Robot pathfinding methods, pathfinding devices, equipment and computer-readable storage media

Abstract

This invention discloses a robot pathfinding method, pathfinding device, equipment, and computer-readable storage medium. The method includes obtaining the robot's position and the charging dock's position in a grid map; obtaining the shortest path from the robot's position to the charging dock's position; determining candidate transfer stations from the robot's position to the charging dock's position if the shortest path passes through obstacles; determining a first target transfer station corresponding to the robot's position and a second target transfer station corresponding to the charging dock's position from the candidate transfer stations; obtaining all candidate transfer paths from the first target transfer station to the second target transfer station; selecting the shortest candidate path that does not pass through obstacles as the target transfer path; and determining the target path from the robot's position to the charging dock's position based on the path from the robot's position to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock's position. This invention has the advantages of low computational load and high execution speed.

Description

Technical Field

[0001] This invention relates to robot control technology, and in particular to a robot pathfinding method, pathfinding device, equipment, and computer-readable storage medium. Background Technology

[0002] The use of lawnmower robots in daily life has become increasingly common, helping people improve their work efficiency.

[0003] In existing technologies, there are many methods for robot pathfinding, among which the more common ones are the A* algorithm and random pathfinding without proximity principle.

[0004] The A* (A-Star) algorithm is a highly efficient direct search method for finding the shortest path in static road networks, and it is also an effective algorithm for solving many search problems. However, while the A* algorithm is relatively fast when the search space is relatively small, it becomes computationally intensive and slows down when the search space is relatively large, and it is also prone to memory overflow.

[0005] The random search without proximity principle means that the robot searches in a certain direction in the search space. When it encounters an obstacle that it cannot avoid, it changes to a new direction to search for a new path. This method has a long pathfinding time and low work efficiency. Summary of the Invention

[0006] The technical problem to be solved by the embodiments of the present invention is to provide a robot pathfinding method, apparatus, device and storage medium, which has the advantages of low computational load and fast execution speed.

[0007] To address the aforementioned technical problems, a first aspect of the present invention provides a robot pathfinding method, comprising: acquiring the robot's position and the charging dock's position in a grid map;

[0008] Obtain the shortest path from the robot's location to the charging dock's location;

[0009] If the shortest path passes through an obstacle, candidate transfer stations are determined from the robot's location to the charging dock's location;

[0010] From the candidate transfer stations, determine a first target transfer station corresponding to the robot's location and a second target transfer station corresponding to the charging dock's location;

[0011] Obtain all candidate transit paths from the first target transit station to the second target transit station; select the shortest candidate path that does not pass through any obstacles as the target transit path;

[0012] Based on the path from the robot's location to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock location, a target path from the robot's location to the charging dock location is determined.

[0013] In one feasible implementation, before determining candidate transfer stations from the robot's location to the charging dock location when the shortest path passes through an obstacle, the method further includes:

[0014] Determine whether the shortest path passes through an obstacle;

[0015] If the shortest path does not pass through any obstacles, the shortest path is determined to be the target path from the robot's position to the charging dock's position.

[0016] In one feasible implementation, before obtaining the robot's position and the charging dock's position in the grid map, the method further includes:

[0017] The robot's working path in the lawn area is obtained, and the charging dock is located on the working path;

[0018] A raster map is constructed based on the described work path.

[0019] In one feasible implementation, determining the candidate transfer station from the robot's location to the charging dock location includes:

[0020] Draw the circumscribed rectangle of the grid map, and determine a first reference point from each of the four sides of the circumscribed rectangle;

[0021] Offset a pair of opposite sides of the circumscribed rectangle toward the center of the circumscribed rectangle by a first preset step length to obtain two offset sides;

[0022] The four intersection points of the two offset edges and the edge of the grid map are used as the second reference points. The two second reference points on the same offset edge are offset towards each other by a second preset step length to obtain four third reference points.

[0023] The third reference point is selected as the candidate transit station.

