A path planning method for a robot to perform disinfection tasks

Abstract

The present invention discloses a path planning method for a robot to perform a disinfection task, comprising the following steps: S1: creating a clean area, binding the working point data in the clean area, and marking the entry and exit disinfection points and disinfection methods of the clean area; S2: judging whether the starting point and the target point are in the same clean area, if so, turning to S3, if not, turning to S4; S3: calculating all path points according to the path planning algorithm across floors or buildings; judging whether all path points are in the same disinfection area, if not, turning to S4. The present invention can realize the disinfection task behavior control of the robot, flexibly obtain the disinfection task execution route, thereby adapting to the complexity and variability of the scene, thereby improving the task execution efficiency.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a path planning method for a robot to perform a disinfection task. Background Art

[0002] With the rapid development of modernization, logistics robots are being used more and more widely in our lives. At present, the main application scenario is to deliver goods to the destination. However, in some special scenarios, when the robot passes through different clean areas, it needs to be disinfected at a designated location before being delivered to the destination. Summary of the invention

[0003] The purpose of the present invention is to provide a path planning method for a robot to perform a disinfection task, which can realize the robot's disinfection task behavior control and flexibly obtain the disinfection task execution route, so as to adapt to the complexity and variability of the scene, thereby improving the task execution efficiency.

[0004] In order to achieve the above purpose, the following technical solutions are adopted:

[0005] A path planning method for a robot to perform a disinfection task comprises the following steps:

[0006] S1: Create a clean area, bind the work point data in the clean area, and mark the entry and exit points and disinfection methods of the clean area;

[0007] S2: Determine whether the starting point and the target point are in the same clean area. If so, go to S3; if not, go to S4;

[0008] S3: Calculate all path points according to the cross-floor or cross-building path planning algorithm; determine whether all path points are in the same disinfection area, if not, go to S4;

[0009] S4: Based on the working point data of the clean area, calculate the disinfection point of the area where the starting point is located and the disinfection point of the area where the target point is located; calculate all path points according to the path planning algorithm across floors or buildings based on the starting point and the exit disinfection point of the area where the starting point is located, the exit disinfection point of the area where the starting point is located and the entry disinfection point of the area where the target point is located, and the entry disinfection point of the area where the target point is located and the target point.

[0010] Furthermore, the S1 specifically includes the following steps:

[0011] S11: The robot creates a map by scanning the floors, wherein different buildings and floors are drawn as separate maps;

[0012] S12: Edit the map, including adding work points to the map, binding corresponding point types, erasing obstacles, and adding prohibited lines;

[0013] S13: Create several clean areas in the map, bind the corresponding work point data in each clean area, and mark the entry and exit points and disinfection methods in each clean area.

[0014] Furthermore, in S12, when editing the map, control instruction information for the door is added to the robot based on the coordinate points corresponding to the door on the map.

[0015] Furthermore, in S12, when editing the map, corresponding elevator configuration information will also be added, including elevator waiting points, elevator entry task points, elevator entry failure fallback points, elevator exit task points, elevator exit failure fallback points, and floor switching points.

[0016] Furthermore, the cross-floor path planning algorithm specifically includes the following steps:

[0017] S31: Determine whether the starting point and the target point are on the same layer;

[0018] S32: If the starting point and the target point are on the same layer, the path planning is: starting point - target point;

[0019] S33: If the starting point and the target point are not on the same floor, the path planning is: the robot's current position - elevator entrance - a point inside the elevator or a fallback point if the elevator fails to enter - a point inside the elevator on the target floor or a fallback point if the elevator fails to exit - elevator exit on the target floor - target point.

[0020] Furthermore, the cross-building path planning algorithm specifically includes the following steps:

[0021] S34: Determine whether the starting point and the target point are in the same building;

[0022] S35: If the starting point and the target point are not in the same building, the path planning is: robot current position - building switching point - target point;

[0023] S36: If the starting point and the target point are not in the same building and are not on the same floor, a path is comprehensively planned based on the path planning methods in S33 and S35;

[0024] Furthermore, when the robot starts to plan a path, it is also necessary to first determine which clean area the robot's current coordinates are in. The specific judgment process is as follows:

[0025] Get the distance A1 of the task point A closest to the robot's current coordinate point on the same floor map;

[0026] Get the distance B1 between the robot's last mission arrival point B and the current robot coordinates;

[0027] Compare A1 and B1, and take the clean area where the point with the closest distance is located as the clean area of ​​the robot's starting point.

