Transition path planning method, device, electronic device and storage medium

Abstract

The present application provides a transition path planning method, device, electronic device and storage medium, which relate to the field of path planning technology. The method includes: determining transition related information, the transition related information including the area map, area size and door frame information of two adjacent areas; based on the transition related information, determining the transition path from the previous area of ​​the two adjacent areas to the next area; based on the machine operation posture in the two adjacent areas and the transition related information, determining the transition posture of the two adjacent areas; determining the area path in the next area to complete the transition path planning of the two adjacent areas. According to the structural characteristics of the robot and the characteristics of the transition area, the method plans the optimal path and the posture of the robot for transitioning between the two areas, connects the paths of the front and back areas, and combines the single area automatic path planning algorithm to realize the transition operation in the user-specified area, thereby improving the transition efficiency.

Description

Technical Field

[0001] The present application relates to the field of path planning technology, and more specifically, to a transition path planning method, device, electronic device, and storage medium. Background Art

[0002] For indoor robots such as indoor spray painting robots, existing technologies have developed path planning algorithms within a specific area. However, these robots cannot automatically transition from one area to the next. Manually creating transition points is required to guide the robot's movement, which is labor-intensive and requires a high technical skill level. Alternatively, these path points can be omitted, requiring operators to manually control the robot's transitions, which also increases time and labor costs, as well as operational difficulty. Summary of the Invention

[0003] In view of this, the purpose of the embodiments of the present application is to provide a transition path planning method, device, electronic device and storage medium to improve the problem in the prior art that manual operation is required to guide the robot to transition, resulting in low efficiency and high cost of robot transition.

[0004] An embodiment of the present application provides a transition path planning method, the method comprising: determining transition-related information, the transition-related information including area maps, area dimensions and door frame information of two adjacent areas; determining a transition path from a former area to a latter area of ​​the two adjacent areas based on the transition-related information; determining the transition posture of the two adjacent areas based on the machine operating posture in the two adjacent areas and the transition-related information; determining the area path in the latter area to complete the transition path planning of the two adjacent areas.

[0005] In the above implementation, the method plans the optimal path and posture of the robot for transition between the two areas based on the structural characteristics of the robot and the characteristics of the transition area, connects the paths of the front and rear areas, and combines the single area automatic path planning algorithm to realize the transition operation in the user-specified area, thereby improving the transition efficiency. There is no need for human intervention to guide the robot transition, and the robot transition efficiency is improved based on the transition path planning.

[0006] Optionally, the transition-related information includes the area numbers of the two adjacent areas, and determining the transition path from the previous area to the next area of ​​the two adjacent areas based on the transition-related information includes: determining the previous area and the next area at the time of transition based on the area numbers of the two adjacent areas; determining the end point of the area path of the previous area and the starting point of the area path of the next area based on the door frame information and area map of the two adjacent areas; using the end point of the area path of the previous area and the starting point of the area path of the next area as the starting and ending points of the transition path respectively; and determining the transition path based on the starting and ending points.

[0007] In the above implementation, the starting and ending points of the transition path are determined by the paths of the previous area and the next area of ​​the transition, thereby accurately determining the starting and ending points of the transition paths of adjacent areas, thereby improving the efficiency and accuracy of transition path planning.

[0008] Optionally, the transition posture includes an approach posture, and the determination of the transition posture of the two adjacent areas based on the machine operating posture in the two adjacent areas and the transition-related information includes: respectively determining the machine operating posture of the front area and the rear area in the two adjacent areas, the machine operating posture including a forward posture and a lateral posture; collecting the machine operating posture of the front area and the rear area, and the door frame coordinates and door size information in the door frame information to generate a parameter matrix; and determining the approach posture based on the parameter matrix and the area size.

[0009] In the above implementation, the robot's entry posture from the previous area to the next area during transfer is determined by the machine operating posture and door frame information of adjacent areas, so that the robot's entry posture is conducive to adjusting the operating posture in the next area, thereby improving the transfer efficiency.