[0024] In a feasible implementation, all candidate transit paths include:

[0025] The straight-line path from the first target transit station to the second target transit station and the path from the first target transit station to the second target transit station via at least one other candidate transit station, wherein the other candidate transit stations refer to candidate transit stations other than the first target transit station and the second target transit station.

[0026] In one feasible implementation, determining the first target transfer station corresponding to the robot's location and the second target transfer station corresponding to the charging dock's location from the candidate transfer stations includes:

[0027] Determine the first movement path from the robot's position to each of the candidate transfer stations, and take the candidate transfer station corresponding to the shortest first movement path that does not pass through any obstacles as the first target transfer station;

[0028] Determine the second movement path from the charging dock location to each of the candidate transfer stations, and select the candidate transfer station corresponding to the shortest second movement path that does not pass through any obstacles as the second target transfer station.

[0029] Accordingly, a second aspect of the present invention also provides a robot pathfinding device, comprising: a first acquisition module, configured to acquire the robot position of the robot and the charging position of the charging dock in a grid map;

[0030] The second acquisition module is used to acquire the shortest path from the robot's location to the charging dock's location;

[0031] A first processing module is configured to: determine candidate transfer stations from the robot's location to the charging dock's location when the shortest path passes through an obstacle; determine a first target transfer station corresponding to the robot's location and a second target transfer station corresponding to the charging dock's location from the candidate transfer stations; obtain all candidate transfer paths from the first target transfer station to the second target transfer station; select the shortest candidate path that does not pass through an obstacle as the target transfer path; and determine a target path from the robot's location to the charging dock's location based on the path from the robot's location to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock's location.

[0032] One feasible implementation also includes:

[0033] The judgment module is used to determine whether the shortest path passes through an obstacle;

[0034] The second processing module is used to determine the shortest path as the target path from the robot's position to the charging dock's position when the shortest path does not pass through any obstacles.

[0035] Accordingly, a third aspect of the present invention also provides an apparatus including a memory for storing executable instructions;

[0036] The processor, when executing executable instructions stored in the memory, implements the robot pathfinding method described in the first aspect.

[0037] Accordingly, a fourth aspect of the present invention also provides a computer-readable storage medium including program code, which, when the program product is run on an electronic device, is used to cause the electronic device to perform the steps of any of the methods described in the first aspect.

[0038] Implementing this invention has the following beneficial effects:

[0039] The robot pathfinding method, pathfinding device, equipment, and computer-readable storage medium provided by this invention obtain the robot's working path in a lawn area, construct a grid map from the working path, obtain the robot's position and the charging dock's position in the grid map, and obtain the shortest path from the robot's position to the charging dock. On the one hand, when the shortest path does not pass through obstacles, the shortest path is determined as the target path from the robot's position to the charging dock position, without the need to search for the entire target path. This can greatly reduce the search for the target path, thereby reducing the amount of data processing in pathfinding, shortening the pathfinding time, improving the pathfinding speed, and enabling the robot to quickly return to the charging dock.

[0040] On the other hand, when the shortest path passes through obstacles, candidate transfer stations from the robot's position to the charging dock's position are determined. From these candidate transfer stations, a first target transfer station corresponding to the robot's position and a second target transfer station corresponding to the charging dock's position are identified. All candidate transfer paths from the first target transfer station to the second target transfer station are obtained. The shortest candidate path that does not pass through obstacles is selected as the target transfer path. Based on the path from the robot's position to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock's position, the target path from the robot's position to the charging dock's position is determined. This avoids invalid data processing in disconnected areas. Therefore, while meeting the data requirements for pathfinding, the data calculation amount for the target path can be reduced, and the data processing amount during pathfinding can also be reduced to a certain extent, thereby improving the pathfinding speed and enabling a quick return to the charging dock.

[0041] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0043] Figure 1 This is a schematic diagram of the pathfinding system used to implement the robot pathfinding method of the present invention;

[0044] Figure 2This is a schematic flowchart of an embodiment of the robot pathfinding method of the present invention;

[0045] Figure 3 This is an illustrative diagram illustrating an example of the present invention used in the robot pathfinding process;

[0046] Figure 4 This is a structural block diagram of the robot pathfinding device of the present invention;

[0047] Figure 5 This is a schematic diagram of the grid map used in the robot pathfinding process according to the present invention.

