returning to the path planning area, the required mobile path backup information can be determined according to the return requirements, without using all the mobile path backup information. For example, if the path planning area is reached, the return path is terminated. For example, if A n ——A n-4 Located outside the path planning area, A n-5 If the robot is in the path planning area, it only needs to go from A n Start moving to A n-5 .

[0057] The path planning area is the area where the robot can perform normal path planning, such as the area within the virtual wall in the navigation map, or the legal label area. The legal label area refers to the area where legally labeled images can be collected. Furthermore, the path planning area is the legal label area within the virtual wall.

[0058] In this embodiment, optionally, the following is further included:

[0059] Determining whether the robot has reached the path planning area;

[0060] If so, the moving path is planned according to the arrived position and the target position.

[0061] To determine whether the robot has reached the path planning area, you can determine whether the robot can recognize a legal tag. If it can, you can determine the robot's current location based on the legal tag and determine whether it is in the path planning area based on the current location.

[0062] If the path planning area is reached, the moving path is planned according to the position after arrival and the target position, wherein the position after arrival can be a position in the original planned path or a position in the path planning area other than the original planned path. This embodiment does not limit this.

[0063] If the final position is within the original planned path, the robot can continue to move along the original planned path, saving computing power. If the final position is outside the planned path, the robot can plan the current movement path based on the destination position corresponding to the final position and the original movement path, without having to return to the original planned path, thereby improving the robot's movement efficiency.

[0064] Therefore, when the robot is abnormally in an unlabeled or illegally labeled area, it can return to the path planning area on its own, and plan a moving path in the path planning area according to the arrival position, and continue to perform the corresponding task, so that the robot has the ability to autonomously restore the navigation state and improve the robot's task execution efficiency.

[0065] In this embodiment, optionally, if the tag type is an illegal tag, after determining whether the robot has reached the path planning area, the method further includes:

[0066] Determine the location information of the illegal tag based on the movement path backup information and the driving path information of the robot reaching the path planning area;

[0067] The illegal tag is added to the navigation map and marked according to the location information.

[0068] The involved moving path backup information can be determined based on the driving path information of the robot reaching the path planning area. For example, the driving path information is based on A n A n-1 A n-2 ...A n-4 If the movement is carried out, the backup information of the moving path involved is point A n 、An-1 、A n-2 、A n-3 and A n-4 .

[0069] According to one or more of the mobile path backup information involved, the location information of the illegal tag is determined. For example, the starting position A n The location information of the illegal tag can be used as the location information of the illegal tag. The location information of the illegal tag can also be determined based on the location information of different points and the change information of the acquisition angle of the robot collecting illegal tag images at different points. This embodiment does not limit this.

[0070] Furthermore, when the robot returns to the path planning area, the location information of the illegal tag can be corrected based on the accurate positioning information in the path planning area and the path backup information when returning to the path planning area. n-5 When nearby, accurately determine the current location based on the legal tag and use the backup A n A n-1 A n-2 ...A n-4 Route information, confirm A n The exact location.

[0071] Then, the illegal tags with determined location information are added to the navigation map according to the location and marked. The marking method can be highlighting, etc., which is not limited in this embodiment. Optionally, when the robot identifies an illegal tag that reaches a predetermined threshold within a set time, the illegal tag can be automatically legalized to facilitate the robot's navigation and positioning. For example, when the robot first identifies an illegal tag with ID 900, it is recorded and marked in the navigation map. When the robot identifies an illegal tag with ID 900 three times within a week, the illegal tag with ID 900 can be added to the legal tag library of the navigation map, which can be used by the robot in subsequent task execution and positioning.

[0072] The robot determines the location of illegal tags using backup mobile path information and the robot's route information to the planned route area, improving accuracy. It also automatically determines the location of illegal tags, improving the efficiency of supplementing illegal tag location information and facilitating subsequent positioning. Illegal tags are also added to the navigation map and identified, making them more recognizable and facilitating subsequent verification of whether the tag needs to be legalized or found.

