A robot-based path determination method, device and robot

Abstract

The present application provides a robot-based path determination method, device and robot, which obtains a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes multiple path nodes and path lines; the path nodes are connected by the path lines; in response to a trigger operation on the map, the fine-grained path map is preset and processed to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints; the path in the coarse-grained path map is detected to determine the path that can be configured to specify the path running direction. In this way, the path that can be configured to specify the path running direction can be determined directly based on the coarse-grained path map, so that the path running direction configuration is more in line with the actual situation of the site / scene, so as to reduce the cost of user configuration reset and robot operation modification.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot-based path determination method, device and robot. Background Art

[0002] In the prior art, the current robot can generate a corresponding path according to the target point set by the user, so as to support the robot to reach the target point through the corresponding path.

[0003] In actual applications, due to various customized needs, users can set the robot's running direction on a certain section of the path in the map according to their needs. For example, a certain section of the path is bidirectional, but because there are many robots passing through this section of the path, it is easy to cause congestion in a short time. At this time, the user can set this section of the path as a one-way route according to personalized settings.

[0004] In the prior art, users can configure the direction of any path in the map. If the path direction is specified for some of the paths, the robot cannot continue to move because there is no passable path ahead of a certain section of the road. This means that the user's configuration does not conform to the actual site / scene, which in turn causes the robot to work ineffectively, reduces the robot's work efficiency, increases the robot's management cost, and increases the cost of user configuration resetting and robot operation modification. Summary of the invention

[0005] In view of this, the purpose of the present application is to at least provide a robot-based path determination method, device and robot, which directly determine a path with a configurable specified path running direction based on a coarse-grained path map, so that the path running direction configuration is more in line with the actual situation of the site / scene, so as to reduce the cost of user configuration reset and robot operation modification.

[0006] This application mainly includes the following aspects:

[0007] In a first aspect, an embodiment of the present application provides a robot-based path determination method, the path determination method comprising:

[0008] Obtaining a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes a plurality of path nodes and path lines; the path nodes are connected by the path lines;

[0009] In response to a trigger operation on a map, the fine-grained path map is preset to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints;

[0010] Detect the paths in the coarse-grained path map and determine the paths that can be configured to specify the path running direction.

[0011] In a second aspect, an embodiment of the present application further provides a path determination device for a robot, the path determination device comprising:

[0012] A fine-grained path map generation module is used to obtain a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes a plurality of path nodes and path lines; the path nodes are connected by the path lines;

[0013] A coarse-grained path map generation module is used to respond to a trigger operation on the map, perform preset processing on the fine-grained path map, obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints;

[0014] The path determination module is used to detect the paths in the coarse-grained path map and determine the paths that can be configured to specify the path running direction.

[0015] In a third aspect, an embodiment of the present application further provides a robot, comprising: a processor, a memory, an operating screen and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory and the operating screen through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the robot-based path determination method as described in the first aspect.

[0016] The robot-based path determination method, device and robot provided in the embodiment of the present application obtain a fine-grained path map corresponding to the preset operation area of ​​the robot; the fine-grained path map includes multiple path nodes and path lines; the path nodes are connected by the path lines; in response to the triggering operation of the map, the fine-grained path map is preset and processed to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints; the path in the coarse-grained path map is detected to determine the path that can be configured to specify the path running direction. In this way, the path that can be configured to specify the path running direction can be determined directly based on the coarse-grained path map, so that the path running direction configuration is more in line with the actual situation of the site / scene, so as to reduce the cost of user configuration reset and robot operation modification.

[0017] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A flowchart of a robot-based path determination method provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a laser map corresponding to a preset moving area provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of a boundary map corresponding to a preset movement area provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of a fine-grained path map provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of a coarse-grained path map provided in an embodiment of the present application;

[0025] Figure 7 A schematic diagram of a direction configuration pop-up window provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of a coarse-grained path after configuring the running direction provided in an embodiment of the present application;

[0027] Fig. 9 A schematic diagram of a pop-up window for configuring a driving mode provided in an embodiment of the present application;

[0028] Fig.10 A schematic diagram of the structure of a robot-based path determination device provided in an embodiment of the present application;

[0029] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0031] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0032] First, the application scenarios to which this application can be applied are introduced. This application is applied to the field of robots. Specifically, a delivery robot is an intelligent device that replaces manual delivery services. While bringing customers a novel experience, it can also reduce manual labor intensity and improve work efficiency. It has been increasingly used in canteens, restaurants, hotels and other places. This application is not limited to the type of service robots. For example, it can also be an autonomous leading robot, a welcoming robot, a patrol robot, a disinfection robot, etc.

[0033] In the prior art, the current robot can generate a corresponding path according to the target point set by the user, so as to support the robot to reach the target point through the corresponding path.

[0034] In actual applications, due to various customized needs, users can set the robot's running direction on a certain section of the path in the map according to their needs. For example, a certain section of the path is bidirectional, but because there are many robots passing through this section of the path, it is easy to cause congestion in a short time. At this time, the user can set this section of the path as a one-way route according to personalized settings.

[0035] In the prior art, users can configure the direction of any path in the map. If the path direction is specified for some of the paths, the robot cannot continue to move because there is no passable path ahead of a certain section of the road. This means that the user's configuration does not match the site / scene, which in turn causes the robot to work ineffectively, reduces the robot's work efficiency, increases the robot's management cost, and increases the cost of user configuration resetting and robot operation modification.

[0036] Based on this, an embodiment of the present application provides a robot-based path determination method, which directly determines a path with a configurable specified path running direction based on a coarse-grained path map, so that the path running direction configuration is more in line with the actual situation of the site / scene, thereby reducing the cost of user configuration reset and robot operation modification.

[0037] See also Figure 1 , Figure 1 The following is a flow chart of a robot-based path determination method provided in an embodiment of the present application. Figure 1 As shown, the robot-based path determination method provided in the embodiment of the present application includes the following steps:

[0038] S101: Obtain a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes a plurality of path nodes and path lines; the path nodes are connected by the path lines.

[0039] S102: In response to a triggering operation on the map, the fine-grained path map is preset to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints.

[0040] S103: Detecting the paths in the coarse-grained path map, and determining the paths that can be configured with the specified path running direction.

[0041] The robot-based path determination method provided in the embodiment of the present application can directly determine a path with a configurable specified path running direction based on a coarse-grained path map, so that the path running direction configuration is more in line with the actual situation of the site / scene, thereby reducing the cost of user configuration reset and robot operation modification.

[0042] The following is a description of the exemplary steps of the present application embodiment:

[0043] S101, obtaining a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes a plurality of path nodes and path lines; the path nodes are connected by the path lines.

[0044] In the embodiments of the present application, with the development of science and technology, the application fields of intelligent robots are constantly expanding. For example, intelligent robots can act as customer service to help users solve problems, or they can move along preset routes within a certain area to complete tasks such as moving objects.