[0048] Figure 6 This is a schematic diagram of the structure of the terminal device provided by the present invention;

[0049] Figure 7 This is a schematic diagram of the server structure provided by the present invention. Detailed Implementation

[0050] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0051] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0053] refer to Figure 1 , Figure 1 A pathfinding system is shown, and the method provided in this application can be implemented within the pathfinding system.

[0054] Figure 1The pathfinding system includes a mobile service robot 110, a computing device 120, and a charging dock. The computing device 120 is wirelessly connected to the mobile service robot 110 and sends control information to the mobile service robot 110 to move it towards the charging dock.

[0055] The mobile service robot 110 may be equipped with a terminal device, which may be at least one of a smartphone, game console, desktop computer, tablet computer, e-book reader, MP3 (Moving Picture Experts Group Audio Layer III) player, MP4 (Moving Picture Experts Group Audio Layer IV) player, and laptop computer.

[0056] The computing device 120 can be a single server, a server cluster consisting of multiple servers, or any of the following: a cloud computing platform or a virtualization center. This embodiment of the application does not limit the specific type of server. The server can communicate with the terminal device via a wired or wireless network. The server can have functions such as data processing, data storage, and data transmission and reception, which are not limited in this embodiment of the application.

[0057] The robot pathfinding method in this application embodiment can be executed by a terminal device or a server.

[0058] Reference Figure 2 , Figure 2 This is a flowchart illustrating an embodiment of the robot pathfinding method of the present invention. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here. In this embodiment, the robot pathfinding method includes steps S201 to S206, wherein:

[0059] S201. Obtain the robot's position and the charging dock's position in the grid map.

[0060] Before determining the robot's position and the charging dock's position in the grid map, the grid map can be constructed first. In this embodiment of the invention, the grid map can be constructed using the robot's working path, specifically including steps (1)-(3):

[0061] (1) Obtain the robot's working path in the lawn area. The working path refers to the robot's walking path starting from the charging dock, where the charging dock is located on the working path. The working path can be represented as a set of location points, which can be obtained by periodically collecting the robot's position information using devices such as laser acquisition equipment, depth cameras, and sensors.

[0062] (2) Construct a grid map based on the work path.

[0063] In one possible implementation, the outline of a grid map can be constructed based on the work path, and then obstacles within the outline's defined area can be identified. These obstacles include non-lawn areas as well as items placed in the lawn area.

[0064] (3) Determine the robot location and charging dock location in the grid map.

[0065] Among them, such as Figure 5 As shown, the shaded area is a grid map, B is the robot's position, and C is the charging dock's position.

[0066] S202. Determine the shortest path from the robot's location to the charging dock's location.

[0067] The shortest path can be represented as a straight line connecting the robot's position and the charging dock's position.

[0068] After obtaining the shortest path from the robot's position to the charging dock's position, it can be further determined whether the shortest path passes through obstacles. If the shortest path does not pass through obstacles, it means that the robot can approach the charging dock from its current position by walking in a straight line. Therefore, the shortest path can be determined as the target path from the robot's position to the charging dock's position. If the shortest path passes through obstacles, then step S203 is executed.

[0069] S203. If the shortest path passes through obstacles, determine the candidate transfer stations from the robot to the charging dock.

[0070] In one possible implementation, candidate transit stations can be determined in the following way:

[0071] S2031: Draw the circumscribed rectangle of the raster map, and determine a first reference point from each of the four sides of the circumscribed rectangle.

[0072] Since raster maps are more likely to be irregular shapes, to ensure that the points determined by subsequent offsets fall within the raster map as much as possible, the circumscribed rectangle can be designed following this principle: minimize the area between the circumscribed rectangle and the raster map outline. Guided by this principle, the long and short sides of the circumscribed rectangle do not necessarily extend along the X-axis or Y-axis.

