Robot walking path planning method and robot and storage medium thereof

Abstract

The application discloses a robot walking path planning method and a robot and a storage medium thereof, and the walking path planning method comprises the following steps: detecting whether an obstacle exists in a current walking path row; in response to the existence of the obstacle in the current walking path row, determining the state of a previous walking path row; and according to the state of the previous walking path row, performing a path planning strategy of the current walking path row corresponding to the state of the previous walking path row. In the above manner, the walking efficiency of the robot can be improved, and the edge coverage rate of the obstacle can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a robot walking path planning method, a robot and a storage medium. BACKGROUND

[0002] With the continuous development of science and technology, the sweeper (also known as a robot sweeper) gradually enters the ordinary people's home and is accepted by more and more people. When performing a cleaning task, the robot sweeper needs to plan a path, that is, to select a safe and feasible path to avoid collision with obstacles in the workspace. Path planning is one of the key technologies of mobile robots, involving environmental map construction, robot positioning and other issues, and is an important direction of modern robot research.

[0003] Currently, there are three path planning modes for robot sweeping: spiral motion path planning, object edge motion path planning and straight line intersection motion path planning, plus a random cleaning mode, which are the four common cleaning modes of robot sweepers on the market. However, these four modes cannot plan a cleaning path with high coverage and low repetition rate in different environments with different shapes of areas, obstacles and sizes. Moreover, in the current path planning scheme, the robot sweeper plans the cleaning route in advance, but when the owner moves the table and chairs or other furniture during the cleaning process, or when people walk randomly in the room or small animals move in the room, the robot will not react immediately. SUMMARY

[0004] The purpose of the present application is to provide a cleaning robot and a walking path planning method thereof, which can improve the walking efficiency of the robot and improve the edge coverage of obstacles.

[0005] To achieve the above purpose, one technical solution adopted by the present application is to provide a robot walking path planning method, which comprises: detecting whether there is an obstacle in the current walking path row; when it is detected that there is an obstacle in the current walking path row, determining the state of the previous walking path row; and according to the state of the previous walking path row, executing a path planning strategy of the current walking path row corresponding to the state of the previous walking path row.

[0006] In one possible example, the state of the previous walking path row includes: a first state in which there is no previous walking path row; or a second state in which there is a previous walking path row and it is determined that the previous walking path row has an obstacle; or a third state in which there is a previous walking path row and it is determined that the previous walking path row has no obstacle.

[0007] In a possible example, the path planning strategy of the current walking path row corresponding to the state of the previous walking path row is performed according to the state of the previous walking path row, and the path planning strategy includes: if the state of the previous walking path row is a first state, a first path planning strategy is performed, and the first path planning strategy is used to control the robot to perform edge walking on the obstacle away from the arch-shaped travel direction of the current walking path row.

[0008] In a possible example, the determination that the previous walking path row has the obstacle includes: if a coordinate point of the obstacle is located on the previous walking path row, it is determined that the previous walking path row has the obstacle; or if the previous walking path row has a curve, it is determined that the previous walking path row has the obstacle; or if the previous walking path row has an obstacle marker point, it is determined that the previous walking path row has the obstacle.

[0009] In a possible example, the path planning strategy of the current walking path row corresponding to the state of the previous walking path row is performed according to the state of the previous walking path row, and the path planning strategy includes: if the state of the previous walking path row is a second state, it is determined whether a preset condition is met; and if the preset condition is met, a second path planning strategy is performed, and the second path planning strategy is used to control the robot to perform edge walking on the obstacle away from the arch-shaped travel direction of the previous walking path row.

[0010] In a possible example, the preset condition includes: the obstacle existing in the previous walking path row and the obstacle existing in the current walking path row are the same obstacle; or a distance between a first obstacle existing in the previous walking path row and a second obstacle existing in the current walking path row is not greater than a first threshold; or a difference between position coordinates of a third obstacle existing in the previous walking path row and a fourth obstacle existing in the current walking path row in the arch-shaped travel direction is not greater than a second threshold, where the arch-shaped travel direction is perpendicular to the current walking path row.

[0011] In a possible example, the path planning strategy of the current walking path row corresponding to the state of the previous walking path row is performed according to the state of the previous walking path row, and the path planning strategy includes: if the state of the previous walking path row is a third state, a third path planning strategy is performed, and the third path planning strategy is used to control the robot to walk according to the third path planning strategy.