[0010] Optionally, determining the approach posture based on the parameter matrix and the area size includes: when it is determined based on the area size that the area widths of the two adjacent areas are not less than a preset length, and it is determined based on the parameter matrix that the door frame passing width is greater than the passing width required for the first approach posture, determining the first approach posture as the approach posture; when it is determined based on the area size that the area width of any one of the two adjacent areas is less than the preset length, and it is determined based on the parameter matrix that the door frame passing width is greater than the passing width required for the second approach posture, determining the second approach posture as the approach posture; the preset length is the minimum area width in which the robot can rotate 180° in the previous area or the subsequent area with the first approach posture.

[0011] In the above implementation, the robot's approach posture for transitioning between two adjacent areas is determined based on the area widths of the two adjacent areas and the minimum area width at which the robot can rotate 180° in the two areas with a specified posture, thereby ensuring the robot's passability in the entire transition path.

[0012] Optionally, the transition posture includes an exit posture, and determining the transition posture of the two adjacent areas based on the machine operation posture in the two adjacent areas and the transition-related information also includes: determining the exit posture based on the door frame coordinates and the area size of the latter area.

[0013] In the above implementation, the exit posture is determined by the door frame coordinates and the area size of the latter area, which can ensure the passability of the robot during the exit process.

[0014] Optionally, the determining of the exit posture based on the door frame coordinates and the area size of the subsequent area includes: when the machine operating posture in the subsequent area is a forward posture and the approach posture meets the angle of the forward posture, determining the point angle of the exit posture to be the first angle, otherwise determining the point angle of the exit posture to be the second angle; when the machine operating posture in the subsequent area is a sideways posture, and the door frame is on the short side of the subsequent area, and the subsequent area is the last area of ​​the transition path planning, and the approach posture meets the first angle or the second angle, using the angle of the approach posture as the point angle of the exit posture, otherwise determining the point angle of the exit posture to be the second angle; when the machine operating posture in the subsequent area is a sideways posture, and the door frame is on the long side of the subsequent area, determining the point angle of the exit posture to be the second angle.

[0015] In the above implementation, in addition to the door frame coordinates and the area size of the next area, the entry posture is introduced to determine the exit posture, avoiding unnecessary machine angle rotation operations, thereby improving the transition efficiency.

[0016] Optionally, determining the area path within the subsequent area includes: judging a translation sequence in the x-axis direction or the y-axis direction corresponding to the end point of the area path of the subsequent area according to the door frame coordinates; and taking the trajectory of moving the translation sequence to the end point of the area path as the area path within the subsequent area.

[0017] In the above implementation, by planning the regional paths within the area, the connectivity of the transfer site paths in all areas is completed, so that path points connecting different areas can be generated, which reduces manual work, shortens working time, and achieves the purpose of reducing costs and increasing efficiency.

[0018] An embodiment of the present application also provides a transition path planning device, which includes: a transition-related information determination module for determining transition-related information, wherein the transition-related information includes area maps, area dimensions and door frame information of two adjacent areas; a transition path planning module for determining a transition path from the former area of ​​the two adjacent areas to the latter area based on the transition-related information; a transition posture planning module for determining the transition posture of the two adjacent areas based on the machine operating posture in the two adjacent areas and the transition-related information; and an area path planning module for determining an area path within the latter area to complete the transition path planning of the two adjacent areas.

[0019] In the above implementation, the method plans the optimal path and posture of the robot for transition between the two areas based on the structural characteristics of the robot and the characteristics of the transition area, connects the paths of the front and rear areas, and combines the single area automatic path planning algorithm to realize the transition operation in the user-specified area, thereby improving the transition efficiency. There is no need for human intervention to guide the robot transition, and the robot transition efficiency is improved based on the transition path planning.

[0020] Optionally, the transition path planning module is specifically used to: determine the previous area and the next area during transition based on the area numbers of the two adjacent areas; determine the area path end point of the previous area and the area path starting point of the next area based on the door frame information and area map of the two adjacent areas; use the area path end point of the previous area and the area path starting point of the next area as the starting and ending points of the transition path respectively; and determine the transition path based on the starting and ending points.

