Method for path planning and navigation and cleaning robot

Abstract

The application provides a path planning and navigation method and a cleaning robot. The method is applied to the cleaning robot. The cleaning robot constructs an environment map through a laser radar. An edge of the cleaning robot is provided with a collision sensor. The method comprises the following steps: judging whether a preset target position is reachable according to the environment map and a starting position of the cleaning robot; if the target position is not reachable, connecting the starting position and the target position to obtain a global path; moving to the target position along the global path; whenever collision information is detected, switching to an edge cleaning strategy and recording a real-time position; whenever the real-time position is located on the global path, switching to continue moving along the global path until the target position is reached or the real-time position is moved to a repeated position. The scheme can solve the situation that a path cannot be planned due to a temporary blockage of a channel caused by a dynamic obstacle, can help the cleaning robot to get out of trouble, and can improve user experience.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a path planning and navigation method and a cleaning robot. Background Technology

[0002] Mobile robot technology has developed rapidly in recent years, and it has been widely used in many fields such as logistics warehousing, intelligent inspection, smart homes, and shopping mall guidance. In particular, the popularity of household robotic vacuum cleaners has increased, and path planning technology is one of the most critical factors affecting the performance of robotic vacuum cleaners. The purpose of path planning is to plan an optimal path from the robot's current position to the target location in a known robot environment map. However, due to the complex working environment faced by service robots such as robotic vacuum cleaners, a single path planning navigation strategy will have many problems.

[0003] Because the sensors used in robotic vacuum cleaners have low precision, the maps they create are inaccurate. Additionally, encountering dynamic obstacles at narrow passageways can temporarily close entrances and exits, preventing the robot from planning a feasible path for navigation. This problem hinders the normal operation of the robotic vacuum cleaner, resulting in a poor user experience. Summary of the Invention

[0004] This application provides a path planning and navigation method to help cleaning robots escape difficulties and improve user experience.

[0005] This application provides a path planning and navigation method applied to a cleaning robot. The cleaning robot constructs an environmental map using LiDAR, and collision sensors are installed on the edges of the cleaning robot. The method includes:

[0006] Based on the environmental map and the starting position of the cleaning robot, determine whether the preset target position is reachable;

[0007] If the target location is unreachable, connect the starting location and the target location to obtain a global path;

[0008] Move along the global path towards the target location. Whenever collision information is detected, switch to the edge cleaning strategy and record the real-time position.

[0009] Whenever the real-time position is on the global path, switch to continue moving along the global path until the target position is reached or the position is repeated.

[0010] In one embodiment, determining whether a preset target location is reachable based on the environmental map and the starting position of the cleaning robot includes:

[0011] Based on the environmental map and the starting position of the cleaning robot, plan a navigation path from the starting position to the target position;

[0012] Whether the target location is reachable is determined based on whether the navigation path can be planned.

[0013] In one embodiment, the method further includes:

[0014] If the target location is reachable, move towards the target location along the planned navigation path;

[0015] Whenever collision information is detected, the collision location corresponding to the collision information is mapped onto the environment map, and the navigation path from the current location to the target location is replanned until no navigation path can be planned or the target location can be reached.

[0016] In one embodiment, there are two collision sensors, located on opposite sides of the front end of the cleaning robot; the step of mapping the collision location corresponding to the collision information onto the environmental map whenever collision information is detected includes:

[0017] If a collision information triggered by any collision sensor is received, the center point position of the cleaning robot is obtained;

[0018] Connect the center point with the location of the collision sensor to form a first straight line;

[0019] A perpendicular line segment of a preset length, perpendicular to the first straight line and tangent to the edge of the cleaning robot, is mapped onto the environmental map.

[0020] In one embodiment, mapping the collision location corresponding to the collision information to the environment map whenever collision information is detected includes:

[0021] If collision information is received from two collision sensors simultaneously, the center point position of the cleaning robot is obtained;

[0022] Connect the center point with the front end of the cleaning robot to form a second straight line;

[0023] A perpendicular line segment of a preset length, perpendicular to the second straight line and tangent to the edge of the cleaning robot, is mapped onto the environmental map.