[0012] In a possible example, the third path planning strategy includes: if the previous walking path row does not exist the obstacle, controlling the robot to perform edge walking on the obstacle from the current walking path row towards the arch-shaped direction of travel close to the previous walking path row; or if the previous walking path row does not exist the obstacle, and the first distance and the second distance between the current walking path row and the first edge and the second edge of the obstacle in the arch-shaped direction of travel satisfy that the first distance is not greater than the second distance, controlling the robot to perform edge walking on the obstacle from the current walking path row towards the arch-shaped direction of travel close to the previous walking path row; or if the previous walking path row does not exist the obstacle, and the first distance and the second distance between the current walking path row and the first edge and the second edge of the obstacle in the arch-shaped direction of travel satisfy that the first distance is greater than the second distance, controlling the robot to perform edge walking on the obstacle from the current walking path row towards the arch-shaped direction of travel away from the previous walking path row, wherein the first edge of the obstacle is the edge of the obstacle close to the previous walking path row, the second edge of the obstacle is the edge of the obstacle away from the previous walking path row, and the arch-shaped direction of travel is perpendicular to the current walking path row; or if the previous walking path row does not exist the obstacle, and the second distance between the current walking path row and the second edge of the obstacle in the arch-shaped direction of travel is not greater than a third threshold, controlling the robot to perform edge walking on the obstacle from the current walking path row towards the arch-shaped direction of travel away from the previous walking path row, wherein the second edge of the obstacle is the edge of the obstacle away from the previous walking path row, and the arch-shaped direction of travel is perpendicular to the current walking path row; or if the distance between the current walking path row and the previous walking path row is not greater than a preset distance, controlling the robot to perform edge walking on the obstacle from the current walking path row towards the arch-shaped direction of travel close to the previous walking path row.

[0013] Another technical solution adopted in the present application is to provide a robot, comprising a processor and a memory, wherein the memory stores program data, and the processor invokes the program data stored in the memory to execute the robot walking path planning method as described above.

[0014] Another technical solution adopted in the present application is to provide a computer readable storage medium, which internally stores program instructions, wherein the program instructions are executed to implement the robot walking path planning method as described above.

[0015] The application has the beneficial effect that: by providing a robot walking path planning method, it is detected whether there is an obstacle in the current walking path row; when it is detected that there is an obstacle in the current walking path row, the state of the previous walking path row is determined; according to the state of the previous walking path row, the path planning strategy of the current walking path row corresponding to the state of the previous walking path row is executed. In this way, when the robot encounters an obstacle, a new path is determined according to the state of the previous path row to avoid the obstacle, which can improve the walking efficiency of the robot compared with the situation of turning around when encountering an obstacle in the prior art; further, since the new path planning takes into account the obstacle of the previous row, the new path is more suitable for the original planned path, and the edge coverage rate of the obstacle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a flowchart of an embodiment of a robot walking path planning method provided by the application;

[0017] Figure 2 is a flowchart of step 13 provided by an embodiment of the application;

[0018] Figure 3 is a schematic diagram of a first path planning strategy provided by an embodiment of the application;

[0019] Figure 4 is a schematic diagram of a second path planning strategy provided by an embodiment of the application;

[0020] Figure 5 is a schematic diagram of a second path planning strategy provided by another embodiment of the application;

[0021] Figure 6 is a schematic diagram of a second path planning strategy provided by another embodiment of the application;

[0022] Figure 7 is a schematic diagram of a third path planning strategy provided by an embodiment of the application;

[0023] Figure 8 is a schematic diagram of a third path planning strategy provided by another embodiment of the application;

[0024] Figure 9 is a schematic diagram of a third path planning strategy provided by another embodiment of the application;

[0025] Figure 10 is a schematic diagram of a third path planning strategy provided by another embodiment of the application;

[0026] Figure 11 is a schematic diagram of a walking target area provided by an embodiment of the application;

[0027] Figure 12 is a structural schematic diagram of an embodiment of the robot provided by the present application.

[0028] Figure 13 is a structural schematic diagram of an embodiment of the computer readable storage medium provided by the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, rather than all the structures. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] The terms "first", "second", and the like in the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0031] In this document, the term "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive or alternative to other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0032] To explain the technical content, technical steps, purposes and effects of the present application in detail, the following will be described in conjunction with the embodiments and the drawings.

[0033] Reference Figure 1 , Figure 1 is a flowchart of an embodiment of a robot walking path planning method provided by the present application, and the method comprises:

[0034] Step 11: detecting whether there is an obstacle on the current walking path.