[0021] In the above implementation, the starting and ending points of the transition path are determined by the paths of the previous area and the next area of ​​the transition, thereby accurately determining the starting and ending points of the transition paths of adjacent areas, thereby improving the efficiency and accuracy of transition path planning.

[0022] Optionally, the transition posture planning module is specifically used to: respectively determine the machine operating posture of the front area and the rear area in the two adjacent areas, the machine operating posture including the forward posture and the side posture; collect the machine operating postures of the front area and the rear area, as well as the door frame coordinates and door size information in the door frame information to generate a parameter matrix; determine the approach posture based on the parameter matrix and the area size.

[0023] In the above implementation, the robot's entry posture from the previous area to the next area during transfer is determined by the machine operating posture and door frame information of adjacent areas, so that the robot's entry posture is conducive to adjusting the operating posture in the next area, thereby improving the transfer efficiency.

[0024] Optionally, the transition posture planning module is specifically used to: determine the first approach posture as the approach posture when it is determined based on the area size that the area widths of the two adjacent areas are not less than a preset length, and it is determined based on the parameter matrix that the door frame passing width is greater than the passing width required for the first approach posture; determine the second approach posture as the approach posture when it is determined based on the area size that the area width of any one of the two adjacent areas is less than the preset length, and it is determined based on the parameter matrix that the door frame passing width is greater than the passing width required for the second approach posture; the preset length is the minimum area width in which the robot can rotate 180° in the previous area or the subsequent area with the first approach posture.

[0025] In the above implementation, the robot's approach posture for transitioning between two adjacent areas is determined based on the area widths of the two adjacent areas and the minimum area width at which the robot can rotate 180° in the two areas with a specified posture, thereby ensuring the robot's passability in the entire transition path.

[0026] Optionally, the transition posture planning module is specifically used to determine the exit posture based on the door frame coordinates and the area size of the subsequent area.

[0027] In the above implementation, the exit posture is determined by the door frame coordinates and the area size of the latter area, which can ensure the passability of the robot during the exit process.

[0028] Optionally, the transition posture planning module is specifically used for: when the machine operating posture in the latter area is a forward posture and the approach posture meets the angle of the forward posture, determining the point angle of the exit posture to be the first angle, otherwise determining the point angle of the exit posture to be the second angle; when the machine operating posture in the latter area is a sideways posture, and the door frame is on the short side of the latter area, and the latter area is the last area of ​​the transition path planning, and the approach posture meets the first angle or the second angle, using the angle of the approach posture as the point angle of the exit posture, otherwise determining the point angle of the exit posture to be the second angle; when the machine operating posture in the latter area is a sideways posture, and the door frame is on the long side of the latter area, determining the point angle of the exit posture to be the second angle.

[0029] In the above implementation, in addition to the door frame coordinates and the area size of the next area, the entry posture is introduced to determine the exit posture, avoiding unnecessary machine angle rotation operations, thereby improving the transition efficiency.

[0030] Optionally, the area path planning module is specifically used to: determine the translation sequence in the x-axis direction or y-axis direction corresponding to the end point of the area path of the subsequent area according to the door frame coordinates; and use the trajectory of moving the translation sequence to the end point of the area path as the area path in the subsequent area.

[0031] In the above implementation, by planning the regional paths within the area, the connectivity of the transfer site paths in all areas is completed, so that path points connecting different areas can be generated, which reduces manual work, shortens working time, and achieves the purpose of reducing costs and increasing efficiency.

[0032] An embodiment of the present application further provides an electronic device, which includes a memory and a processor, wherein the memory stores program instructions, and when the processor reads and runs the program instructions, it executes the steps in any of the above implementation methods.

[0033] An embodiment of the present application further provides a readable storage medium, wherein the readable storage medium stores computer program instructions. When the computer program instructions are read and executed by a processor, the steps in any of the above implementation methods are executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flowchart of a transition path planning method provided in an embodiment of the present application.

[0036] Figure 2 A schematic diagram of a transition area provided in an embodiment of the present application.

[0037] Figure 3 A flowchart of the steps for determining a transition path provided in an embodiment of the present application.

[0038] Figure 4 A flowchart of the steps for determining an approach posture is provided in an embodiment of the present application.