[0028] By adopting the above scheme, the beneficial effects of the present invention are:

[0029] This method can realize the robot's disinfection task behavior control and flexibly obtain the disinfection task execution route to adapt to the complexity and variability of the scene, thereby improving the task execution efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a flow chart of the present invention;

[0031] Figure 2 It is a flow chart of the cross-floor path planning algorithm of the present invention;

[0032] Figure 3 A schematic diagram of path planning in which the starting point and the target point of the present invention are in the same clean area;

[0033] Figure 4 This is a schematic diagram of path planning for the starting point and the target point in different clean areas of the present invention. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0035] Reference Figures 1 to 4 As shown, the present invention provides a path planning method for a robot to perform a disinfection task, comprising the following steps:

[0036] S1: Create a clean area, bind the work point data in the clean area, and mark the entry and exit points and disinfection methods of the clean area.

[0037] The S1 specifically includes the following steps:

[0038] S11: The robot creates a map by scanning the floors, wherein different buildings and floors are drawn as separate maps;

[0039] S12: Edit the map, including adding work points to the map, binding corresponding point types, erasing obstacles, and adding prohibited lines;

[0040] S13: Create several clean areas in the map, bind the corresponding work point data in each clean area, and mark the entry and exit points and disinfection methods in each clean area.

[0041] In this step, the robot will create a map by scanning the floors. The map contains building outlines, fixed obstacles, etc. The robot's map size is limited, so different buildings and floors are drawn as maps. In this way, when moving across floors and buildings, you need to switch to the corresponding map before continuing to move; then, edit the map: such as adding work points to the map, binding corresponding point types, erasing obstacles, and adding prohibited lines. The point types in the map include:

[0042] -1: unknown type of point;

[0043] 1: Robot initial point;

[0044] 2: Charging point;

[0045] 3: Ordinary mission point;

[0046] 4: Floor switching point;

[0047] 5: Building switching point;

[0048] 6: Waiting point;

[0049] 7: Elevator waiting point;

[0050] 8: Enter the elevator mission point;

[0051] 9: Fallback point if elevator entry fails;

[0052] 10: Exit the elevator mission point;

[0053] 11: Failed to return to the elevator exit point;

[0054] 12: Disinfection point;

[0055] 13: docking point;

[0056] 14: Clean area disinfection point.

[0057] At the same time, based on the coordinate points corresponding to the doors on the map, control command information for the doors will be added to the robot. When the robot passes through the area, it can automatically send control commands to control the opening and closing of the doors. In addition, corresponding elevator configuration information will be added, including elevator waiting points, elevator entry task points, elevator entry failure fallback points, elevator exit task points, elevator exit failure fallback points, and floor switching points for use in taking the elevator.

[0058] S2: Determine whether the starting point and the target point are in the same clean area. If so, go to S3. If not, consider the starting point and the target point as different clean areas and replan the path, that is, go to S4.

[0059] S3: Calculate all path points according to the cross-floor or cross-building path planning algorithm; determine whether all path points are in the same disinfection area. If not, go to S4.

[0060] S4: Based on the working point data of the clean area, calculate the disinfection point of the area where the starting point is located and the disinfection point of the area where the target point is located; calculate all path points according to the path planning algorithm across floors or buildings based on the starting point and the exit disinfection point of the area where the starting point is located, the exit disinfection point of the area where the starting point is located and the entry disinfection point of the area where the target point is located, and the entry disinfection point of the area where the target point is located and the target point.