[0073] S2033: Offset a set of opposite sides of the circumscribed rectangle towards the center of the circumscribed rectangle by a first preset step, resulting in two offset sides.

[0074] The center of the circumscribed rectangle is the intersection of its two diagonals. The circumscribed rectangle has two pairs of opposite sides. Moving one pair of opposite sides towards each other by a first preset step length yields two offset edges. Each offset edge intersects the outline (edge) of the raster map at two points; these intersections are used as second reference points.

[0075] S2035: Take the four intersection points of the two offset edges and the edge of the raster map as the second reference points, and offset the two second reference points on the same offset edge towards each other by a second preset step length to obtain four third reference points.

[0076] S2037: The third reference point is considered as a candidate transit point.

[0077] Please refer to Figure 5 The outline points in the image form the outline of the grid map, which delineates the boundary of the walkable lawn area. That is, the area within the outline is the walkable area for the robot.

[0078] In this embodiment, the desired contour points are selected at both ends of the lawn grid along the y-axis. Similarly, the x-axis can be selected, or all edge points can be selected. This case uses the two ends of the y-axis to reduce the amount of data.

[0079] This embodiment selects the smallest circumscribed rectangle because setting a maximum of four transfer stations satisfies the general shape of a lawn. Therefore, the smallest circumscribed rectangle can be said to be the shape that best approximates the lawn grid, and the generated rectangle is not necessarily horizontal with the x-axis as the horizontal direction.

[0080] In this embodiment, the outline rectangle is obtained as follows: Figure 5 This is represented by four points. However, since the four points of the obtained rectangle may not necessarily fall within the lawn grid area, further offsetting is required to ensure that the transfer station falls within the grid area.

[0081] To ensure that the transfer station falls within the grid area, the method is not limited to that of this embodiment. This embodiment involves two steps, but these steps can also be combined into one step.

[0082] Because the positioning system accuracy is around 3m, this embodiment uses twice the accuracy as the offset reference value, such as offset = 6m, where Max is the largest size of the entire grid map.

[0083] The edge R1R2 is translated horizontally along the line R1R4 by (offset ~ Max) units, and then translated along the line R1R4 to the lawn grid to obtain F1. The last lawn grid to be translated is F2. The edge R3R4 is translated horizontally along the line R1R4 by (offset ~ Max) units, and then translated along the line R3R4 to the lawn grid to obtain F3. The last lawn grid to be translated is F4. Since the transfer station Fn still exists at the edge of the lawn grid at this time, if the distance between them is greater than offset, the transfer station Nn inside the lawn grid can be obtained. At this time, Fn moves inward by offset units in both the positive and negative directions of the Y-axis to obtain N1, N2, N3, and N4.

[0084] The obtained N1, N2, N3, and N4 are the candidate transfer stations.

[0085] S204. Determine the first target transfer station corresponding to the robot's position and the second target transfer station corresponding to the charging dock position from the candidate transfer stations.

[0086] After obtaining four candidate transit points in S203:

[0087] Determine the first movement path from the robot's position to each candidate transfer station, and take the candidate transfer station corresponding to the shortest first movement path that does not pass through obstacles as the first target transfer station;

[0088] Determine the second movement path from the charging dock location to each candidate transfer station, and select the candidate transfer station corresponding to the shortest second movement path that does not pass through any obstacles as the second target transfer station.

[0089] S205. Obtain all candidate transit paths from the first target transit station to the second target transit station; select the shortest candidate path that does not pass through any obstacles as the target transit path.

[0090] The straight-line path from the first target transit station to the second target transit station, and the path from the first target transit station to the second target transit station via at least one other candidate transit station, wherein other candidate transit stations refer to candidate transit stations other than the first target transit station and the second target transit station.

[0091] Determine the first target transfer station corresponding to the robot's location and the second target transfer station corresponding to the charging dock's location from the candidate transfer stations; obtain all candidate transfer paths from the first target transfer station to the second target transfer station; and select the shortest candidate path that does not pass through any obstacles as the target transfer path.