[0039] Figure 5 A schematic diagram of an exit posture provided in an embodiment of the present application.

[0040] Figure 6 A schematic diagram of a module of a transition path planning device provided in an embodiment of the present application.

[0041] Icons: 20-transition path planning device; 21-transition related information determination module; 22-transition path planning module; 23-transition posture planning module; 24-area path planning module. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0043] An embodiment of the present application provides a transition path planning method, which can be applied to a robot or a server. The server is used to enter and process the path information to obtain the path planning and send it to the robot. In some ways, the robot itself can also enter and process the path information to obtain the path planning.

[0044] First, we'll describe the robot to which this method applies. This example uses an indoor painting robot as an example. The robot's chassis features a micro-wheel mechanism, enabling it to move in two directions while maintaining a fixed orientation. The robot also has a built-in lidar, enabling autonomous navigation and precise positioning in indoor environments. The algorithm calculates a path file containing coordinates, orientation, and the robot's desired actions. Therefore, the robot can move to a designated coordinate point based on the map and path file it receives.

[0045] It should be understood that, in addition to indoor spraying robots, the robot to which the transition path planning method in this embodiment is applied may also be any other type of indoor working robot.

[0046] Please refer to Figure 1 , Figure 1 This is a flow chart of a method for planning a transition path provided in an embodiment of the present application. The specific steps of the method for planning a transition path may be as follows:

[0047] Step S12: Determine transition-related information, which includes area maps, area dimensions, and door frame information of two adjacent areas.

[0048] First, please refer to Figure 2 , Figure 2 A schematic diagram of a transition area is provided for an embodiment of the present application, wherein area 1, area 2 and area 3 are multiple areas to which the robot needs to transition. In this embodiment, the two adjacent areas, namely the previous area and the next area, can be area 1 and area 2, or area 2 and area 3, respectively.

[0049] Optionally, the transition-related information such as the area map, area size, and door frame information may be input by a device with computing capabilities such as a server or a robot.

[0050] Specifically, the area map may include area data information of two adjacent areas that require transition path planning, such as coordinates, area models, etc.; the area size may include the bottom edge length of the room wall, room area, etc. calculated by map coordinates or imported by field measurements; the door frame information may include the door frame width, door frame coordinates, etc. calculated by map coordinates or imported by field measurements.

[0051] Step S14: Based on the transition-related information, a transition path from the former area to the latter area of ​​two adjacent areas is determined.

[0052] Please refer to Figure 3 , Figure 3 This is a flow chart of a transition path determination step provided in an embodiment of the present application. Step S14 may include the following sub-steps:

[0053] Step S142: Determine the previous region and the next region during the transition based on the region numbers of the two adjacent regions.

[0054] Optionally, the area numbers can be pre-set for each area by a server or a robot or other device with computing capabilities according to the order in which the robot needs to pass through the areas when transitioning, and can be represented by a string containing characters such as numbers, English and Chinese characters.

[0055] Step S144: determining the end point of the area path of the previous area and the starting point of the area path of the next area based on the door frame information and the area map of the two adjacent areas.

[0056] The robot's transition path needs to pass through the door frame from the previous area to the next area. Therefore, combining the door frame information and the area map can accurately determine the end point of the robot's regional path in the previous area and the starting point of the regional path in the next area, thereby ensuring that unnecessary invalid paths appear at the beginning and end points of the subsequent transition path.

[0057] Optionally, the path planning data includes multiple areas. When planning the transition path between two adjacent areas, the door frame coordinates of all areas can be filtered by the area number and the coordinates of the area map to determine the door frame information between the two adjacent areas for transition path planning.

[0058] Specifically, the end point of the area path of the previous area is the starting point of the exit area, and the starting point of the area path of the next area is the end point of the exit area, which may be the center point of the corresponding door frame.

[0059] Step S146: The end point of the area path of the previous area and the starting point of the area path of the next area are respectively used as the starting and ending points of the transition path.

[0060] The starting and ending points of the transition path are the starting and ending points of the robot's transition path between the two adjacent areas.

[0061] Step S148: Determine the transition path based on the start and end points.