[0035] The robot is provided with one or more of a laser ranging sensor (such as a laser radar), a visual sensor, an infrared sensor, a collision sensor, an ultrasonic sensor, a millimeter wave sensor, and an optical flow sensor, for detecting whether there is an obstacle on the current walking path and information of the obstacle.

[0036] Further, the obstacle can be a virtual obstacle and a physical obstacle, wherein the virtual obstacle includes a virtual wall, a forbidden area, or a wireless signal emitted by a virtual device set by a person or automatically, and the physical obstacle is divided into a static physical obstacle and a dynamic physical obstacle, for example, the static physical obstacle can be a dining table, a sofa, a television, and the like, which are fixed in position; for example, the dynamic physical obstacle can be a pet, a person, and the like, which can change in position at any time.

[0037] Step 12: When it is detected that there is an obstacle on the current walking path, the state of the previous walking path is determined.

[0038] If there is no obstacle on the current walking path, the robot is controlled to walk straight along the current walking path. If there is an obstacle on the current walking path, the state of the previous walking path needs to be determined.

[0039] If the current walking path is the starting walking path, there is no previous walking path. If the current walking path is not the starting walking path, there is a previous walking path, wherein the previous walking path is adjacent to the current walking path in a direction perpendicular to the current walking path.

[0040] Further, the state of the previous walking path includes a first state in which there is no previous walking path, a second state in which there is a previous walking path and it is determined that the previous walking path has an obstacle, and a third state in which there is a previous walking path and it is determined that the previous walking path has no obstacle.

[0041] Optionally, the method for determining that the previous walking path has an obstacle includes:

[0042] If the coordinate point of the detected obstacle is located on the previous walking path, it is determined that the previous walking path has an obstacle; or if it is detected that the previous walking path has a curve, it is determined that the previous walking path has an obstacle; or if it is detected that the previous walking path has an obstacle marker point, it is determined that the previous walking path has an obstacle.

[0043] For example, when a robot is equipped with one or more of the following for detecting and recording obstacle information: laser rangefinder (such as lidar), infrared sensor, vision sensor, collision sensor, ultrasonic sensor, millimeter wave sensor, optical flow sensor, etc., it can obtain the coordinates of the obstacle. If the robot determines that the coordinates of the obstacle are located in the previous walking path, it determines that there is an obstacle in the previous walking path.

[0044] For example, when a robot is equipped with one or more of the following sensors for detecting and recording the robot's walking path: laser rangefinder (such as lidar), infrared sensor, vision sensor, collision sensor, ultrasonic sensor, millimeter wave sensor, optical flow sensor, etc., it can obtain a map and route of the robot's walking. If the robot determines that there is a curve in its previous walking path, it can determine that there is an obstacle in the previous walking path.

[0045] For example, when a robot has the function of manually setting obstacle marker information, if the robot determines that the obstacle marker is located in the previous walking path, then it determines that there is an obstacle in the previous walking path.

[0046] Step 13: Based on the state of the previous walking path, execute the path planning strategy for the current walking path that corresponds to the state of the previous walking path.

[0047] Specifically, the state of the previous walking path can be divided into three states: there is no previous walking path, there is a previous walking path and there is an obstacle in the previous walking path, and there is a previous walking path and there is no obstacle in the previous walking path.

[0048] Furthermore, in one embodiment, as Figure 2 As shown, Figure 2 This is a flowchart of step 13, which may specifically include:

[0049] Step 131: If the state of the previous walking path is the first state, execute the first path planning strategy. The first path planning strategy is used to control the robot to walk along the edge of the obstacle from the current walking path in a bow-shaped direction away from the current walking path.

[0050] Specific methods are as follows Figure 3 As shown, Figure 3 This is a schematic diagram of a first path planning strategy provided in an embodiment of this application, wherein S31 is the current walking path.

[0051] If it is determined that the robot has detected a previous walking path and that the previous walking path contains an obstacle, then proceed directly to step 132.

[0052] Step 132: If the previous walking path is in the second state, determine whether the preset conditions are met; if the preset conditions are met, execute the second path planning strategy. The second path planning strategy is used to control the robot to walk along the edge of the obstacle from the current walking path in a bow-shaped direction away from the previous walking path.