[0024] In one embodiment, if the target location is unreachable, connecting the starting location and the target location to obtain a global path includes:

[0025] If the target location is unreachable, determine the type of being trapped;

[0026] If the trapped type is "trapped at the starting point", connect the starting point position and the target position to obtain the global path.

[0027] In one embodiment, determining the type of entrapment if the target location is unreachable includes:

[0028] If the target location is unreachable, plan a navigation path from the starting point to the workstation;

[0029] If a navigation path from the starting point to the workstation cannot be planned, the type of being trapped is determined to be "starting point trapped".

[0030] In one embodiment, the method further includes: if a navigation path from the starting point to the workstation is planned, and the trapped type is determined to be a destination trapped, then the target location is abandoned.

[0031] In one embodiment, the method further includes: if the movement reaches the same location repeatedly, determining that navigation has failed and issuing an alarm message.

[0032] This application embodiment also provides a cleaning robot, the cleaning robot comprising:

[0033] processor;

[0034] Memory is used to store processor-executable instructions;

[0035] LiDAR is used to create environmental maps of the cleaning area that the cleaning robot is cleaning.

[0036] Collision sensors are used to detect collision information of the cleaning robot;

[0037] The processor is configured to perform the path planning and navigation method described above based on data from the lidar and the collision sensor.

[0038] The technical solution provided in the above embodiments of this application can connect the starting position and the target position to obtain a global path when the target position is determined to be unreachable. It moves towards the target position along the global path. Whenever a collision is detected, it switches to the edge cleaning strategy and records the real-time position. Whenever the real-time position is on the global path, it switches to continue moving along the global path until the target position is reached or the position is repeated. This can solve the problem of the path being unable to be planned due to the temporary blockage of the passage caused by dynamic obstacles. It can help the cleaning robot get out of trouble and improve the user experience.

[0039] In one embodiment, when the target location is reachable, the robot can first move towards the target location along the planned navigation path. Whenever a collision is detected, the collision location corresponding to the collision information is mapped onto the environmental map, and the navigation path from the current location to the target location is replanned until no navigation path can be planned or the target location can be reached. This can solve the problem that the cleaning robot cannot perceive glass, mirrors, and low obstacles, causing the cleaning robot to keep trying to move to the area separated by these objects, which affects the normal operation of the cleaning robot. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0041] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in one embodiment of this application;

[0042] Figure 2 This is a flowchart illustrating a path planning and navigation method provided in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of an environmental map provided in an embodiment of this application;

[0044] Figure 4 This is a schematic diagram illustrating the reachability of the target location provided in the embodiments of this application;

[0045] Figure 5 This is a schematic diagram illustrating that the target location is unreachable, as provided in the embodiments of this application.

[0046] Figure 6 These are schematic diagrams illustrating two types of entrapment provided in embodiments of this application;

[0047] Figure 7 This is a schematic diagram of the escape strategy when trapped at the starting point, provided in an embodiment of this application;

[0048] Figure 8 This is a comparative schematic diagram of the real environment and the environment map provided in the embodiments of this application;

[0049] Figure 9 This is a schematic diagram of the navigation strategy when encountering a glass wall provided in an embodiment of this application;

[0050] Figure 10 This is a schematic diagram illustrating the principle of mapping collision locations onto an environment map, as provided in an embodiment of this application.

[0051] Figure 11 This is a block diagram illustrating a path planning and navigation apparatus according to an embodiment of this application. Detailed Implementation

[0052] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0053] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application. Figure 1 As shown, the cleaning robot 100 includes: a processor 102, a memory 104, a lidar 106, and a collision sensor 108.

[0055] The processor 102 may be a device that includes a central processing unit (CPU), a graphics processing unit (GPU), or other forms of processing units with data processing capabilities and / or instruction execution capabilities. It can process data from other components in the cleaning robot 100 and control other components in the cleaning robot 100 to perform desired functions.