[0062] Optionally, the robot's travel path between the starting and ending points of the transition path can be a straight path planned according to the principle of the shortest travel path. It should be understood that, if necessary, the transition path can also include paths such as curves.

[0063] Step S16: Determine the transition posture of the two adjacent areas based on the machine operation posture and transition related information in the two adjacent areas.

[0064] Optionally, the transition posture in this embodiment includes an approach posture and an exit posture, the approach posture is the angular posture of the robot at the starting point of the transition path, and the exit posture is the angular posture of the robot at the end point of the transition path.

[0065] Please refer to Figure 4 , Figure 4 This is a flow chart of an approach posture determination step provided in an embodiment of the present application. The approach posture determination step may be as follows:

[0066] Step S161: Determine the machine operation posture of the front area and the back area in two adjacent areas respectively.

[0067] Optionally, the machine's operating posture can include forward and side postures. For example, if the preceding area requires the robot to adopt a forward operating posture, the preceding area can be designated as type a, while the following area requires the robot to adopt a side operating posture, and the following area can be designated as type b. Therefore, the transition type from the preceding area to the following area can be represented by aa, ab, ba, or bb. The transition type determines the machine's operating posture during the transition.

[0068] Step S162: The machine operation postures of the previous area and the next area, as well as the door frame coordinates and door size information in the door frame information are collected to generate a parameter matrix.

[0069] Alternatively, the parameter matrix can be represented as door[h,d,x d ,y d ]=f(order,location,(x,y)), where h is the door height, d is the door width, and x d and y d is the door coordinate, n is the number of all areas that need to be passed through, order is the number, location is the wall door frame position, and (x, y) is the lower left corner coordinate.

[0070] Step S163: Determine the approach posture based on the parameter matrix and the area size.

[0071] Specifically, the step of determining the approach posture based on the parameter matrix and the area size can be as follows:

[0072] When it is determined based on the area size that the area widths of the two adjacent areas are not less than the preset length, and it is determined based on the parameter matrix that the door frame passing width is greater than the passing width required for the first approach posture, the first approach posture is determined to be the approach posture.

[0073] When it is determined based on the area size that the width of any one of the two adjacent areas is less than the preset length, and it is determined based on the parameter matrix that the door frame passing width is greater than the passing width required for the second approach posture, the second approach posture is determined to be the approach posture.

[0074] The preset length is the minimum area width in which the robot can rotate 180° in the previous area or the next area in the first approach posture.

[0075] Optionally, in the embodiment, the preset length may be recorded as D room The first approach posture is recorded as O, the second approach posture is recorded as I, and the rotation diameter of the robot in posture O is recorded as d ro , then in D room ≥d ro +2*d s When d s To ensure a safe distance between the robot body and the wall, the robot adopts the first approach posture O, i.e., the extended arm state. Otherwise, it adopts the second approach posture I, i.e., the retracted arm state. The extended arm state and the retracted arm state can represent different states of operating parts that need to be extended to a certain length, such as the robot's mechanical arm.

[0076] Next, the exit posture is determined. After the robot moves from the previous area to the next area using the entry posture, the angle is adjusted at the end of the transition path to adjust to the exit posture. In this embodiment, the exit posture can be determined based on the door frame coordinates and the area size of the next area.

[0077] Specifically, the exit posture determination step may include:

[0078] When the machine operating posture in the latter area is the forward posture and the approach posture meets the angle of the forward posture, the point angle of the exit posture is determined to be the first angle; otherwise, the point angle of the exit posture is determined to be the second angle.

[0079] When the machine operating posture in the latter area is a sideways posture, the door frame is on the short side of the latter area, the latter area is the last area of ​​the transfer path planning, and the approach posture meets the first angle or the second angle, the angle of the approach posture is used as the point angle of the exit posture; otherwise, the point angle of the exit posture is determined to be the second angle.