[0073] The embodiments of the present invention plan the movement path of the robot from the current position to the path planning area according to the movement path backup information when the tag is an illegal tag or there is no tag, so that the robot can autonomously plan a path outside the path planning area where there is no navigation map to return to the path planning area and continue the navigation state that was originally interrupted in the path planning area, thereby improving the robot's movement dependence on the navigation map and improving the robot's work efficiency.

[0074] Example 3

[0075] Figure 3 This is a schematic diagram of the structure of a mobile path planning device provided by the third embodiment of the present invention. The device can be implemented by hardware and / or software, configured on a robot, and can execute a mobile path planning method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 3 As shown, the device includes:

[0076] a tag type determination module 310 for determining, when the robot triggers navigation resumption, a tag type of a current tag corresponding to the current position of the robot based on the collected image data; the tag type includes at least one of: no tag, a valid tag, and an illegal tag;

[0077] The movement path planning module 320 is used to plan the movement path of the robot according to the tag type.

[0078] Based on the above technical solutions, optionally, if the tag type is no tag or an illegal tag, the mobile path planning module includes:

[0079] A backup information acquisition unit, configured to acquire backup information of the movement path of the robot;

[0080] The first movement path planning unit is used to plan the movement path of the robot from the current position back to the path planning area according to the movement path backup information.

[0081] On the basis of the above technical solutions, optionally, the device further includes:

[0082] An area arrival judgment unit, configured to judge whether the robot has reached the path planning area;

[0083] The second moving path planning unit is configured to plan the moving path according to the arrived position and the target position if the area arrival judgment unit determines that the area arrival judgment unit has reached the target position.

[0084] Based on the above technical solutions, optionally, if the tag type is an illegal tag, the device further includes:

[0085] a position information determining unit, configured to determine the position information of the illegal tag according to the movement path backup information and the driving path information of the robot arriving at the path planning area after the area has been reached by the judgment unit;

[0086] The tag adding and identifying unit is used to add and identify the illegal tag to the navigation map according to the location information.

[0087] On the basis of the above technical solutions, optionally, the device further includes

[0088] A method and content determination module is used after the label type determination module to determine the fault prompt method and content according to the label type;

[0089] The fault prompt module is used to provide fault prompts according to the fault prompt method and content.

[0090] Based on the above technical solutions, optionally, if the tag type is a legal tag, the mobile path planning module includes:

[0091] The third movement path planning unit is used to remove part of the preset virtual wall according to the current position and plan a movement path for the robot to move from the current position to the tag position of the legal tag.

[0092] Example 4

[0093] Figure 4 A schematic diagram of a robot 10 that can be used to implement embodiments of the present invention is shown. The robot is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The robot may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided for example purposes only and are not intended to limit the implementation of the present inventions described and / or claimed herein.

[0094] like Figure 4As shown, the robot 10 includes at least one processor 11 and memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. The RAM 13 can also store various programs and data required for the operation of the robot 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0095] Various components in the robot 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0096] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the mobile path planning method.

[0097] In some embodiments, the mobile path planning method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the robot 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the mobile path planning method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the mobile path planning method in any other suitable manner (e.g., by means of firmware).