[0092] Select two points from the transfer stations Ni (i = 1, 2, 3, 4) as the first target transfer station and the second target transfer station respectively. The distance from the robot's position to the nearest first target transfer station is Sm (m = 1, 2, 3, 4), and the distance from the charging station's position to the nearest second target transfer station is En (n = 1, 2, 3, 4).

[0093] Refer to Figure 5 , this embodiment provides a target path for the robot to return to the charging station after work. The distance from the robot to the nearest first target transfer station is N2, that is, m = 2; the distance from the robot to the nearest second target transfer station to the charging station is N1, that is, n = 1; therefore, the first target transfer station is taken as S2 and the second target transfer station is taken as E1.

[0094] Generate the general rule for the home path, that is, the general rule for the robot to go from the first target transfer station to the second target transfer station:

[0095] The machine can execute clockwise walking or counterclockwise walking; among the four candidate transfer stations N1, N2, N3, and N4, they form a circular path in sequence.

[0096] a. If m = n, if clockwise, the home path is that Nm+1 is the first target transfer station and Nn is the second target transfer station, sorted in ascending order in sequence, and the number of transfer stations is 4;

[0097] b. If m = n, if counterclockwise, the home path is that Nm-1 is the first target transfer station and Nn is the second target transfer station, sorted in descending order in sequence, and the number of transfer stations is 4;

[0098] c. If m < n, if clockwise, the home path is that Nm is the first target transfer station and Nn is the second target transfer station, sorted in ascending order in sequence, and the number of transfer stations is n - m + 1;

[0099] d. If m < n, if counterclockwise, the home path is that Nm is the first target transfer station and Nn is the second target transfer station, sorted in descending order in sequence, and the number of transfer stations is 5 - n + m;[[ID=2,4]]

[0100] e. If m > n, if clockwise, the home path is that Nm is the first target transfer station and Nn is the second target transfer station, sorted in ascending order in sequence, and the number of transfer stations is 5 - m + n;<

[0101] [[ID=<<29]]f. If m > n, if counterclockwise, the home path is that Nm is the first target transfer station and Nn is the second target transfer station, sorted in descending order in sequence, and the number of transfer stations is m - n + 1;<00002<<23>

[0102] g. When it is impossible to reach the first target transfer station either clockwise or counterclockwise, then change the first target transfer station to the next transfer station in the path;

[0103] Given m=2, n=1, and m>n, which conforms to rules e and f, the path generated by moving clockwise is N2→N3→N4→N1, and the path generated by moving counterclockwise is N2→N1. However, starting from point B, the machine cannot actually reach the first target transfer station N2, which conforms to rule g. Changing the first target transfer station to the next transfer station will generate the path N3→N4→N1, thus obtaining the target transfer path.

[0104] S206. Determine the target path from the robot's position to the charging dock's position.

[0105] Based on the path from the robot's location to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock location, determine the target path from the robot's location to the charging dock location.

[0106] Referring to embodiment S205, the target path for the robot to return to the charging dock in this embodiment is robot position → N3 → N4 → N1 → charging dock position.

[0107] The robot pathfinding method, pathfinding device, equipment, and computer-readable storage medium provided by this invention obtain the robot's working path in a lawn area, construct a grid map from the working path, obtain the robot's position and the charging dock's position in the grid map, and obtain the shortest path from the robot's position to the charging dock. On the one hand, when the shortest path does not pass through obstacles, the shortest path is determined as the target path from the robot's position to the charging dock, without the need to search for the entire target path. This can greatly reduce the search for the target path, thereby reducing the amount of data processing in pathfinding, shortening the pathfinding time, improving the pathfinding speed, and enabling the robot to quickly return to the charging dock.

[0108] On the other hand, when the shortest path passes through obstacles, candidate transfer stations from the robot's position to the charging dock position are determined. From these candidate transfer stations, a first target transfer station corresponding to the robot's position and a second target transfer station corresponding to the charging dock position are identified. All candidate transfer paths from the first target transfer station to the second target transfer station are obtained. The shortest candidate path that does not pass through obstacles is selected as the target transfer path. Based on the path from the robot's position to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock position, the target path from the robot's position to the charging dock position is determined. This avoids invalid data processing in disconnected areas. Therefore, while meeting the data requirements for pathfinding, the data calculation amount of the target path can be reduced, which can also reduce the data processing amount during pathfinding to a certain extent, thereby improving the pathfinding speed and enabling a quick return to the charging dock.