[0080] Specifically, due to the size limitation of the robot, the orientation of the door is limited by the angle between the nozzle and the door frame, and there are two postures, such as Figure 5 As shown, Figure 5 A schematic diagram of an exit posture is provided for an embodiment of the present application. The exit posture of the left figure can be recorded as angle α, and the exit posture of the right figure can be recorded as angle β, where α and β are determined by the door frame coordinates. If the transition is from area 3 to area 2, the difference of 180 degrees depends on the width of area 2 and the posture at the end point of area 3 (the starting point of the transition). Because if the width of area 2 is too small, it is smaller than the minimum rotation diameter of the robot, and it rotates in area 2 after going out (right figure), and it cannot guarantee a safe distance from the wall and may even hit the wall. At this moment, the nozzle needs to be directed toward the door (left figure) to achieve rotation with the help of the door opening position.

[0081] Step S18: Determine the regional path in the latter region to complete the transition path planning between two adjacent regions.

[0082] Specifically, the translation sequence along the x-axis direction or the y-axis direction corresponding to the end point of the regional path of the subsequent region is determined according to the door frame coordinates, and the trajectory of the translation sequence moving to the end point of the regional path is used as the regional path in the subsequent region.

[0083] The decision on whether to perform the x-axis translation or the y-axis translation first can be made based on the door frame coordinates. After the first axis translation is completed, the robot rotates at the midpoint, and then performs the second axis translation to reach the end point of the area path. It should be noted that the rotation point must ensure that the distance between the robot and the wall is always greater than ds.

[0084] It should be understood that the above content of this embodiment illustrates the transition path planning method for two adjacent areas. When the robot needs to continuously transition between more than two areas, the total number of areas that need to be transitioned, the area serial number, and the door frame information of each area can be determined. Based on the above transition path planning method, the transition path is planned for each two adjacent areas in turn, and the transition paths of all areas are arranged to obtain the transition path to the final target area.

[0085] In order to cooperate with the above-mentioned transition path planning method provided in this embodiment, this embodiment also provides a transition path planning device 20, please refer to Figure 6 , Figure 6 A schematic diagram of a module of a transition path planning device provided in an embodiment of the present application.

[0086] The transition path planning device 20 includes:

[0087] A transition related information determination module 21 is used to determine transition related information, where the transition related information includes area maps, area dimensions, and door frame information of two adjacent areas;

[0088] A transition path planning module 22 is configured to determine a transition path from a former area to a latter area of ​​two adjacent areas based on transition related information;

[0089] A transition posture planning module 23 is used to determine the transition posture of two adjacent areas based on the machine operation postures and transition related information in the two adjacent areas;

[0090] The regional path planning module 24 is used to determine the regional path in the latter region to complete the transition path planning between two adjacent regions.

[0091] Optionally, the transition path planning module 22 is specifically used to: determine the previous area and the next area during the transition based on the area numbers of the two adjacent areas; determine the end point of the area path of the previous area and the starting point of the area path of the next area based on the door frame information and area maps of the two adjacent areas; use the end point of the area path of the previous area and the starting point of the area path of the next area as the starting and ending points of the transition path respectively; and determine the transition path based on the starting and ending points.

[0092] Optionally, the transition posture planning module 23 is specifically used to: respectively determine the machine operating posture of the front area and the rear area in two adjacent areas, the machine operating posture including the forward posture and the lateral posture; collect the machine operating postures of the front area and the rear area, as well as the door frame coordinates and door size information in the door frame information to generate a parameter matrix; determine the approach posture based on the parameter matrix and the area size.

[0093] Optionally, the transition posture planning module 23 is specifically used to: determine the first approach posture as the approach posture when the area widths of the two adjacent areas are not less than the preset length based on the area size, and the door frame passing width is greater than the passing width required for the first approach posture based on the parameter matrix; determine the second approach posture as the approach posture when the area width of any of the two adjacent areas is less than the preset length based on the area size, and the door frame passing width is greater than the passing width required for the second approach posture based on the parameter matrix; the preset length is the minimum area width that the robot can rotate 180° in the previous area or the next area with the first approach posture.

[0094] Optionally, the transition posture planning module 23 is specifically configured to determine the exit posture based on the door frame coordinates and the area size of the subsequent area.