[0045] In one possible implementation, see Figure 2 , Figure 2 This is a schematic diagram of the structure of a robot provided in an embodiment of the present application. The robot may be an autonomous delivery robot, such as a food delivery robot, a plate return robot in a restaurant, or a hotel delivery robot. Figure 2 As shown, the robot provided in the present application includes a shell A1 for carrying items, a mobile chassis A2, a function controller that provides user operations, a bottom controller for map generation and path planning, and an element controller (not shown in the figure) that controls the mobile unit and the environment detection unit. The mobile chassis A2 is provided with at least two sets of driving wheels A210, and each set of driving wheels A210 is respectively located on one side of the mobile chassis A2; the element controller controls the travel speed of the driving wheels A210, and at least one turn signal A220 is provided at the bottom of the mobile chassis A2.

[0046] The robot of the present application is equipped with a collection sensor and a modeling processor. The modeling processor models the environmental data collected by the collection sensor to construct a laser map. In this embodiment, the collection sensor includes a laser radar, an ultrasonic sensor, and an infrared sensor. The laser radar, ultrasonic sensor, and infrared sensor are used to collect data on the working area of ​​the robot. The modeling processor uses the data collected by these sensors to create a map, and further plans the path according to the laser map. The current position, target point, and obstacle position of the robot are determined according to the laser map, and then the path planning is completed according to the current position, target point, and obstacle position, thereby forming a fine-grained path map. The robot will move according to the path in the fine-grained path map.

[0047] Specifically, the target point is a position set by the user, or a position to be moved to determined by the processing system of the robot, wherein the target point can be the next position to be moved to during the movement process, or the position that the robot finally needs to reach. The current position is the real-time position information of the robot determined by the position sensor of the robot.

[0048] In one possible implementation, the preset operating area may be the entire area where the robot performs motion tasks. For example, if the robot is a food delivery robot performing a food delivery task, then the preset operating area may be the entire restaurant area (including the restaurant entrance, dining area, back kitchen, etc.).

[0049] In one possible implementation, see Figure 3 , Figure 3 A schematic diagram of a laser map corresponding to a preset moving area provided in an embodiment of the present application. Figure 4 , Figure 4 A schematic diagram of a boundary map corresponding to a preset movement area provided in an embodiment of the present application.

[0050] After determining the preset moving area corresponding to the robot, the robot scans the map corresponding to the site through laser and obtains the map corresponding to the preset moving area. Figure 3 The laser map shown in the figure is then Figure 3 The laser map shown in Figure 4 The boundary map shown in the figure, after obtaining the boundary map, generates a corresponding fine-grained path map according to a preset algorithm. The preset algorithm is specifically as follows: based on the preset minimum width of the robot operation, the laser map, the boundary map and multiple target points set by the user, the passable space on the boundary map is judged, and then a path node is generated in the middle of the passable path of the boundary map according to the target point to be reached, to ensure that all target points can be reached through the path. After this processing, a fine-grained path map can be generated. In this application, each path node has a non-repetitive identity and any number of neighboring points. The path node and its neighboring points are connected by a path line. The path line indicates that the robot can pass through the corresponding path. When the robot moves in the preset moving area, it will move according to the path nodes and path lines of the fine-grained path map to perform tasks.

[0051] In one possible implementation, the fine-grained path map includes all target points (path nodes) that the robot can reach during the food delivery process. The fine-grained path map can meticulously identify all locations that the robot can reach, allowing the user to set the destination and route for the robot's moving path in a more fine-grained manner and select the route. For example, the need to update the size of the path's turns can be achieved through the editing operations of the denser path points and path lines in the fine-grained map to achieve a smoother and smaller turning path.

[0052] The fine-grained path map is a configuration file that stores information about all path nodes. The information about each path node includes the path number and the zero point number. The fine-grained path map displayed in the software is a visual display of the corresponding configuration file. In this application, any modification operations on the fine-grained path map (such as adding or deleting nodes and paths) will be synchronously modified to the configuration file.

[0053] Among them, the fine-grained path map consists of path nodes and path lines between path nodes. Each path point corresponds to a non-repeating ID (such as a serial number, etc.) and multiple neighboring points. This information will be stored in the configuration file.

[0054] In one possible implementation, the fine-grained path map is generated by calculating a laser map corresponding to a preset moving area, a boundary map, and multiple target points set by the user through a preset algorithm, and the generation method is based on the minimum walking width of the robot.

[0055] Specifically, the user may have restrictions on the robot's range of motion in a preset moving area. Therefore, the present application provides corresponding boundary editing functions for the laser map and boundary map, respectively. The laser map can provide users with editing functions such as erasing, and the boundary map can provide users with drawing functions. In this way, the user can adjust the laser map or boundary map according to the actual environment and needs of the preset moving area.

[0056] For example, there are many customers at the condiment table in a hot pot restaurant. If the user requires the robot to bypass this area when performing tasks, the user can add two new boundaries (bold black lines) on both sides of the condiment table. All lines on the boundary map can be considered as a wall that the robot cannot pass through, and the robot will not enter this area when moving; or robots generally do not go to the non-dining and food preparation areas of the restaurant (for example, restrooms, etc.). Therefore, a new boundary setting can be added at the entrance of the restroom, and the robot can be considered as a wall during operation and will not be able to pass through.

[0057] The solution of adjusting the boundary map and laser map can restrict the robot from entering certain areas, allowing users to perform simple customization of the robot's movement, but more detailed customization is still not possible. If the preset moving area environment is more complex, and the user wants to make some more precise customizations to the robot's route, such as walking along the edge of certain corners, adjusting some routes, etc., these all require the user to define the settings again.

[0058] Furthermore, during the actual use of the robot, the user setting function is opened, and the user can customize the robot's accessible locations and paths according to the robot's specific usage scenarios. However, not all path nodes in the fine-grained path map need to be set. In order to present key path nodes to users more clearly and reduce the steps and time for users to set the path, the fine-grained path map can be processed to obtain a coarse-grained path map and display it. Users can design the robot's delivery path based on the coarse-grained path map, which can effectively reduce the time users spend setting each path point, thereby improving the efficiency of users' customized path settings.

[0059] For example, see Figure 5 , Figure 5 A schematic diagram of a fine-grained path map provided in an embodiment of the present application, such as Figure 5As shown in , the fine-grained path map includes all set path nodes 1 to 98, and adjacent path nodes are connected by path lines. In the fine-grained path map, if the user needs to set a certain path, for example Figure 5 To set the 2-13 path shown in the figure, it is necessary to set the sub-path lines 2-11, 11-12, and 12-13 in sequence. The user's operation is very complicated. It is not intuitive to observe when the user sets a path with many sub-paths. The user's understanding and operation costs are high. Therefore, it is necessary to simplify the fine-grained path map to obtain a coarse-grained path map containing key path nodes to reduce the user's understanding and operation costs in setting the robot path.

[0060] S102. In response to a trigger operation on a map, the fine-grained path map is preset to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints.