[0056] The lidar 106 is used to construct an environmental map of the cleaning area of ​​the cleaning robot. The lidar 106 can also be used to detect the distance to obstacles. The collision sensor 108 is used to detect collision information of the cleaning robot 100. There can be two collision sensors 108, located on either side of the front end of the cleaning robot 100.

[0057] The memory 104 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium. The processor 102 may execute the program instructions based on the data from the lidar 106 and the collision sensor 108 to implement the path planning and navigation method described below. Various application programs and various data may also be stored in the computer-readable storage medium, such as various data used and / or generated by the application programs.

[0058] Figure 2This is a flowchart illustrating a path planning and navigation method provided in an embodiment of this application. The method can be applied to the cleaning robot 100 described above. The cleaning robot 100 constructs an environmental map using a LiDAR 106, and collision sensors 108 are provided on the edges of the cleaning robot 100. The method includes the following steps S210-S240.

[0059] Step S210: Based on the environmental map and the starting position of the cleaning robot, determine whether the preset target position is reachable.

[0060] After scanning the entire cleaning area, the LiDAR can construct a grid map of the cleaning area, dividing it into individual grids. Each grid has two states: occupied and idle, thus allowing for the generation of data such as... Figure 3 The binary map shown depicts white areas representing feasible zones for the cleaning robot and black areas representing walls or obstacles. The environmental map can be... Figure 3 The binary map shown.

[0061] In one embodiment, a navigation path from the starting point to the target location can be planned based on the environmental map and the starting point location of the cleaning robot; the target location can be determined as to whether a navigation path can be planned.

[0062] It should be noted that, based on one or more optimization criteria (such as shortest walking path, shortest walking time, etc.), the cleaning robot can plan a navigation path from the starting position to the target position (i.e., the end position) in the white area of ​​the binary map.

[0063] In one embodiment, the cleaning robot can use the A* algorithm to find a navigation path from its starting position to its target position. For example... Figure 4 As shown, point P represents the starting position and point Q represents the target position. If a navigation path can be planned from point P to point Q, it means that the target position is reachable.

[0064] In one embodiment, if a navigation path from the starting position to the target position cannot be planned using the A* algorithm, it means the target position is unreachable. For example... Figure 5 As shown, if the passage between the starting point P and the target point Q is considered to be blocked by an obstacle, the path planning will fail and the target point Q will be considered unreachable.

[0065] Step S220: If the target location is unreachable, connect the starting location and the target location to obtain a global path.

[0066] The global path can be a straight line segment connecting the starting point and the ending point.

[0067] In one embodiment, if the target location is unreachable, the type of entrapment can be determined first. The entrapment type can be divided into origin entrapment and destination entrapment. If the entrapment type is origin entrapment, the origin location and the target location are connected to obtain a global path. If the entrapment type is destination entrapment, the target location is discarded.

[0068] It should be noted that since each cleaning robot has a corresponding workstation for charging, the location of the workstation can be used as a reference point for determining the type of entrapment.

[0069] like Figure 6 The diagram illustrates two types of entrapment, with point P representing the starting point and point Q representing the ending point. When the passage from point P to point Q is blocked by a dynamic obstacle, a navigation path from the starting point P to the target point Q cannot be planned, resulting in navigation failure. Therefore, the target point is considered unreachable. In this case, using workstation 200 as a reference point, a navigation path from the starting point P to workstation 200 can be planned.

[0070] like Figure 6 As shown in (1), the starting point P and workstation 200 are located on opposite sides of the blocked passage, so a navigation path from the starting point P to workstation 200 cannot be planned, thus determining... Figure 6 (1) The type of entrapment is entrapment at the starting point. For example Figure 6 As shown in (2), the starting point P and the workstation 200 are located on the same side of the blocked passage, so the navigation path from the starting point P to the workstation 200 can be planned, thereby determining the trapped type as the destination trapped.