[0098] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0099] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0100] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0101] To provide interaction with a user, the systems and techniques described herein can be implemented on a robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the robot. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0103] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0104] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0105] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A mobile path planning method, applied to a robot, characterized in that: include: When the robot triggers to resume navigation, determining a label type of a current label corresponding to the current position of the robot based on the collected image data; the label type includes at least one of: no label, a legal label, and an illegal label; Planning a movement path of the robot according to the tag type; If the tag type is no tag or an illegal tag, planning the movement path of the robot according to the tag type includes: Obtaining backup information of the robot's movement path; Planning a movement path for the robot to return from the current position to the path planning area based on the movement path backup information; wherein the movement path backup information is route information recorded by the robot during its historical movement; the movement path backup information includes point information and a point recording order; the point information is coordinate point information in a map coordinate system of a navigation map stored by the robot; After determining the tag type of the current tag corresponding to the current location, the method further includes: Determine the fault prompt method and content according to the label type; Prompt a fault according to the fault prompt method and content; If the tag type is an illegal tag, the method further includes: Determining whether the robot has reached the path planning area; Determine the location information of the illegal tag based on the movement path backup information and the driving path information of the robot reaching the path planning area; Adding the illegal tag to the navigation map and marking it according to the location information; The method further comprises: When the robot identifies illegal tags that reach a set threshold within a set time, the illegal tags are automatically legalized to facilitate navigation and positioning of the robot; If the tag type is a legal tag, planning the robot's movement path according to the tag type includes: A portion of the preset virtual wall is removed according to the current position, and a moving path of the robot is planned from the current position to the tag position of the legal tag.

2. The method according to claim 1, characterized in that The navigation map records the identification information and location information of each tag, and each tag is composed of a plurality of circular identifications.

3. The method according to claim 1, characterized in that The content of the fault prompt is the tag type or the information obtained through the tag; if the tag is an illegal tag, the content of the fault prompt is that the current tag type is an illegal tag or the location information cannot be obtained from the tag.

4. The method according to claim 1, wherein The path planning area is the legal label area within the virtual wall; Determining whether the robot has reached the path planning area includes: Determine whether the robot can recognize a legal tag. If so, determine the current location of the robot based on the legal tag, and determine whether the robot is in a path planning area based on the current location.

5. The method according to claim 1, wherein The determining the location information of the illegal tag according to the movement path backup information and the driving path information of the robot reaching the path planning area includes: Determine the location information of the illegal tag based on the location information of different points in the movement path backup information and the change information of the acquisition angle of the robot at different points to collect the illegal tag image; The method further comprises: When the robot returns to the path planning area, the position information of the illegal tag is corrected according to the positioning information of the robot in the path planning area and the path backup information when returning to the path planning area.

6. The method according to claim 1, characterized in that Also includes: Determining whether the robot has reached the path planning area; If so, the moving path is planned according to the arrived position and the target position.

7. A mobile path planning device, configured on a robot, characterized in that: include: a tag type determination module, configured to determine, when the robot triggers navigation resumption, a tag type of a current tag corresponding to the current position of the robot based on the collected image data; the tag type comprising at least one of: no tag, a legal tag, and an illegal tag; A movement path planning module, used to plan the movement path of the robot according to the tag type; If the tag type is no tag or an illegal tag, the mobile path planning module includes: A backup information acquisition unit, configured to acquire backup information of the movement path of the robot; a movement path planning unit, configured to plan a movement path for the robot from the current position back to the path planning area based on the movement path backup information; wherein the movement path backup information is route information recorded by the robot during its historical movement; the movement path backup information includes point information and a point recording order; the point information is coordinate point information in a map coordinate system of a navigation map stored by the robot; Wherein, the device further comprises: A method and content determination module is used after the label type determination module to determine the fault prompt method and content according to the label type; A fault prompt module, configured to provide a fault prompt according to the fault prompt method and content; If the tag type is an illegal tag, the device further includes: a position information determining unit, configured to determine whether the robot has reached the path planning area, and determine the position information of the illegal tag based on the movement path backup information and the travel path information of the robot reaching the path planning area; a tag adding and identifying unit, configured to add and identify the illegal tag to the navigation map according to the location information; A tag legalization processing unit is used to automatically legalize illegal tags when the robot identifies illegal tags that reach a set threshold within a set time, so as to facilitate navigation and positioning of the robot; If the tag type is a legal tag, the mobile path planning module includes: The third movement path planning unit is used to remove part of the preset virtual wall according to the current position and plan a movement path for the robot to move from the current position to the tag position of the legal tag.

8. A robot, characterized in that: The robot comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute the mobile path planning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the mobile path planning method according to any one of claims 1 to 6 when executed.

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