[0061] In one possible implementation, the triggering operation for the map may be a user clicking on a displayed fine-grained path map or displaying an editing processing control on a display interface, and the user triggers the process of adjusting the fine-grained path map to a coarse-grained path map by a triggering operation (clicking, long pressing, etc.) on the editing processing control.

[0062] In a possible implementation, the method for simplifying a fine-grained path map into a coarse-grained path map may be to globally simplify all paths in the fine-grained path map, to simplify a certain path (part) in the fine-grained path map, or to simplify a certain half of the path in the fine-grained path map. By providing different path simplification methods, it meets different user needs and provides users with a rich setting method to reduce the user's understanding cost of simplifying the fine-grained path map. The different simplification methods will be described below.

[0063] The first simplification method: simplify all paths in the fine-grained path map:

[0064] Specifically, the step of "presetting the fine-grained path map to obtain and display the coarse-grained path map" includes:

[0065] a1: Perform a depth-first search on all target path nodes to determine the number of adjacent points of each target path node.

[0066] a2: Take the target path nodes whose neighboring points are greater than or equal to three and whose neighboring points are one as the path endpoints.

[0067] a3: On the fine-grained path map, keep displaying the path endpoints and the path lines between adjacent path endpoints, do not display the target path nodes between adjacent path endpoints, obtain the coarse-grained path map and display it.

[0068] In an embodiment of the present application, a depth-first search (traversal) is performed on each target path node in the fine-grained path map to determine the number of adjacent points of each target path node; the target path points that need to be retained or deleted are determined based on the number of adjacent points of each target path node, thereby completing the conversion of the fine-grained path map to the coarse-grained path map.

[0069] In one possible implementation, the traversal method for each target path node may include triggering two target path nodes, drawing lines for different path nodes, or drawing circles within the path. The traversal starting point for the target path point can be any path node in the fine-grained path map, but it is necessary to ensure that all path nodes in the fine-grained path map have been traversed after the traversal is completed.

[0070] In one possible approach, based on the path nodes and path lines in the fine-grained path map, a path node with one neighboring point located at the starting point or end point of a one-way path node is a key target path node that can identify the path. At the same time, a path node with three or more neighboring points located at a target path node in multiple path directions that connects paths in multiple directions can also be the starting point or end point of a path. A path node with two neighboring points is generally located in the middle of a path line. The path node is a sub-path node in a path line. The sub-path node must be consistent with its parent path (consistent travel direction and travel interval, etc.), and does not need to be displayed additionally.

[0071] Therefore, in the process of simplifying path nodes, it is necessary to retain the target path nodes with neighboring points greater than or equal to three and the neighboring points equal to one, and determine the retained target path nodes as the path endpoints in the coarse-grained path map. On the fine-grained path map, keep displaying the path endpoints and the path lines between adjacent path endpoints, and do not display the target path nodes between adjacent path endpoints. The coarse-grained path map is obtained and displayed.

[0072] For example, see Figure 5 as well as Figure 6 , Figure 6 A schematic diagram of a coarse-grained path map provided in an embodiment of the present application, such as Figure 5 As shown Figure 6As shown, path node 2 has three neighboring nodes, namely path node 1, path node 3 and path node 11; path node 92 includes only one neighboring node 91; when simplifying the fine-grained path map, path node 2 and path node 92 need to be retained as path endpoints. For the path line 13-47-48-49-50-51-52-46, path node 47, path node 48, path node 49, path node 50, path node 51 and path node 52 are all path nodes that include two neighboring points, and are sub-path nodes located on the path 13-47-48-49-50-51-52-46. When simplifying the fine-grained path map, it is not necessary to display path node 47, path node 48, path node 49, path node 50, path node 51 and path node 52. Therefore, in the coarse-grained path map, the path 13-47-48-49-50-51-52-46 is displayed as a path including path endpoint 13-path endpoint 46.

[0073] With regard to the above setting method, the comprehensiveness of the user's coarse-grained processing of the map can be improved.

[0074] The second simplification method: Simplify a certain path (part) in the fine-grained path map:

[0075] In an embodiment of the present application, if you need to simplify the configuration of a path in a fine-grained path map, you can click on the path endpoint on the path. By clicking on the path endpoint, you can select the entire path line, and no longer display the sub-path nodes included in the entire path line. Only the two path endpoints of the path line are displayed to complete the coarse-grained display of the path segment.

[0076] For example, see Figure 5 If you need to set the path 23-24-25-26-27-28-29-30-13 in the fine-grained path map separately, you can click path node 23 and path node 13 respectively to select the entire path, and at the same time do not display path node 24, path node 25, path node 26, path node 27, path node 28, path node 29 and path node 30 in the path to obtain the simplified path 23-13.

[0077] In a possible implementation, after clicking on two path endpoints of a path, the entire path corresponding to the two path endpoints can be highlighted (such as highlighted display, etc.) to prompt the user with the currently set path information, thereby reducing the user's understanding cost of the path setting. At the same time, the simplified setting of a certain path can reduce the user's operating steps for coarse-grained map processing, thereby improving the efficiency and pertinence of the user's coarse-grained map processing.

[0078] The third simplification method: Simplify half of the path in the fine-grained path map:

[0079] In an embodiment of the present application, the method for setting half a path in a fine-grained path map can be: determine whether there is a path node sequence formed by three or more consecutive target path nodes in the path processing segment; if there is a path node sequence, then the two target path nodes located at the head and tail positions of the path node sequence are respectively used as path endpoints; for non-continuous target path nodes in the path processing segment, the non-continuous target path nodes adjacent to each other are used as path endpoints; keep displaying the path endpoints and the path lines between adjacent path endpoints, and do not display the target path nodes between adjacent path endpoints, so as to coarse-grainedly display the path processing segment of half the road.

[0080] For example, Figure 5 As shown, when the path 2-3-4-5-6 needs to be set (for example, the movement direction of the robot on this road is set), the path node 2, path node 3, path node 4, path node 4 and path node 6 can be clicked in sequence; and the selected path node can be highlighted to prompt the user of the path information that currently needs to be set, thereby reducing the user's understanding cost of the path setting. Similarly, the simplified setting of half of the paths is more in line with the user's setting requirements, which can reduce the user's operating steps for coarse-grained map processing and improve the efficiency and pertinence of the user's coarse-grained map processing.

[0081] In one possible implementation, after simplifying the fine-grained path map into a coarse-grained path map, the user can configure the specified path running direction for different paths through the paths displayed on the coarse-grained path map. For the running direction of the paths included in the fine-grained path map before simplification or the simplified coarse-grained path map, if the user makes additional settings, two-way traffic is allowed by default. For some paths, it may be necessary to set the running mode on the path due to the path setting in the actual scene (for example, there is a gate on the path that only allows one-way traffic) or the traffic conditions of the path itself (for example, for a congested road section, if multiple robots run in different directions, it may aggravate the congestion). This ensures that the robot can run more smoothly on the path, thereby improving the efficiency of the robot in transporting items.

[0082] S103: Detect the paths in the coarse-grained path map, and determine the paths that can be configured with the specified path running direction.