[0071] It should be noted that getting stuck at the starting point prevents the cleaning robot from returning to the workstation, while getting stuck at the destination usually only results in some areas being missed during cleaning. Therefore, getting stuck at the starting point is unacceptable and an attempt must be made to escape. If stuck at the destination, the robot can either abandon the target location or choose to escape using the same method as if it were stuck at the starting point.

[0072] Step S230: Move along the global path to the target location. Whenever collision information is detected, switch to the edge cleaning strategy and record the real-time position.

[0073] Step S240: Whenever the real-time position is on the global path, switch to continue moving along the global path until the target position is reached or the position is repeated.

[0074] Figure 7 This is a diagram illustrating escape strategies when trapped at the starting point. For example... Figure 7As shown, the cleaning robot needs to move from point P to point Q for a cleaning task. Since the passage from P to Q is blocked by an obstacle, a straight line connecting P and Q is used as the global path. The robot first moves along this global path towards Q. At point B, a collision is detected, and the robot switches to an edge-cleaning strategy, moving along the edge to point C. Since point C is currently on the global path, the robot continues moving along the global path. Then, at point D, another collision is detected, and the robot switches back to the edge-cleaning strategy, moving along the edge to point E. Since point E is currently on the global path, the robot continues moving along the global path to point F. If the obstacle at the passage entrance is a dynamic obstacle, it will have disappeared by this point, and the robot is no longer blocked. The robot can then navigate along the global path to its target location, point Q. If the obstacle at the passage entrance is not a dynamic obstacle, the robot will detect a collision at point F, switch back to the edge-cleaning strategy, and move along the edge from point F to point H and back to point E. Since point E is a point that has been visited before, it is considered that the navigation has failed because the navigation has been repeated. An alarm message can be issued to notify human intervention.

[0075] If the cleaning robot gets stuck while moving towards the target location, it can be set to consider that it has moved to the same position if it gets stuck for more than a preset time. At this time, the cleaning robot will also issue an alarm message to notify human intervention.

[0076] It should be noted that the cleaning robot can use laser signals acquired by LiDAR for edge following, or it can use wall-following sensors installed on one or both sides of the robot. Furthermore, once the global path is determined, the cleaning robot's edge-following direction remains consistent throughout each edge-following process. Only the left or right side of the robot is controlled for wall following, without arbitrarily changing the direction. For example, when wall-following sensors are installed on both sides of the cleaning robot, only the left or only the right wall-following sensor is activated.

[0077] In existing technology, if a cleaning robot, while cleaning one room and moving to another, encounters a person's feet repeatedly in a narrow passageway, it might perceive this as an obstacle and block the passage. The robot might then abandon cleaning that room and move on to other rooms. If, after cleaning all other rooms, it needs to return to its charging dock, and the workstation happens to be in the abandoned room, path planning will fail, leading to issues such as... Figure 5 The indicated target location is unreachable. If the cleaning robot encounters dynamic obstacles or if some entrances are blocked by a real-time map during operation, it will be unable to use the A* class path planning algorithm to plan a navigation path.

[0078] The technical solution provided in the above embodiments of this application can connect the starting position and the target position to obtain a global path when the target position is determined to be unreachable. It moves towards the target position along the global path. Whenever a collision is detected, it switches to the edge cleaning strategy and records the real-time position. Whenever the real-time position is on the global path, it switches to continue moving along the global path until the target position is reached or the position is repeated. This can solve the problem of the path being unable to be planned due to the temporary blockage of the passage caused by dynamic obstacles. It can help the cleaning robot get out of trouble and improve the user experience.

[0079] It should be noted that if an area in the actual environment is separated by glass, low obstacles, or a full-length mirror, the cleaning robot will not be able to perceive it when building an environmental map using LiDAR, leading to an inaccurate environmental map and the cleaning robot mistaking the separated area for a reachable one. For example... Figure 8 As shown, (1) represents the real environment, and (2) represents the environment map. The glass wall 81 in the real environment cannot be detected by the lidar and therefore cannot be constructed in the environment map. The cleaning robot will consider the area behind the glass wall 81 to be reachable and cleanable based on the environment map. It can plan a navigation path based on the constructed environment map. The cleaning robot will then follow the navigation path to move until a collision occurs. Then it will replan the path, follow the path again, and collide again... In this way, the cleaning robot will keep colliding, affecting its normal operation.