[0053] The preset conditions include:

[0054] Preset condition 1: The obstacle in the previous walking path is the same obstacle as the obstacle in the current walking path;

[0055] Specifically, such as Figure 4 As shown, Figure 4 This is a schematic diagram of a second path planning strategy provided in an embodiment of this application. If the obstacle in path S41 and the obstacle in path S42 are the same obstacle, then the robot is controlled to walk along the edge of the obstacle from the current walking path in a bow-shaped walking direction away from the previous walking path.

[0056] Preset condition 2: The distance between the first obstacle A1 in the previous walking path and the second obstacle A2 in the current walking path is not greater than the first threshold;

[0057] Specifically, such as Figure 5 As shown, Figure 5 This is a schematic diagram of a second path planning strategy provided in another embodiment of this application. In this case, there is a first obstacle A1 in path S51 and a second obstacle A2 in path S52. The shortest distance D1 between the first obstacle A1 in path S51 and the second obstacle A2 in path S52 is not greater than a first threshold. Then, the robot is controlled to walk along the edge of the second obstacle A2 from the current walking path in a bow-shaped walking direction away from the previous walking path.

[0058] Preset condition 3: The difference in position coordinates between the third obstacle A3 in the previous walking path and the fourth obstacle A4 in the current walking path in the bow-shaped walking direction is not greater than the second threshold.

[0059] Specifically, such as Figure 6 As shown, Figure 6 This is a schematic diagram of a second path planning strategy provided in another embodiment of this application. In this case, there is a third obstacle A3 in path S61 and a fourth obstacle A4 in path S62. The position coordinate difference D2 between the third obstacle A3 in path S61 and the fourth obstacle A4 in path S62 in the bow-shaped travel direction is not greater than a second threshold. Then, the robot is controlled to walk along the edge of the fourth obstacle A4 from the current walking path in the bow-shaped travel direction away from the previous walking path.

[0060] If it is determined that the robot is walking along the previous walking path row and there is no obstacle in the previous walking path row, the robot directly enters step 133.

[0061] Step 133: If the state of the previous walking path row is the third state, a third path planning strategy is executed, and the third path planning strategy is used to control the robot to walk according to the third path planning strategy.

[0062] Optionally, in an embodiment of the present application, if there is no obstacle in the previous walking path row, the robot is controlled to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the previous walking path row.

[0063] Optionally, in another embodiment of the present application, if there is no obstacle in the previous walking path row, and the first distance and the second distance of the first edge and the second edge of the obstacle in the arch-shaped direction of approach to the previous walking path row from the current walking path row satisfy that the first distance is not greater than the second distance, the robot is controlled to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the previous walking path row; wherein the first edge of the obstacle is the edge of the obstacle close to the previous walking path row, the second edge of the obstacle is the edge of the obstacle away from the previous walking path row, and the arch-shaped direction of approach is perpendicular to the current walking path row.

[0064] Specifically, as shown in Figure 7 , Figure 7 is a schematic diagram of the third path planning strategy provided by an embodiment of the present application, wherein the S71 path row has no obstacle, the first distance H1 and the second distance H2 of the first edge and the second edge of the obstacle existing in the S72 path row satisfy that the first distance H1 is not greater than the second distance H2, and the robot is controlled to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the previous walking path row.

[0065] Optionally, in another embodiment of the present application, if there is no obstacle in the previous walking path row, and the first distance and the second distance of the first edge and the second edge of the obstacle in the arch-shaped direction of approach to the previous walking path row from the current walking path row satisfy that the first distance is greater than the second distance, the robot is controlled to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the previous walking path row.

[0066] Specifically, as shown in Figure 8 , Figure 8 is a schematic diagram of the third path planning strategy provided by another embodiment of the present application, wherein the S81 path row has no obstacle, the first distance H1 and the second distance H2 of the first edge and the second edge of the obstacle existing in the S82 path row satisfy that the first distance H1 is greater than the second distance H2, and the robot is controlled to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the previous walking path row.

[0067] Optionally, in another embodiment of the present application, if the last walking path row does not exist an obstacle, and the second distance of the second edge of the obstacle in the arch direction of travel of the current walking path row is not greater than the third threshold value, the robot is controlled to walk along the edge of the obstacle from the current walking path row in the arch direction of travel away from the last walking path row.

[0068] Specifically, as shown in Figure 9 , Figure 9 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application, wherein the S91 path row does not exist an obstacle, and the second distance H2 of the second edge of the obstacle in the arch direction of travel of the S92 path row is not greater than the third threshold value, the robot is controlled to walk along the edge of the obstacle from the current walking path row in the arch direction of travel close to the last walking path row.