[0083] In an embodiment of the present application, although in theory the user can set the robot's running direction for any path in the coarse-grained path map, in actual scenarios there may be some paths where the robot cannot return to the starting point or can no longer continue walking after one-way running. For these paths, the user will not be able to set the path direction. Therefore, before the user sets the direction, the paths in the coarse-grained path map need to be screened to determine the paths that can be configured with the specified path running direction.

[0084] Specifically, the step of "detecting the paths in the coarse-grained path map and determining the paths that can be configured to specify the path running direction" includes:

[0085] b1: Perform a depth-first search on all path endpoints in the coarse-grained path map to determine at least one loop path included in the coarse-grained path map.

[0086] b2: determining the intra-loop path included in the loop path as a path that can be configured with a designated path running direction.

[0087] In an embodiment of the present application, when performing path screening for a coarse-grained path map that can be configured to specify a path running direction, it is necessary to determine at least one loop path included in the coarse-grained path map.

[0088] The loop path is a path that starts from any path endpoint included in the loop path along the path line in the loop path and can return to the starting path endpoint again.

[0089] In one possible implementation, if a path is determined to be enterable and exitable, then even if a one-way running direction of the robot is set on this path, the robot can still return to the path. In this case, the path can be set as a loop path, and a specified running direction can be set for any path in the loop path.

[0090] For example, see Figure 6 ,like Figure 6 As shown, path 2-23-13 is a loop. If you start from path node 2 and pass through path node 23 and path node 13, you can still return to path node 2; therefore, the paths 2-23, 23-13 and 13-2 included in the loop path are all determined paths that can be configured to specify the path running direction.

[0091] In one possible implementation, all path endpoints in the coarse-grained path map can be traversed to determine at least one loop path included in the coarse-grained path map. By traversing the path endpoints on the coarse-grained path map, the number of operation steps for traversing the path nodes can be reduced, redundant information can be reduced, and the efficiency of path judgment can be improved.

[0092] Specifically, the step of "performing a depth-first search on all path endpoints in the coarse-grained path map to determine at least one loop path included in the coarse-grained path map" includes:

[0093] c1: Perform a depth-first search on all path endpoints in the coarse-grained path map to determine the number of adjacent points of each path endpoint and whether each path endpoint is repeatedly passed when traversing along the path line.

[0094] c2: Determine the path endpoints that have different numbers of adjacent points and are repeatedly passed through when traversing along the path line as path endpoints within the loop.

[0095] c3: Determine a path consisting of path endpoints and corresponding path lines in multiple loops as the loop path.

[0096] In an embodiment of the present application, for a path point with 1 neighboring point, this path point may be the end point of a path. If one-way traffic is configured on the path, the robot will have no path to follow, causing the robot to stagnate at the path node, resulting in failure of the transport mission.

[0097] For example, see Figure 6 ,like Figure 6 As shown in , on the path 58-92, the path endpoint 92 has only one neighboring point, the path endpoint 52, and the road may become a "dead end road". If the robot is set to a one-way running direction on the path, for example, the direction is from the path endpoint 52 to the path endpoint 92, then after the robot runs to the path endpoint 92, it will no longer be able to move forward, which will cause the robot's motion task to fail.

[0098] Therefore, in an embodiment of the present application, when determining a loop path, it is necessary to perform a depth-first search (traversal) on all path endpoints, and at the same time, the path endpoints whose number of adjacent points is not one and which are repeatedly passed when traversing along the path line are determined as path endpoints within the loop, and the path composed of the determined path endpoints within the loop is determined as the loop path.

[0099] For example, see Figure 6 ,like Figure 6As shown, the traversal starts from the path endpoint 10 located on the right side of the path endpoint 2. The next path endpoint of the path endpoint 10 is the path endpoint 46, the next path endpoint of the path endpoint 46 is the path endpoint 13, and the next path endpoint of the path endpoint 13 is the path endpoint 2. At this time, the number of neighboring points of the path endpoint 2 is 3 and the path endpoint 2 is repeatedly passed during the traversal process. At this time, the path endpoint 2 can be determined as the path endpoint in the loop. At the same time, the path 2-10-46-13 composed of the path endpoint 2, the path endpoint 10, the path endpoint 46, the path endpoint 13 and the path lines between the path endpoints is also determined as a loop path.

[0100] In another possible implementation, in order to traverse all path nodes in the map more carefully, when determining the loop path included in the map, the loop path determination process can also be performed in the fine-grained path map. The loop path is determined in the fine-grained path map by traversing the number of adjacent points of the path nodes in the map, and determining the path nodes whose number of adjacent points is not one and are repeatedly passed when traversing along the path line as path endpoints in the loop, thereby obtaining the loop path in the path map. The above-mentioned method of determining the loop path in the fine-grained path map is consistent with the method of determining the loop path in the coarse-grained path map, and will not be repeated here. At the same time, when determining the loop path through the fine-grained path map, the fine-grained path map can also be simplified to obtain a coarse-grained path map.

[0101] For example, see Figure 5 ,like Figure 5 As shown in , traverse leftward from path node 3 on the right side of path node 2, and when passing path endpoint 2, record path endpoint 2 (2), continue traversing leftward from path endpoint 2, pass path node 1, path node 14, path node 15, path node 16, path node 17, path node 18, path node 19, path node 20, path node 21, path node 22 in sequence, arrive at the next path endpoint 23, and record path endpoint 23 (2, 23); continue traversing, pass path node 24, path node 25, path node 26, path node 27, path node 28, path node 29, path node 30 in sequence, arrive at the next path endpoint 13, and record path endpoint 13 (2, 23, 13); continue traversing, pass path node 12 and path node 11 in sequence, arrive at the next path endpoint 2, at this time, path endpoint 2 is already in the record, then (2-23-13-2) forms a loop, and simplified paths 2-23, 23-13 and 13-2 can also be obtained.

[0102] Furthermore, the user can configure the direction of the path with a configurable specified running direction according to the path setting requirements in the actual scene of the path or the traffic conditions of the path itself. By configuring the running direction of the path, the user's actual robot operation requirements can be better met, the user's operating costs can be reduced, and the user's experience with the robot's autonomous settings can be enhanced.

[0103] Specifically, the path determination method further includes:

[0104] d1: In response to a configuration operation of a designated path running direction of a designated path segment in the coarse-grained path map, the robot is controlled to run in the designated path segment according to the designated path direction.

[0105] In an embodiment of the present application, a user may configure the direction of a selected path segment by performing a touch operation (such as a long press operation, etc.) on any path in the coarse-grained path map.

[0106] A path segment is determined by a path line between every two adjacent path endpoints.

[0107] In a possible implementation, the path selected by the user may be displayed in a highlighted form to prompt the user of the currently selected path that needs to be configured for the running direction, so that the user can clearly understand the path of the current running direction to be configured, thereby reducing the user's operation understanding cost.