[0080] To address the issue of cleaning robots being unable to perceive glass, mirrors, and low obstacles, causing them to continuously attempt to move into areas separated by these objects and hindering their normal operation, this application's embodiments, upon planning a navigation path from the starting point to the target location (i.e., the target location is reachable), can first move towards the target location along the planned navigation path. Whenever collision information is detected, the collision location corresponding to the collision information is mapped onto the environmental map, and a new navigation path from the current location to the target location is planned, until no navigation path can be planned or the target location can be reached.

[0081] like Figure 9 As shown, point P represents the starting position, and point Q represents the target position. The cleaning robot... Figure 8 (2) The environmental map shown can be used to plan out Figure 9 (1) shows the navigation path from point P to point Q. When the cleaning robot follows this navigation path, it encounters real-world environments (such as...). Figure 8 The glass wall 81 shown in (1) maps the collision location to the constructed environment map (e.g., Figure 9 (2) As shown, the cleaning robot then replans its path from the current point, resulting in the following: Figure 9(2) As shown in the navigation path, the cleaning robot tracks the path and collides again. The new collision location is then mapped onto the environmental map, and path planning is performed again to obtain... Figure 9 (3) The navigation path shown is repeated cyclically (see Figure 9 (4) and Figure 9 (5) until the target location is reached, or until a navigation path cannot be planned (e.g. Figure 9 (6) If the task is abandoned, the cleaning task to the target location will be abandoned.

[0082] The collision locations are mapped onto the environment map in the following way: (e.g.) Figure 10 As shown, there are two collision sensors, located on the front sides of the cleaning robot, which can be referred to as sensor 1 and sensor 2 for distinction.

[0083] In one embodiment, if collision information triggered by any collision sensor (e.g., sensor 1) is received, the center point position (point O) of the cleaning robot is obtained; the center point position (point O) is connected to the position of the collision sensor (sensor 1) to form a first straight line (OA); a perpendicular line segment (A1A2) of a preset length, perpendicular to the first straight line (OA) and tangent to the edge of the cleaning robot, is mapped onto the environmental map as an obstacle. The preset length can be half the length of the cleaning robot's body.

[0084] In one embodiment, if collision information is received simultaneously from two collision sensors, the center point position (point O) of the cleaning robot is obtained; the center point position (point O) is connected to the front end of the cleaning robot to form a second straight line (OB); a perpendicular line segment (B1B2) of a preset length, perpendicular to the second straight line (OB) and tangent to the edge of the cleaning robot, is mapped onto the environmental map as an obstacle. The preset length can be half the length of the cleaning robot's body.

[0085] The technical solution provided in the above embodiments can move towards the target location along the planned navigation path according to the cleaning task when the target location is reachable. Whenever collision information is detected, the collision location corresponding to the collision information is mapped to the environmental map, and the navigation path from the current location to the target location is replanned until no navigation path can be planned or the target location can be reached. This can solve the problem that the cleaning robot cannot perceive glass, mirrors, and low obstacles, causing the cleaning robot to keep trying to move to the area separated by these objects, which affects the normal operation of the cleaning robot.

[0086] The following are embodiments of the apparatus described in this application, which can be used to execute the path planning and navigation method embodiments described above. For details not disclosed in the apparatus embodiments of this application, please refer to the method embodiments based on path planning and navigation described in this application.

[0087] Figure 11 This is a block diagram illustrating a path planning and navigation device according to an embodiment of this application, such as... Figure 11 As shown, the device includes:

[0088] The reachability determination module 1110 is used to determine whether a preset target location is reachable based on the environmental map and the starting position of the cleaning robot;

[0089] The location connection module 1120 is used to connect the starting position and the target position to obtain a global path if the target position is unreachable.