[0061] The cross-floor path planning algorithm specifically includes the following steps:

[0062] S31: Determine whether the starting point and the target point are on the same layer;

[0063] S32: If the starting point and the target point are on the same layer, the path planning is: starting point - target point;

[0064] S33: If the starting point and the target point are not on the same floor, it means that cross-floor movement is required. According to the points of all point types loaded by the robot, the nearest elevator configuration is found, and the cross-floor points are planned into the path, that is, the path planning is: robot current position - elevator entrance - point in the elevator or fallback point when entering the elevator fails - point in the elevator on the target floor or fallback point when exiting the elevator fails - elevator exit on the target floor - target point.

[0065] In addition, the cross-building path planning algorithm specifically includes the following steps:

[0066] S34: Determine whether the starting point and the target point are in the same building;

[0067] S35: If the starting point and the target point are not in the same building, it means that it is necessary to move across buildings. According to the points of all point types loaded by the robot, the building switching point of the map is searched, that is, the path planning is: the current position of the robot - the building switching point - the target point;

[0068] S36: If the starting point and the target point are not in the same building and are not on the same floor, a path is comprehensively planned based on the path planning methods in S33 and S35.

[0069] When the robot starts planning a path, it needs to first determine which clean area the robot's current coordinates are in. The specific judgment process is as follows:

[0070] Get the distance A1 of the task point A closest to the robot's current coordinate point on the same floor map;

[0071] Get the distance B1 between the robot's last mission arrival point B and the current robot coordinates;

[0072] Compare A1 and B1, and take the clean area where the point with the closest distance is located as the clean area of ​​the robot's starting point.

[0073] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A path planning method for a robot to perform a disinfection task, characterized in that: The steps include: S1: Create a clean area, bind the work point data in the clean area, and mark the entry and exit points and disinfection methods of the clean area; S2: Determine whether the starting point and the target point are in the same clean area. If so, go to S3; if not, go to S4; S3: Calculate all path points according to the cross-floor or cross-building path planning algorithm; determine whether all path points are in the same disinfection area, if not, go to S4; S4: Based on the working point data of the clean area, the disinfection points in the area where the starting point is located and the disinfection points in the area where the target point is located are calculated; based on the starting point and the exit disinfection point in the area where the starting point is located, the exit disinfection point in the area where the starting point is located and the entry disinfection point in the area where the target point is located, and the entry disinfection point in the area where the target point is located and the target point, all path points are calculated according to the cross-floor or cross-building path planning algorithm; The S1 specifically includes the following steps: S11: The robot creates a map by scanning the floors, wherein different buildings and floors are drawn as separate maps; S12: Edit the map, including adding work points to the map, binding corresponding point types, erasing obstacles, and adding prohibited lines; S13: Create several clean areas in the map and bind the corresponding work point data in each clean area, and Mark the entry and exit points and disinfection methods in each clean area; In said S12, when editing the map, control instruction information for the door is also added to the robot based on the coordinate point corresponding to the door on the map; In said S12, when editing the map, corresponding elevator configuration information will also be added, including elevator waiting points, elevator entry task points, elevator entry failure fallback points, elevator exit task points, elevator exit failure fallback points, and floor switching points; The cross-floor path planning algorithm specifically includes the following steps: S31: Determine whether the starting point and the target point are on the same layer; S32: If the starting point and the target point are on the same layer, the path planning is: starting point - target point; S33: If the starting point and the target point are not on the same floor, the path planning is: the robot's current position - elevator entrance - a point inside the elevator or a fallback point if the elevator fails to enter - a point inside the elevator on the target floor or a fallback point if the elevator fails to exit - the elevator exit on the target floor - the target point; The cross-building path planning algorithm specifically includes the following steps: S34: Determine whether the starting point and the target point are in the same building; S35: If the starting point and the target point are not in the same building, the path planning is: robot current position - building switching point - target point; S36: If the starting point and the target point are not in the same building and are not on the same floor, a path is comprehensively planned based on the path planning methods in S33 and S35; When the robot starts planning a path, it also needs to determine which clean area the robot's current coordinates are in. The specific judgment process is as follows: Get the distance A1 of the task point A closest to the robot's current coordinate point on the same floor map; Get the distance B1 between the robot's last mission arrival point B and the current robot coordinates; Compare A1 and B1, and take the clean area where the point with the closest distance is located as the clean area of ​​the robot's starting point.

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