[0108] In one possible implementation, after receiving a long press operation from the user, a direction configuration pop-up window may be displayed, which may include optional configuration directions, "bidirectional" and "unidirectional" (wherein the display of the unidirectional direction may be represented by a path endpoint); at the same time, a selection control may be set before different direction options, and the user may select the running direction that needs to be configured for the selected path by a touch operation (click operation) on the selected control.

[0109] For example, see Figure 7 , Figure 7 This is a schematic diagram of a direction configuration pop-up window provided in an embodiment of the present application, such as Figure 7As shown, after receiving the user's long press operation, the direction configuration pop-up window 710 is displayed. The direction configuration pop-up window 710 displays a "two-way" direction option, a "2-13" one-way direction option and a "13-2" one-way direction option. The user can select the direction to be set by selecting the control 711 in front of each direction option. The direction configuration pop-up window 710 also displays a cancel control 712 and a confirm control 713. The user can cancel the current direction setting by touching the cancel control 712; or the current direction setting can be saved by confirming the control 713. It is worth noting that after the user touches the cancel control 712 or the confirm control 713, the display of the direction configuration pop-up window can be canceled.

[0110] Furthermore, as mentioned above, the fine-grained path map can be a configuration file that stores all path node information included in the fine-grained path map. The path node information includes the path number and neighboring point information of the path node. After the user completes the setting of the running direction of the selected path, the path information corresponding to each path node needs to be deleted to ensure that the path running direction in the current map meets the user's setting requirements and to ensure that the current path setting meets the user's setting requirements.

[0111] Specifically, after the step of “determining the designated path running direction of the robot through the designated path segment in response to the configuration operation of the designated path running direction of the designated path segment in the coarse-grained path map”, the path determination method further includes:

[0112] e1: In the fine-grained path map, determine a plurality of path nodes included in a specified path segment.

[0113] e2: For each path node, based on the specified path running direction, the adjacent points between the path node and the adjacent points whose path directions are not in the specified path running direction are deleted from the neighbor point set corresponding to the path node.

[0114] In an embodiment of the present application, when the user configures the path running direction of the selected path, it is also necessary to synchronously modify the neighboring point information in the path map. The path direction of a certain path is controlled by the path nodes and neighboring points.

[0115] Specifically, for each path node, the path direction between the path node and the adjacent point is from the path node to the adjacent point.

[0116] In one possible implementation, it is necessary to determine multiple path nodes in a path for setting a specified path running direction, and for each path node, delete the adjacent points between the path node and the adjacent points whose path direction is not in the specified path running direction from the neighboring point set corresponding to the path node to ensure that the running direction between the current path nodes is unidirectional.

[0117] Exemplarily, if there is a path 2-10, when the path running direction on this path is bidirectional (default setting), then the path endpoint 10 is included in the neighbor point set of path endpoint 2, and similarly, the path endpoint 2 is also included in the neighbor point set of path endpoint 10; if a unidirectional path running direction from path endpoint 2 to path endpoint 10 is set for this path, then at this time, the path endpoint 10 is included in the neighbor point set of path endpoint 2, but the path endpoint 2 is not included in the neighbor point set of path endpoint 10; if a unidirectional path running direction from path endpoint 10 to path endpoint 2 is set for this path, then at this time, the path endpoint 2 is included in the neighbor point set of path endpoint 10, but the path endpoint 10 is not included in the neighbor point set of path endpoint 2.

[0118] For further information, see Figure 5 ,like Figure 5 As shown, if the path running direction of path 13-55 is set from path node 13 to path node 55, at this time, it is necessary to adjust the neighbor point sets of path node 13, path node 53, path node 54 and path node 55 located on the path. Specifically, delete path node 54 from the neighbor point set of path node 55, delete path node 53 from the neighbor point set of path node 54, and delete path node 13 from the neighbor point set of path node 53.

[0119] In a possible implementation, in order to allow the user to more clearly understand the setting of the path running direction of each path and reduce the user's understanding cost, after the user completes the setting of the specified path running direction for the path, an arrow of the specified path running direction will be drawn on the path with the specified running direction set to indicate the running direction on the path.

[0120] If no arrow is drawn on the path, the path is assumed to be in bidirectional direction.

[0121] For example, see Figure 8 , Figure 8 This is a schematic diagram of a coarse-grained path after configuring the running direction provided in the embodiment of the present application, such as Figure 8As shown, if the path running direction of path 2-23 is set (the running direction from path node 2 to path node 23), an arrow pointing from path node 2 to path node 23 will be drawn on path 2-23; if the path running direction of path 2-13 is set (the running direction from path node 2 to path node 13), an arrow pointing from path node 2 to path node 13 will be drawn on path 2-13; if the path running direction of path 2-10 is set (the running direction from path node 2 to path node 10), an arrow pointing from path node 2 to path node 10 will be drawn on path 2-10; at the same time, the running direction of the path without an arrow drawn in the coarse-grained path diagram (such as path 13-46) is the default bidirectional.

[0122] Furthermore, after the configuration of the specified path running direction of the specified path segment in the coarse-grained path map is completed, the path needs to be detected to detect whether there are unreachable path nodes in the path to ensure the rationality of the user's configuration of the path nodes and its compatibility with the actual application scenario.

[0123] Specifically, after the step of “in response to the configuration operation of the designated path running direction of the designated path segment in the coarse-grained path map, controlling the robot to run in the designated path segment according to the designated path running direction”, the path determination method further includes:

[0124] f1: Direction verification is performed on the processed fine-grained path map to determine whether all path nodes are reachable.

[0125] f2: If the result of the direction verification is verification failure, a direction configuration warning is generated.

[0126] In an embodiment of the present application, the processed fine-grained path map may be directionally verified, that is, it may be determined that any path node in the coarse-grained path map can be reached by starting from the path node, and there is no situation where a path node cannot be reached through any path.

[0127] For example, see Figure 8 ,like Figure 8 As shown, the three paths connected to path node 2 are all configured with a one-way running direction from path node 2 to the next path node. This point cannot be reached from any other path node in the processed path map. In this case, the direction configuration verification fails, and a mall direction configuration warning is required to inform the user that path node 2 cannot be reached, and prompt the user to adjust the direction of the adjacent path corresponding to path node 2.

[0128] In one possible implementation, the direction configuration warning may be displayed in the form of a pop-up window, in which the user may be informed of the numbers of the path nodes that cannot be reached in the current path map; the unreachable path nodes may also be highlighted in a coarse-grained path map or a fine-grained path map, prompting the user that the path nodes cannot be reached in the current path map and that the configuration of the above path nodes needs to be updated.

[0129] Furthermore, by setting up subsequent response measures for direction verification of the processed fine-grained path map, such as generating alarms and prompting users, not only can the accuracy of the path direction configuration be guaranteed, but users can also be reminded in time to take response measures, ensuring the rationality of the user's path node configuration and its compatibility with actual application scenarios.

[0130] In a possible implementation, the direction of the processed fine-grained path map may be verified by traversing all paths in the coarse-grained path map.

[0131] Specifically, the processed fine-grained path map is directionally verified in the following manner:

[0132] g1: Complete all paths in the coarse-grained path map configured with the specified running path direction through depth-first search traversal.