[0095] Optionally, the transition posture planning module 23 is specifically used for: when the machine operating posture in the latter area is a forward posture and the approach posture meets the angle of the forward posture, the point angle of the exit posture is determined to be the first angle, otherwise the point angle of the exit posture is determined to be the second angle; when the machine operating posture in the latter area is a sideways posture, and the door frame is on the short side of the latter area, and the latter area is the last area of ​​the transition path planning, and the approach posture meets the first angle or the second angle, the angle of the approach posture is used as the point angle of the exit posture, otherwise the point angle of the exit posture is determined to be the second angle; when the machine operating posture in the latter area is a sideways posture, and the door frame is on the long side of the latter area, the point angle of the exit posture is determined to be the second angle.

[0096] Optionally, the area path planning module 24 is specifically used to: determine the translation sequence in the x-axis direction or y-axis direction corresponding to the end point of the area path of the subsequent area according to the door frame coordinates; and use the trajectory of moving the translation sequence to the end point of the area path as the area path in the subsequent area.

[0097] An embodiment of the present application also provides an electronic device, which includes a memory and a processor, wherein the memory stores program instructions, and when the processor reads and runs the program instructions, it executes the steps of any one of the transition path planning methods provided in this embodiment.

[0098] It should be understood that the electronic device may be a personal computer (PC), tablet computer, smart phone, personal digital assistant (PDA), or other electronic device with logic computing capabilities. In this embodiment, the electronic device may be a robot or server to which the transition path planning method is applied.

[0099] An embodiment of the present application further provides a readable storage medium, wherein the readable storage medium stores computer program instructions. When the computer program instructions are read and executed by a processor, the steps in the transition path planning method are executed.

[0100] In summary, the embodiments of the present application provide a transition path planning method, device, electronic device and storage medium, the method including: determining transition-related information, the transition-related information including area maps, area dimensions and door frame information of two adjacent areas; based on the transition-related information, determining the transition path from the former area of ​​the two adjacent areas to the latter area; based on the machine operating posture in the two adjacent areas and the transition-related information, determining the transition posture of the two adjacent areas; determining the area path in the latter area to complete the transition path planning of the two adjacent areas.

[0101] In the above implementation, the method plans the optimal path and posture of the robot for transition between the two areas based on the structural characteristics of the robot and the characteristics of the transition area, connects the paths of the front and rear areas, and combines the single area automatic path planning algorithm to realize the transition operation in the user-specified area, thereby improving the transition efficiency. There is no need for human intervention to guide the robot transition, and the robot transition efficiency is improved based on the transition path planning.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed devices can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices according to the multiple embodiments of the present application. In this regard, each box in the block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram, and the combination of the block diagrams, can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0103] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0104] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Therefore, this embodiment also provides a computer program instruction stored in a readable storage medium, and when the computer program instruction is read and executed by a processor, the steps of any method described in the block data storage method are executed. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0105] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0106] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

Claims

1. A transition path planning method, characterized in that: The method comprises: Determine transition-related information, wherein the transition-related information includes area maps, area dimensions, and door frame information of two adjacent areas; Determining a transition path from a former area to a latter area of ​​the two adjacent areas based on the transition-related information; respectively determining the machine operating postures of the front area and the rear area in the two adjacent areas, wherein the machine operating postures include a forward posture and a side posture; Gathering the machine operation postures in the previous area and the next area, as well as the door frame coordinates and door size information in the door frame information to generate a parameter matrix; Determine an approach posture included in the transition posture based on the parameter matrix and the area size; Determining an area path within the latter area to complete the transition path planning of the two adjacent areas; The determining of the approach posture of the transition posture based on the parameter matrix and the area size includes: When it is determined based on the area size that the area widths of the two adjacent areas are not less than a preset length, and it is determined based on the parameter matrix that the door frame passing width is greater than the passing width required for the first approach posture, determining the first approach posture as the approach posture; When it is determined based on the area size that a width of any one of the two adjacent areas is smaller than the preset length, and it is determined based on the parameter matrix that a door frame passing width is larger than a passing width required for the second approach posture, determining the second approach posture as the approach posture; The preset length is the minimum area width in which the robot can rotate 180° in the previous area or the next area in the first approach posture; Wherein, the transition posture includes an exit posture, and the determining of the transition posture of the two adjacent areas based on the machine operation postures in the two adjacent areas and the transition related information further includes: When the machine operating posture in the latter area is a forward posture and the approach posture meets the angle of the forward posture, the point angle of the exit posture is determined to be the first angle; otherwise, the point angle of the exit posture is determined to be the second angle; When the machine operating posture in the latter area is a sideways posture, the door frame is on the short side of the latter area, the latter area is the last area of ​​the transition path planning, and the approach posture meets the first angle or the second angle, the angle of the approach posture is used as the point angle of the exit posture; otherwise, the point angle of the exit posture is determined to be the second angle; The machine operating posture in the latter area is a sideways posture, and the door frame is on the long side of the latter area, and the point angle of the exit posture is determined to be the second angle.