[0109] Figure 4 A block diagram of a pathfinding device according to an embodiment of the present disclosure is shown. Please refer to... Figure 4The pathfinding device includes a first acquisition module 401, a second acquisition module 402, and a first processing module 404.

[0110] The first acquisition module 401 is used to acquire the robot position and the charging dock position in the grid map;

[0111] The second acquisition module 402 is used to acquire the shortest path from the robot's position to the charging dock's position;

[0112] The first processing module 404 is configured to: determine candidate transfer stations from the robot's location to the charging dock's location when the shortest path passes through an obstacle; determine a first target transfer station corresponding to the robot's location and a second target transfer station corresponding to the charging dock's location from the candidate transfer stations; obtain all candidate transfer paths from the first target transfer station to the second target transfer station; select the shortest candidate path that does not pass through an obstacle as the target transfer path; and determine a target path from the robot's location to the charging dock's location based on the path from the robot's location to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock's location.

[0113] In one possible implementation, the pathfinding device may further include a judgment module 403 and a second processing module 405.

[0114] The judgment module 403 is used to determine whether the shortest path passes through an obstacle;

[0115] The second processing module 405 is used to determine the shortest path as the target path from the robot position to the charging dock position when the shortest path does not pass through any obstacles.

[0116] It should be understood that Figure 4 The first acquisition module 401, the second acquisition module 402, and the first processing module 404 shown can be included in the reference. Figure 1 The computing device 120 described herein. Furthermore, it should be understood that... Figure 4 The modules shown can perform steps or actions in the methods or processes described in the embodiments of this disclosure.

[0117] Figure 6A structural block diagram of a terminal device provided in an exemplary embodiment of this application is shown. The terminal device 600 may be a portable mobile terminal, such as a smartphone, tablet computer, MP3 (Moving Picture Experts Group Audio Layer III) player, MP4 (Moving Picture Experts Group Audio Layer IV) player, laptop computer, or desktop computer. The terminal device 600 may also be referred to as a user device, portable terminal, laptop terminal, desktop terminal, or other names.

[0118] Typically, terminal device 600 includes a processor 601 and a memory 602.

[0119] Processor 601 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 601 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 601 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 601 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 601 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0120] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 602 are used to store at least one instruction, which is executed by the processor 601 to implement the robot pathfinding method provided in the method embodiments of this application.

[0121] In some embodiments, the terminal device 600 may also optionally include a peripheral device interface 603 and at least one peripheral device. The processor 601, memory 602, and peripheral device interface 603 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 603 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 604, a display screen 605, a camera assembly 606, an audio circuit 607, a positioning assembly 608, and a power supply 609.

[0122] Peripheral interface 603 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 601 and memory 602. In some embodiments, processor 601, memory 602 and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 601, memory 602 and peripheral interface 603 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0123] The radio frequency (RF) circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 604 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 604 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 604 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 604 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0124] Display screen 605 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 605 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 601 for processing. In this case, display screen 605 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 605, disposed on the front panel of terminal device 600; in other embodiments, there may be at least two display screens, disposed on different surfaces of terminal device 600 or in a folded design; in other embodiments, display screen 605 may be a flexible display screen, disposed on a curved or folded surface of terminal device 600. Furthermore, display screen 605 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 605 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0125] The camera assembly 606 is used to acquire images or videos. Optionally, the camera assembly 606 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 606 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0126] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 601 for processing, or input to the radio frequency circuit 604 to achieve voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of the terminal device 600. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 607 may also include a headphone jack.

[0127] The positioning component 608 is used to locate the current geographical location of the terminal device 600 in order to enable navigation or LBS (Location Based Service). The positioning component 608 can be a positioning component based on the US GPS (Global Positioning System), China's BeiDou system, or Russia's Galileo system.