[0133] g2: Check whether there are any untraversed path nodes.

[0134] g3: If there are no untraversed path nodes, the verification is successful.

[0135] g4: If there are path points that have not been traversed, the verification is determined to have failed.

[0136] In an embodiment of the present application, all paths in the coarse-grained map can be traversed, and the path nodes passed by each traversed path can be recorded. After determining that all paths have been traversed, it is detected whether there are path nodes that have not been passed through in the recorded path nodes. If there are no path nodes that have not been passed through, the current direction is successfully verified, and all path nodes in the coarse-grained path map can be reached; if there are path nodes that have not been passed through, the current direction is verified unsuccessfully, and not all path nodes in the coarse-grained path map can be reached, and a direction configuration warning needs to be generated to prompt the user.

[0137] The above method can more comprehensively determine whether there are any unreached path nodes in the current coarse-grained path map. Since the above method requires traversing all paths in the coarse-grained path map, although it can ensure the comprehensiveness of path verification, it may have the problem of wasted traversal time and low efficiency of direction verification.

[0138] Based on this, in another possible implementation, direction verification may be performed based on each path node in the coarse-grained path map and the neighboring points of the path node.

[0139] Specifically, the processed fine-grained path map is directionally verified in the following manner:

[0140] h1: For each path endpoint corresponding to the path segment that completes the specified path running direction configuration: obtain the neighbor point set of each adjacent point corresponding to the path endpoint.

[0141] h2: If the path endpoint does not exist in all neighbor point sets, it is determined that the robot cannot reach the path endpoint and the verification fails.

[0142] In the embodiment of the present application, for verifying the path endpoints configured with the specified path running direction in the coarse-grained path map, it is necessary to obtain the neighboring point set of each path endpoint (wherein the neighboring points in the neighboring point set are the corresponding neighboring points of the path endpoint on the fine-grained path map before the coarse-grained display processing is performed), please refer to Figure 5 as well as Figure 8 , path endpoint 2 has three neighboring nodes 1, 11 and 3. If path nodes 1, 11 and 3 do not have path node 2 among their corresponding neighboring nodes, it means that path endpoint 2 is unreachable and a direction configuration warning needs to be generated to prompt the user.

[0143] The above method does not need to traverse all the paths in the coarse-grained path map, and can verify the direction more quickly and specifically, reducing the path traversal time and improving the efficiency of direction verification. The above two methods can be set according to specific verification requirements and are not specifically limited here.

[0144] The embodiment of the present application can implement direction verification through the above two path configuration methods, which helps to ensure the accuracy of the path direction configuration, ensure the rationality of the user's path node configuration and its compatibility with the actual application scenario.

[0145] In one possible implementation, after a depth-first search is performed to determine a path that can be configured with a specified path running direction, paths that do not require a configurable direction (non-loop paths or dead-end roads) need to be prompted or hidden to remind the user that the above path method cannot currently be configured with a specified path running direction.

[0146] Specifically, the path determination method further includes:

[0147] i1: determine a path endpoint with one adjacent point as a non-configurable endpoint, and determine a path passing through the non-configurable endpoint as a path in which the specified path running direction cannot be configured.

[0148] i2: hiding the path where the specified path running direction cannot be configured in the fine-grained path map and / or the coarse-grained path map, and / or displaying a non-configurable prompt message at a preset position of the path where the specified path running direction cannot be configured.

[0149] In one possible implementation, for a path that cannot be configured with a specified path running direction, in order to prevent the user from configuring the direction of the path, the path that cannot be configured with a specified path running direction can be directly hidden in the fine-grained path map and / or the coarse-grained path map, and the above-mentioned path is not displayed, or is displayed as a dotted line to prompt the user that there is currently a passable path, but the path cannot be configured with a direction.

[0150] In another possible implementation, the entire path may be displayed in the fine-grained path map and / or the coarse-grained path map, but when the user configures the direction of the path, a non-configurable prompt message is displayed to prompt the user that the current path is a path with a non-configurable path running direction.

[0151] Among them, the non-configurable prompt information can be a pop-up window. After the user selects a path with a non-configurable path running direction, a pop-up window pops up to remind the user that the path running direction of the current path cannot be configured; it can also be that the non-configurable one-way option is hidden in the direction configuration pop-up window, and only the default two-way option is displayed, so as to remind the user that the current path cannot be set to specify the path running direction.

[0152] Through the above method, the situation where the user has to set a specified running direction for a path that cannot be set can be reduced, and the cost of user configuration reset and robot operation modification can be reduced.

[0153] In a possible embodiment, the path determination method further includes: in response to a configuration operation of a specified driving mode for a specified path segment after a coarse-grained display, determining a specified driving mode for the robot to pass through the specified path segment, wherein the specified driving mode includes center driving and side driving, receiving a configuration operation of a specified side driving mode for a specified path segment after a coarse-grained display, and determining a specified side driving mode for the robot to pass through the specified path segment, wherein the side driving modes include driving on the left and driving on the right.

[0154] Here, the robot usually walks in the middle of the path by default for the convenience of turning around. However, for a scene with a large flow of people such as a restaurant, if the robot walks in the middle of the road, it will cause inconvenience to the guests. Moreover, if the robot encounters a guest blocking the way, it will have to take a detour, which will also affect the robot's work efficiency.

[0155] For this scenario, the problem can be solved by setting the path to drive sideways. In this application, Figure 5As shown, if the path segment 20-40 is set to travel in the center by default, and the user now requests to set it to travel on the right, the path segment 20-40 is first set to travel on the side, and the user is provided with two options for traveling on the side, including traveling on the left and traveling on the right. In response to the selection operation for traveling on the right, the setting of traveling on the side for the path segment 20-40 can be completed, so that when the robot travels to the path segment 20-40, it can make room for the guest to pass.

[0156] In one possible implementation, the configuration of a specified driving mode may be displayed and configured in the form of a pop-up window. After receiving a long press operation from the user on a certain path, a driving mode configuration pop-up window may be displayed. The driving mode may be selected in the driving mode configuration pop-up window. For example, you may choose to drive on the side of the road. The sub-options of driving on the side of the road include driving on the right and driving on the left. A mode selection control may be set before different driving options. The user may select the driving mode that needs to be configured for the selected path by touching the mode selection control (clicking it).

[0157] For example, see Fig. 9 , Fig. 9 This is a schematic diagram of a pop-up window for configuring the driving mode provided in an embodiment of the present application, such as Fig. 9 As shown, after receiving the user's long press operation, the driving mode configuration pop-up window 910 is displayed. The driving mode configuration pop-up window 910 includes a pull-over schematic area 911, as well as options for driving on the left and driving on the right. A mode selection control 912 can be set before different driving options. The user can select the driving mode that needs to be configured for the selected path by touching the mode selection control (clicking it).

[0158] Furthermore, by configuring the robot's driving mode through the simplified path map, the overall configuration efficiency can be improved.