[0090] The path tracking module 1130 is used to move along the global path to the target position. Whenever collision information is detected, it switches to the edge cleaning strategy and records the real-time position.

[0091] The path switching module 1140 is used to switch to continue moving along the global path whenever the real-time position is on the global path, until the target position is reached or the position is repeated.

[0092] The specific implementation process of the functions and roles of each module in the above-mentioned device can be found in the implementation process of the corresponding steps in the above-mentioned path planning and navigation method, and will not be repeated here.

[0093] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0094] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0095] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A method for path planning and navigation, characterized in that, The method is applied to a cleaning robot, which constructs an environmental map using LiDAR and has collision sensors at its edges. The method includes: Based on the environmental map and the starting position of the cleaning robot, determine whether the preset target position is reachable; If the target location is unreachable, determine the type of being trapped; the types of being trapped are divided into being trapped at the starting point and being trapped at the ending point; If the type of being trapped is "trapped at the destination", then abandon the target location; If the trapped type is "trapped at the starting point", connect the starting point position and the target position to obtain a global path; wherein, the global path is a straight line segment connecting the starting point position and the target position; Move along the global path towards the target location. Whenever collision information is detected, switch to the edge cleaning strategy and record the real-time position. Whenever the real-time position is on the global path, switch to continue moving along the global path until the target position is reached or the position is repeated.

2. The path planning and navigation method according to claim 1, characterized in that, The step of determining whether a preset target location is reachable based on the environmental map and the starting position of the cleaning robot includes: Based on the environmental map and the starting position of the cleaning robot, plan a navigation path from the starting position to the target position; Whether the target location is reachable is determined based on whether the navigation path can be planned.

3. The path planning and navigation method according to claim 1, characterized in that, The method further includes: If the target location is reachable, move towards the target location along the planned navigation path; Whenever collision information is detected, the collision location corresponding to the collision information is mapped onto the environment map, and the navigation path from the current location to the target location is replanned until no navigation path can be planned or the target location can be reached.

4. The path planning and navigation method according to claim 3, characterized in that, The collision sensor has two components, located on either side of the front end of the cleaning robot; the step of mapping the collision location corresponding to the collision information onto the environmental map whenever collision information is detected includes: If a collision information triggered by any collision sensor is received, the center point position of the cleaning robot is obtained; Connect the center point with the location of the collision sensor to form a first straight line; A perpendicular line segment of a preset length, perpendicular to the first straight line and tangent to the edge of the cleaning robot, is mapped onto the environmental map.

5. The path planning and navigation method according to claim 4, characterized in that, The step of mapping the collision location corresponding to the collision information to the environment map whenever collision information is detected includes: If collision information is received from two collision sensors simultaneously, the center point position of the cleaning robot is obtained; Connect the center point with the front end of the cleaning robot to form a second straight line; A perpendicular line segment of a preset length, perpendicular to the second straight line and tangent to the edge of the cleaning robot, is mapped onto the environmental map.

6. The path planning and navigation method according to claim 1, characterized in that, If the target location is unreachable, the type of being trapped is determined, including: If the target location is unreachable, plan a navigation path from the starting point to the workstation; If a navigation path from the starting point to the workstation cannot be planned, the type of being trapped is determined to be "starting point trapped".

7. The path planning and navigation method according to claim 6, characterized in that, The method further includes: If a navigation path from the starting point to the workstation is planned, and the type of being trapped is determined to be "trapped at the destination," then the target location is abandoned.

8. The path planning and navigation method according to claim 1, characterized in that, The method further includes: If the navigation system moves to the same location repeatedly, it is determined that the navigation has failed and an alarm message is issued.

9. A cleaning robot, characterized in that, The cleaning robot includes: processor; Memory is used to store processor-executable instructions; LiDAR is used to create environmental maps of the cleaning area that the cleaning robot is cleaning. Collision sensors are used to detect collision information of the cleaning robot; The processor is configured to execute claim 1 based on data from the lidar and the collision sensor.

8. Any of the path planning and navigation methods described in the above.

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