[0128] Power supply 609 is used to supply power to the various components in terminal device 600. Power supply 609 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 609 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, and a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0129] In some embodiments, the terminal device 600 further includes one or more sensors 610. The one or more sensors 610 include, but are not limited to: an accelerometer 611, a gyroscope 612, a pressure sensor 613, a fingerprint sensor 614, an optical sensor 615, and a proximity sensor 616.

[0130] Accelerometer 611 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by terminal device 600. For example, accelerometer 611 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 601 can control display screen 605 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 611. Accelerometer 611 can also be used for games or for acquiring user motion data.

[0131] The gyroscope sensor 612 can detect the orientation and rotation angle of the terminal device 600. The gyroscope sensor 612, in conjunction with the accelerometer sensor 611, can collect 3D motion data from the user on the terminal device 600. Based on the data collected by the gyroscope sensor 612, the processor 601 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0132] The pressure sensor 613 can be disposed on the side bezel of the terminal device 600 and / or on the lower layer of the display screen 605. When the pressure sensor 613 is disposed on the side bezel of the terminal device 600, it can detect the user's grip signal on the terminal device 600, and the processor 601 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 613. When the pressure sensor 613 is disposed on the lower layer of the display screen 605, the processor 601 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 605. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0133] The fingerprint sensor 614 is used to collect a user's fingerprint. The processor 601 identifies the user based on the fingerprint collected by the fingerprint sensor 614, or vice versa. When the user's identity is identified as trusted, the processor 601 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 614 can be located on the front, back, or side of the terminal device 600. When the terminal device 600 has a physical button or manufacturer logo, the fingerprint sensor 614 can be integrated with the physical button or manufacturer logo.

[0134] An optical sensor 615 is used to collect ambient light intensity. In one embodiment, the processor 601 can control the display brightness of the display screen 605 based on the ambient light intensity collected by the optical sensor 615. Specifically, when the ambient light intensity is high, the display brightness of the display screen 605 is increased; when the ambient light intensity is low, the display brightness of the display screen 605 is decreased. In another embodiment, the processor 601 can also dynamically adjust the shooting parameters of the camera assembly 606 based on the ambient light intensity collected by the optical sensor 615.

[0135] The proximity sensor 616, also known as a distance sensor, is typically mounted on the front panel of the terminal device 600. The proximity sensor 616 is used to detect the distance between the user and the front of the terminal device 600. In one embodiment, when the proximity sensor 616 detects that the distance between the user and the front of the terminal device 600 is gradually decreasing, the processor 601 controls the display screen 605 to switch from a screen-on state to a screen-off state; when the proximity sensor 616 detects that the distance between the user and the front of the terminal device 600 is gradually increasing, the processor 601 controls the display screen 605 to switch from a screen-off state to a screen-on state.

[0136] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the terminal device 600, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0137] Figure 7 This is a schematic diagram of the server structure provided in the embodiments of this application. The server 700 can vary considerably due to different configurations or performance. It may include one or more processors 701 and one or more memories 702. The one or more memories 702 store at least one line of program code, which is loaded and executed by the one or more processors 701 to implement the robot pathfinding methods provided in the above-described method embodiments. For example, the processor 701 is a CPU. Of course, the server 700 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server 700 may also include other components for implementing device functions, which will not be elaborated here.

[0138] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one piece of program code that is loaded and executed by a processor to enable an electronic device to implement any of the robot pathfinding methods described above.

[0139] Optionally, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0140] In an exemplary embodiment, a computer program or computer program product is also provided, which stores at least one computer instruction, which is loaded and executed by a processor to enable the computer to implement any of the robot pathfinding methods described above.