[0159] In a possible embodiment, the path determination method further includes:

[0160] If it is determined that a one-way gate exists on the specified path segment, the one-way direction corresponding to the one-way gate is detected;

[0161] According to the detected unidirectional direction, the path running direction of the specified path segment is automatically configured as the unidirectional path running direction; and / or, whether the path width corresponding to the specified path segment is less than the preset width is detected. If the path width corresponding to the specified path segment is less than the preset width, the path running direction of the robot passing through the path segment is determined as the preset unidirectional path running direction.

[0162] For example, if there are one-way gates in certain areas of the restaurant that only allow one-way passage, the robot detects the one-way direction of the one-way gate, determines the path segment corresponding to the gate, and automatically configures the path passing through the gate to the corresponding one-way direction. When it detects that the width of a path is less than a preset width, it determines the path segment corresponding to the path and automatically sets the path segment to the one-way path running direction.

[0163] Specifically, if there is a one-way gate in the restaurant area, such as Figure 5 as well as Figure 6 As shown, the one-way gate exists in the path 13-55. At this time, the path 13-55 needs to be set as a one-way running path, and the running direction is 13-55. Then, at this time, the path node 13, path node 53, path node 54 and path node 55 on the path 13-55 need to be set. The specific setting method is: delete the path node 54 from the neighboring point set of the path node 55, delete the path node 53 from the neighboring point set of the path node 54, and delete the path node 13 from the neighboring point set of the path node 53.

[0164] It can be seen from the above description that the embodiments of the present application can achieve the purpose of simplifying the automatic direction setting of the path, thereby reducing the workload and helping to improve work efficiency.

[0165] The robot-based path determination method provided in the embodiment of the present application obtains a fine-grained path map corresponding to the preset operation area of ​​the robot; the fine-grained path map includes multiple path nodes and path lines; the path nodes are connected by the path lines; in response to the triggering operation of the map, the fine-grained path map is preset and processed to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints; the path in the coarse-grained path map is detected to determine the path that can be configured to specify the path running direction. In this way, the path that can be configured to specify the path running direction can be determined directly based on the coarse-grained path map, so that the path running direction configuration is more in line with the actual situation of the site / scene, so as to reduce the cost of user configuration reset and robot operation modification.

[0166] Based on the same application concept, a robot is also provided in an embodiment of the present application, including: a processor, a memory, an operation screen and a bus, the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory and the operation screen through the bus, and the machine-readable instructions are executed by the processor to perform the steps of the above-mentioned robot-based path determination method.

[0167] Based on the same application concept, the embodiments of the present application also provide a path determination device corresponding to the path determination method provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the path determination method in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0168] like Fig.10 As shown, Fig.10 A schematic diagram of a robot-based path determination device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown in , the path determination device 1000 includes:

[0169] A fine-grained path map generation module 1010 is used to obtain a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes a plurality of path nodes and path lines; the path nodes are connected by the path lines;

[0170] The coarse-grained path map generation module 1020 is used to respond to the trigger operation of the map, perform preset processing on the fine-grained path map, obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints;

[0171] The path determination module 1030 is used to detect the paths in the coarse-grained path map and determine the paths that can be configured to specify the path running direction.

[0172] In a possible implementation manner, the path determination device 1000 further includes a path configuration module (not shown in the figure), and the path configuration module is used to:

[0173] In response to a configuration operation of a designated path running direction of a designated path segment in the coarse-grained path map, controlling the robot to run in the designated path segment according to the designated path running direction;

[0174] A path segment is determined by a path line between every two adjacent path endpoints.

[0175] In a possible implementation, when the coarse-grained path map generation module 1020 is used to perform preset processing on the fine-grained path map, obtain a coarse-grained path map and display it, the coarse-grained path map generation module 1020 is used to:

[0176] Perform a depth-first search on all target path nodes to determine the number of adjacent points of each target path node;

[0177] Take the target path nodes with three or more neighbors and one neighbor as path endpoints:

[0178] On the fine-grained path map, the path endpoints and the path lines between adjacent path endpoints are kept displayed, and the target path nodes between adjacent path endpoints are not displayed, and the coarse-grained path map is obtained and displayed.

[0179] In a possible implementation, when the path determination module 1030 is used to detect the path in the coarse-grained path map and determine the path that can be configured with a specified path running direction, the path determination module 1030 is used to:

[0180] Performing a depth-first search on all path endpoints in the coarse-grained path map to determine at least one loop path included in the coarse-grained path map;

[0181] The loop path is a path that starts from any path endpoint included in the loop path and returns to the path endpoint where the path starts.

[0182] An inner loop path included in the loop path is determined as a path that can be configured with a designated path running direction.

[0183] In a possible implementation, when the path determination module 1030 is used to perform a depth-first search on all path endpoints in the coarse-grained path map to determine at least one loop path included in the coarse-grained path map, the path determination module 1030 is used to:

[0184] Performing a depth-first search on all path endpoints in the coarse-grained path map to determine the number of adjacent points of each path endpoint and whether each path endpoint is repeatedly passed when traversing along the path line;

[0185] Determine the path endpoints that have different numbers of adjacent points and are repeatedly passed through when traversing along the path line as path endpoints within the loop;

[0186] A path consisting of path endpoints in a plurality of loops and corresponding path lines is determined as the loop path.

[0187] In a possible implementation manner, the path determination device 1000 further includes a neighbor point deletion module (not shown in the figure), and the neighbor point deletion module is used to:

[0188] In the fine-grained path map, determining a plurality of path nodes included in a specified path segment;

[0189] For each path node, based on the specified path running direction, the adjacent points between the path node and the adjacent points whose path directions are not located in the specified path running direction are deleted from the adjacent point set corresponding to the path node;

[0190] For each path node, the path direction between the path node and the adjacent point is from the path node to the adjacent point.

[0191] In a possible implementation manner, the path determination device 1000 further includes a direction verification module (not shown in the figure), and the direction verification module is used to:

[0192] Direction verification is performed on the processed fine-grained path map to determine whether all path nodes are reachable;

[0193] If the result of the direction verification is verification failure, a direction configuration warning is generated.

[0194] In a possible implementation manner, the direction verification module is used to verify the direction of the processed fine-grained path map in the following manner:

[0195] Complete all paths in the coarse-grained path map configured with the specified running path direction through depth-first search traversal;

[0196] Check whether there are any untraversed path nodes;

[0197] If there is no untraversed path node, it means the verification is successful;

[0198] If there are path points that have not been traversed, the verification is determined to have failed.

[0199] In a possible implementation manner, the direction verification module is used to verify the direction of the processed fine-grained path map in the following manner:

[0200] For each path endpoint corresponding to the path segment that completes the specified path running direction configuration: obtain the neighbor point set of each adjacent point corresponding to the path endpoint;

[0201] If the path endpoint does not exist in all neighbor point sets, it is determined that the robot cannot reach the path endpoint and the verification fails.