[0069] Optionally, in another embodiment of the present application, if the last walking path row does not exist an obstacle, and the distance between the current walking path row and the last walking path row is less than a preset distance, the robot is controlled to walk along the edge of the obstacle from the current walking path row in the arch direction of travel close to the last walking path row.

[0070] Specifically, as shown in Figure 10 , Figure 10 is a schematic diagram of a third path planning strategy provided by another embodiment of the present application, wherein the S101 path row does not exist an obstacle, and the distance D3 between the S101 path row and the S102 path row is less than a preset distance, the robot is controlled to walk along the edge of the obstacle from the current walking path row in the arch direction of travel close to the last walking path row.

[0071] If the obstacle of the current walking path row is not a virtual obstacle, it is determined by a laser ranging sensor, an infrared sensor, a vision sensor, a collision sensor, an ultrasonic sensor, a millimeter wave sensor, and an optical flow sensor carried by the robot whether the obstacle is a dynamic entity obstacle or a static entity obstacle, if the obstacle is a dynamic entity obstacle, the walking path of the robot is the originally planned walking path, and when blocked by the obstacle, the robot waits until the dynamic obstacle moves before walking.

[0072] The distance between the walking paths of the robot is dynamically adjusted according to different conditions such as the size, shape, and position distribution of the obstacles in the walking area. When the robot walks to the last row in the walking area, if the distance between the current walking path row and the last walking path row is less than a preset distance, the robot needs to be planned to walk along the edge of the walking area.

[0073] Wherein, it is needed to determine in advance whether there is a region with arch walking length no less than the fourth threshold value in the current region, if there is, the region is segmented out, and the segmented region is walked after the current region is walked, if not, only the current region is walked.

[0074] Specifically, as shown in Figure 11 , Figure 11 is a schematic diagram of a walking target region provided by an embodiment of the present application, wherein the arch walking length D4 is greater than the fourth threshold value, the region is segmented into two walking regions, and the arch walking lengths D5 and D6 of the two regions are both no greater than the fourth threshold value, and the two walking regions are walked according to the walking strategy respectively.

[0075] Optionally, in the robot walking path planning method provided by the above embodiments of the present application, it should be understood that the disclosed method and device can be implemented in other ways and achieve the same technical effect, wherein the used method and device are similar to the above-mentioned embodiments, and those skilled in the art can obtain them without creative labor, which will not be described here.

[0076] Different from the prior art, the robot walking path planning method provided by the embodiments of the present application comprises: detecting whether there is an obstacle in the current walking path; when it is detected that there is an obstacle in the current walking path, determining the state of the previous walking path; and according to the state of the previous walking path, executing the path planning strategy of the current walking path corresponding to the state of the previous walking path. Through the above-mentioned manner, when the robot encounters an obstacle, a new path is determined according to the state of the previous path to avoid the obstacle, compared with the situation of turning around in the prior art when encountering an obstacle, the robot walking efficiency can be improved; further, since the new path planning considers the obstacle of the previous path, the new path can better fit the original planned path, and the edge coverage rate of the obstacle is improved.

[0077] Referring to Figure 12 , Figure 12 is a structural schematic diagram of a robot provided by an embodiment of the present application, the robot 120 comprises a processor 121 and a memory 122 connected with the processor 121, and the memory 122 stores program data.

[0078] The robot 120 can be a cleaning robot, a guiding robot, a path inspection robot, or the like, and is not limited herein. Optionally, in an embodiment, the processor 121 is configured to execute program data to implement a method of obtaining obstacle size, position parameter, and robot position parameter information, wherein the obstacle size, position parameter, and robot position parameter information are obtained by a point laser ranging sensor, an infrared sensor, and a collision sensor mounted on the robot; and planning a walking path according to the obstacle size, position parameter, and robot position parameter information.

[0079] In addition, in an embodiment, the robot 120 can further include a display screen configured to display images or information of obstacle size, robot power, and walking area. Further, the robot 120 can further include a reminding component, such as a flash light, a buzzer, a loudspeaker, or the like, configured to remind a user when the robot fails or finishes walking.

[0080] In addition, in an embodiment, the robot 120 can further include a communication module, such as a 4G, 5G, WIFI, or the like, configured to establish a wireless communication connection with a mobile terminal of a user, so as to remotely control and interact data with the robot.

[0081] Referring to Figure 13 , Figure 13 FIG. 1 is a structural schematic diagram of an embodiment of a computer readable storage medium provided by the present application, and the computer readable storage medium 300 stores program data 310.