[0141] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0142] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0143] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A robot pathfinding method, characterized in that, include: Obtain the robot's position and the charging dock's position in the grid map; Obtain the shortest path from the robot's location to the charging dock's location; When the shortest path passes through an obstacle, determine candidate transfer stations from the robot's location to the charging dock's location; this includes: drawing the circumscribed rectangle of the grid map; determining a first reference point on each of the four sides of the circumscribed rectangle; offsetting a pair of opposite sides of the circumscribed rectangle towards the center of the circumscribed rectangle by a first preset step, obtaining two offset edges; using the four intersection points of the two offset edges with the edge of the grid map as second reference points; offsetting two second reference points on the same offset edge towards each other by a second preset step, obtaining four third reference points; and using the third reference points as the candidate transfer stations. From the candidate transfer stations, determine a first target transfer station corresponding to the robot's location and a second target transfer station corresponding to the charging dock's location; Obtain all candidate transit paths from the first target transit station to the second target transit station; select the shortest candidate path that does not pass through any obstacles as the target transit path; Based on the path from the robot's location to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock location, a target path from the robot's location to the charging dock location is determined.

2. The robot pathfinding method according to claim 1, characterized in that, Before determining candidate transfer stations from the robot's location to the charging dock location when the shortest path passes through an obstacle, the method further includes: Determine whether the shortest path passes through an obstacle; If the shortest path does not pass through any obstacles, the shortest path is determined to be the target path from the robot's position to the charging dock's position.

3. The robot pathfinding method according to claim 1, characterized in that, Before obtaining the robot's position and the charging dock's position in the grid map, the process also includes: The robot's working path in the lawn area is obtained, and the charging dock is located on the working path; A raster map is constructed based on the described work path.

4. The robot pathfinding method according to claim 1, characterized in that, All candidate transit routes include: The straight-line path from the first target transit station to the second target transit station and the path from the first target transit station to the second target transit station via at least one other candidate transit station, wherein the other candidate transit stations refer to candidate transit stations other than the first target transit station and the second target transit station.

5. The robot pathfinding method according to claim 1, characterized in that, The step of determining the first target transfer station corresponding to the robot's location and the second target transfer station corresponding to the charging dock's location from the candidate transfer stations includes: Determine the first movement path from the robot's position to each of the candidate transfer stations, and take the candidate transfer station corresponding to the shortest first movement path that does not pass through any obstacles as the first target transfer station; Determine the second movement path from the charging dock location to each of the candidate transfer stations, and select the candidate transfer station corresponding to the shortest second movement path that does not pass through any obstacles as the second target transfer station.

6. A robot pathfinding device, characterized in that, include: The first acquisition module is used to acquire the robot's position and the charging dock's position in the grid map; The second acquisition module is used to acquire the shortest path from the robot's location to the charging dock's location; The first processing module is used to determine candidate transfer stations from the robot's location to the charging dock location when the shortest path passes through obstacles. This includes: drawing the circumscribed rectangle of the grid map; determining a first reference point on each of the four sides of the circumscribed rectangle; offsetting a pair of opposite sides of the circumscribed rectangle towards the center of the circumscribed rectangle by a first preset step, obtaining two offset edges; using the four intersection points of the two offset edges with the edge of the grid map as second reference points; and offsetting two second reference points on the same offset edge towards each other by a second preset step, obtaining four third reference points; and then... The third reference point is used as the candidate transfer station; from the candidate transfer stations, a first target transfer station corresponding to the robot's position and a second target transfer station corresponding to the charging dock's position are determined; all candidate transfer paths from the first target transfer station to the second target transfer station are obtained; the shortest candidate path that does not pass through obstacles is taken as the target transfer path; based on the path from the robot's position to the first target transfer station, the target transfer path, and the path from the second target transfer station to the charging dock's position, a target path from the robot's position to the charging dock's position is determined.

7. The apparatus according to claim 6, characterized in that, Also includes: The judgment module is used to determine whether the shortest path passes through an obstacle; The second processing module is used to determine the shortest path as the target path from the robot's position to the charging dock's position when the shortest path does not pass through any obstacles.

8. An electronic device, characterized in that, include: Memory, used to store executable instructions; The processor, when executing executable instructions stored in the memory, implements the robot pathfinding method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, It includes program code that, when run on an electronic device, causes the electronic device to perform the steps of the method of any one of claims 1 to 5.

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