2. The method according to claim 1, characterized in that The transition related information includes area numbers of the two adjacent areas, and determining a transition path from a former area to a latter area of ​​the two adjacent areas based on the transition related information includes: determining the preceding region and the succeeding region during transition based on region numbers of the two adjacent regions; Determining an end point of an area path of the preceding area and a starting point of an area path of the succeeding area based on the door frame information and area maps of the two adjacent areas; The end point of the area path of the previous area and the starting point of the area path of the next area are respectively used as the starting and ending points of the transition path; The transition path is determined based on the start and end points.

3. The method according to claim 1, characterized in that Determining the regional path within the latter region includes: Determining, according to the door frame coordinates, a translation order in the x-axis direction or the y-axis direction corresponding to the end point of the area path along the latter area; The trajectory of the translation sequence moving to the end point of the regional path is used as the regional path in the subsequent region.

4. A transition path planning device, characterized in that: The device comprises: A transition related information determination module, configured to determine transition related information, wherein the transition related information includes area maps, area dimensions, and door frame information of two adjacent areas; A transition path planning module, configured to determine a transition path from a former area to a latter area of ​​the two adjacent areas based on the transition related information; A transition posture planning module, configured to determine the transition posture of the two adjacent areas based on the machine operation postures in the two adjacent areas and the transition related information; An area path planning module, configured to determine an area path within the latter area to complete the transition path planning between the two adjacent areas; The transition posture planning module is specifically used to: determine the machine operating posture of the front area and the back area in two adjacent areas, respectively, and the machine operating posture includes the forward posture and the lateral posture; collect the machine operating posture of the front area and the back area, as well as the door frame coordinates and door size information in the door frame information to generate a parameter matrix; determine the approach posture of the transition posture based on the parameter matrix and the area size; The transition posture planning module is specifically configured to: determine the first approach posture as the approach posture when the widths of the two adjacent areas are determined to be no less than a preset length based on the area size, and the door frame passing width is determined to be greater than the passing width required for the first approach posture based on the parameter matrix; determine the second approach posture as the approach posture when the width of any one of the two adjacent areas is determined to be less than a preset length based on the area size, and the door frame passing width is determined to be greater than the passing width required for the second approach posture based on the parameter matrix; the preset length is the minimum area width in which the robot can rotate 180° in the previous area or the next area in the first approach posture; The transition posture planning module is specifically used to: determine the exit posture based on the door frame coordinates and the area size of the next area; The transition posture planning module is also specifically used for: when the machine operating posture in the rear area is a forward posture and the approach posture meets the angle of the forward posture, determining the point angle of the exit posture to be the first angle, otherwise determining the point angle of the exit posture to be the second angle; when the machine operating posture in the rear area is a sideways posture, and the door frame is on the short side of the rear area, and the rear area is the last area of ​​the transition path planning, and the approach posture meets the first angle or the second angle, using the angle of the approach posture as the point angle of the exit posture, otherwise determining the point angle of the exit posture to be the second angle; when the machine operating posture in the rear area is a sideways posture, and the door frame is on the long side of the rear area, determining the point angle of the exit posture to be the second angle.

5. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein program instructions are stored in the memory, and when the processor runs the program instructions, the steps in the method according to any one of claims 1 to 3 are executed.

6. A storage medium, characterized in that The storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steps of the method according to any one of claims 1 to 3 are executed.

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