[0082] Optionally, in an embodiment, the program data 310, when executed by a processor, is configured to implement a method of detecting whether an obstacle exists in a current walking path row; determining a state of a previous walking path row when it is detected that an obstacle exists in the current walking path row; and executing a path planning strategy corresponding to the state of the previous walking path row for the current walking path row according to the state of the previous walking path row.

[0083] The above description is merely an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation according to the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A robot walking path planning method characterized by comprising: The method comprises: detecting whether an obstacle exists in a current walking path line; when it is detected that the obstacle exists in the current walking path line, determining a state of a previous walking path line; according to the state of the previous walking path line, performing a path planning strategy of the current walking path line corresponding to the state of the previous walking path line; the state of the previous walking path line comprises: a first state in which the previous walking path line does not exist; or a second state in which the previous walking path line exists and it is determined that the previous walking path line exists the obstacle; or a third state in which the previous walking path line exists and it is determined that the previous walking path line does not exist the obstacle.

2. The method of claim 1, wherein, The method comprises: if the state of the previous walking path line is the first state, performing a first path planning strategy, the first path planning strategy being used for controlling the robot to perform edge walking on the obstacle from the current walking path line to an arch-shaped moving direction away from the current walking path line.

3. The method of claim 1, wherein, The method comprises: if a coordinate point of the obstacle is located on the previous walking path line, it is determined that the previous walking path line exists the obstacle; or if the previous walking path line exists a curve, it is determined that the previous walking path line exists the obstacle; or if the previous walking path line exists an obstacle marker point, it is determined that the previous walking path line exists the obstacle.

4. The method of claim 1, wherein, The method comprises: if the state of the previous walking path line is the second state, determining whether a preset condition is met; if the preset condition is met, performing a second path planning strategy, the second path planning strategy being used for controlling the robot to perform edge walking on the obstacle from the current walking path line to an arch-shaped moving direction away from the previous walking path line.

5. The method of claim 4, wherein, The method comprises: the obstacle existing in the previous walking path line and the obstacle existing in the current walking path line are the same obstacle; or a distance between a first obstacle existing in the previous walking path line and a second obstacle existing in the current walking path line is not greater than a first threshold value; or a position coordinate difference between a third obstacle existing in the previous walking path line and a fourth obstacle existing in the current walking path line in an arch-shaped moving direction is not greater than a second threshold value, wherein the arch-shaped moving direction is perpendicular to the current walking path line.

6. The method of claim 1, wherein, The method comprises: if the state of the previous walking path line is the third state, performing a third path planning strategy, the third path planning strategy being used for controlling the robot to walk according to the third path planning strategy.

7. The method of claim 6, wherein, The method comprises: if the last walking path row does not exist an obstacle, controlling the robot to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the last walking path row; or if the last walking path row does not exist an obstacle, and the first distance and the second distance of the first edge and the second edge of the obstacle in the arch-shaped direction of approach to the last walking path row satisfy that the first distance is not greater than the second distance, controlling the robot to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the last walking path row; or if the last walking path row does not exist an obstacle, and the first distance and the second distance of the first edge and the second edge of the obstacle in the arch-shaped direction of approach to the last walking path row satisfy that the first distance is greater than the second distance, controlling the robot to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach away from the last walking path row, wherein the first edge of the obstacle is the edge of the obstacle close to the last walking path row, the second edge of the obstacle is the edge of the obstacle away from the last walking path row, and the arch-shaped direction of approach is perpendicular to the current walking path row; or if the last walking path row does not exist an obstacle, and the second distance of the second edge of the obstacle in the arch-shaped direction of approach to the last walking path row is not greater than a third threshold, controlling the robot to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach away from the last walking path row, wherein the second edge of the obstacle is the edge of the obstacle away from the last walking path row, and the arch-shaped direction of approach is perpendicular to the current walking path row; or if the last walking path row does not exist an obstacle, and the distance between the current walking path row and the last walking path row is not greater than a preset distance, controlling the robot to walk along the edge of the obstacle from the current walking path row towards the arch-shaped direction of approach to the last walking path row.

8. A robot, characterized in that The robot comprises a processor and a memory, wherein the memory stores program data, and the processor invokes the program data stored in the memory to execute the robot walking path planning method according to any one of claims 1-7.

9. A computer-readable storage medium, internally storing program instructions, characterized in that, The program instructions are executed to implement the method according to any one of claims 1-7.

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