[0202] In a possible implementation, the path determination device 1000 further includes a non-configurable path prompt module (not shown in the figure), and the non-configurable path prompt module is used to:

[0203] Determine a path endpoint with one adjacent point as a non-configurable endpoint, and determine a path passing through the non-configurable endpoint as a path in which the specified path running direction cannot be configured;

[0204] The path of the non-configurable specified path running direction is hidden in the fine-grained path map and / or the coarse-grained path map, and / or the non-configurable prompt information is displayed at a preset position of the path of the non-configurable specified path running direction.

[0205] The robot-based path determination device provided in the embodiment of the present application obtains a fine-grained path map corresponding to the preset operation area of ​​the robot; the fine-grained path map includes multiple path nodes and path lines; the path nodes are connected by the path lines; in response to the triggering operation of the map, the fine-grained path map is preset and processed to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints; the path in the coarse-grained path map is detected to determine the path that can be configured to specify the path running direction. In this way, the path that can be configured to specify the path running direction can be determined directly based on the coarse-grained path map, so that the path running direction configuration is more in line with the actual situation of the site / scene, so as to reduce the cost of user configuration reset and robot operation modification.

[0206] Based on the same application concept, see Fig.11 As shown, Fig.11 A structural schematic diagram of an electronic device provided in an embodiment of the present application includes: a processor 1110, a memory 1120 and a bus 1130, wherein the memory 1120 stores machine-readable instructions executable by the processor 1110, and when the electronic device 1100 is running, the processor 1110 communicates with the memory 1120 through the bus 1130, and the machine-readable instructions are executed by the processor 1110 when running to perform the steps of the robot-based path determination method as described in any of the above embodiments.

[0207] Based on the same application concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the robot-based path determination method provided in the above embodiment are executed.

[0208] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0209] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0210] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0211] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0212] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A robot-based path determination method, characterized in that: The path determination method comprises: Obtaining a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes a plurality of path nodes and path lines; the path nodes are connected by the path lines; In response to a trigger operation on a map, the fine-grained path map is preset to obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints; Detect the path in the coarse-grained path map, and determine the path that can be configured to specify the path running direction through the loop path in the coarse-grained path map; wherein the loop path is a path that starts from any path endpoint included in the loop path along the path line in the loop path and can return to the starting path endpoint again.

2. The path determination method according to claim 1, characterized in that: The path determination method further includes: In response to a configuration operation of a designated path running direction of a designated path segment in the coarse-grained path map, controlling the robot to run in the designated path segment according to the designated path running direction; The path line between every two adjacent path endpoints is determined as a path segment.

3. The path determination method according to claim 1 or 2, characterized in that: The presetting of the fine-grained path map to obtain and display a coarse-grained path map includes: Perform a depth-first search on all path nodes to determine the number of adjacent points of each path node; Take path nodes with three or more neighbors and one neighbor as path endpoints: On the fine-grained path map, the path endpoints and the path lines between adjacent path endpoints are kept displayed, and the path nodes between adjacent path endpoints are not displayed, and the coarse-grained path map is obtained and displayed.

4. The path determination method according to claim 2, characterized in that: The detecting the path in the coarse-grained path map and determining the path that can be configured to specify the path running direction through the loop path in the coarse-grained path map includes: Performing a depth-first search on all path endpoints in the coarse-grained path map to determine at least one loop path included in the coarse-grained path map; The inner loop path included in the loop path is determined as a path that can be configured with a designated path running direction.

5. The path determination method according to claim 4, characterized in that: The performing a depth-first search on all path endpoints in the coarse-grained path map to determine at least one loop path included in the coarse-grained path map includes: Performing a depth-first search on all path endpoints in the coarse-grained path map to determine the number of adjacent points of each path endpoint and whether each path endpoint is repeatedly passed when traversing along the path line; Determine the path endpoints that have different numbers of adjacent points and are repeatedly passed through when traversing along the path line as path endpoints within the loop; A path composed of path endpoints and corresponding path lines within a plurality of loops is determined as the loop path.

6. The path determination method according to claim 2, characterized in that: After the robot is controlled to run in the designated path segment according to the designated path running direction in response to the configuration operation of the designated path running direction of the designated path segment in the coarse-grained path map, the path determination method further includes: In the fine-grained path map, determining a plurality of path nodes included in a specified path segment; For each path node, based on the specified path running direction, the adjacent points between the path node and the adjacent points whose path directions are not located in the specified path running direction are deleted from the adjacent point set corresponding to the path node; For each path node, the path direction between the path node and the adjacent point is from the path node to the adjacent point.

7. The path determination method according to claim 2, characterized in that: After the robot is controlled to run in the designated path segment according to the designated path running direction in response to the configuration operation of the designated path running direction of the designated path segment in the coarse-grained path map, the path determination method further includes: Direction verification is performed on the processed fine-grained path map to determine whether all path nodes are reachable; If the result of the direction verification is verification failure, a direction configuration warning is generated.

8. The path determination method according to claim 7, characterized in that: The processed fine-grained path map is directionally verified by: Complete all paths in the coarse-grained path map configured with the specified running path direction through depth-first search traversal; Check whether there are any untraversed path nodes; If there is no untraversed path node, it means the verification is successful; If there are path points that have not been traversed, the verification is determined to have failed.

9. The path determination method according to claim 7, characterized in that: Direction verification of the processed fine-grained path map was performed by: For each path endpoint corresponding to the path segment that completes the specified path running direction configuration: obtain the neighbor point set of each adjacent point corresponding to the path endpoint; If the path endpoint does not exist in all neighbor point sets, it is determined that the robot cannot reach the path endpoint and the verification fails.

10. The path determination method according to claim 5, characterized in that: The path determination method further includes: Determine a path endpoint with one adjacent point as a non-configurable endpoint, and determine a path passing through the non-configurable endpoint as a path in which the specified path running direction cannot be configured; The path of the non-configurable specified path running direction is hidden in the fine-grained path map and / or the coarse-grained path map, and / or the non-configurable prompt information is displayed at a preset position of the path of the non-configurable specified path running direction.

11. A robot-based path determination device, characterized in that: The path determination device comprises: A fine-grained path map generation module is used to obtain a fine-grained path map corresponding to a preset operation area of ​​the robot; the fine-grained path map includes a plurality of path nodes and path lines; the path nodes are connected by the path lines; A coarse-grained path map generation module is used to respond to a trigger operation on the map, perform preset processing on the fine-grained path map, obtain a coarse-grained path map and display it; the coarse-grained path map displays the path endpoints in the path nodes and the path lines between the path endpoints, and does not display the intermediate path points between the path endpoints; A path determination module is used to detect the path in the coarse-grained path map, and determine a path that can be configured to specify the path running direction through the loop path in the coarse-grained path map; wherein the loop path is a path that starts from any path endpoint included in the loop path along the path line in the loop path and can return to the starting path endpoint again.

12. A robot, characterized in that: include: A processor, a memory, an operation screen and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the robot is running, the processor communicates with the memory and the operation screen through the bus, and when the machine-readable instructions are run by the processor, the steps of the robot-based path determination method as described in any one of claims 1 to 10 are executed.

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