Control method for work robot, work robot, electronic device, and medium

Abstract

The invention provides a control method of an operation robot, the operation robot, electronic equipment and a medium. The control method of the operation robot comprises the following steps: controlling the operation robot to operate along a current flat cable in a plurality of flat cables in an original planned path; under the condition that the lane changing condition is met, the operation robot is controlled to move to a first flat cable in the multiple flat cables from the current flat cable, the operation robot is controlled to operate along a first section of path in the first flat cable, the first section of path is marked as operated, and the first flat cable is close to the current flat cable; and the operation robot is controlled to move from the first flat cable to a second flat cable, the operation robot is controlled to continue operation along the second flat cable, and the second flat cable is the current flat cable or the flat cable connected with the current flat cable in the advancing direction in the original planning path. According to the technical scheme, the operation efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a control method for a working robot, a working robot, an electronic device and a medium. Background Art

[0002] With the advancement of science and technology, robots are being used in more and more fields. For example, robots can be used in cleaning, agricultural production and other fields. Under normal circumstances, robots can operate in the target area according to the driving path planned in advance. During the operation of the robot, there may be obstacles on the driving path, or there may be temporary operating areas in the target area that need to be handled in time. For these emergencies, the current response methods have the problem of low operating efficiency. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a control method for a working robot, a working robot, an electronic device and a medium, which can improve working efficiency.

[0004] In a first aspect, an embodiment of the present application provides a control method for a working robot, comprising: controlling the working robot to operate along a current row of lines among multiple rows of lines in an original planned path; when a lane change condition is met, controlling the working robot to move from the current row of lines to a first row of lines among multiple rows of lines, controlling the working robot to operate along a first section of a path in the first row of lines, and marking the first section of the path as operated, wherein the first row of lines is adjacent to the current row of lines; controlling the working robot to move from the first row of lines to a second row of lines, and controlling the working robot to continue operating along the second row of lines, wherein the second row of lines is the current row of lines or a row of lines in the original planned path that is connected to the current row of lines in the forward direction.

[0005] In a second aspect, an embodiment of the present application provides a control device for a working robot, comprising: a first control module, used to control the working robot to operate along a current row of lines among multiple rows of lines in an original planned path; a second control module, used to control the working robot to move from the current row of lines to a first row of lines among multiple rows of lines when a lane change condition is met, control the working robot to operate along a first section of a path in the first row of lines, and mark the first section of the path as operated, wherein the first row of lines is adjacent to the current row of lines; a third control module, used to control the working robot to move from the first row of lines to a second row of lines, and control the working robot to continue operating along the second row of lines, wherein the second row of lines is the current row of lines or is a row of lines in the original planned path that is connected to the current row of lines in the forward direction.

[0006] In a third aspect, an embodiment of the present application provides a working robot, comprising a control module, wherein the control module is used to execute the control method of the working robot described in the first aspect above.

[0007] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor, wherein the processor is used to execute the control method of the working robot described in the first aspect above.

[0008] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the control method of the working robot described in the first aspect above.

[0009] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the control method of the working robot described in the first aspect above.

[0010] In a seventh aspect, an embodiment of the present application provides a chip, comprising: a processor; and a memory for storing instructions executable by the processor, wherein the processor is used to execute the control method of the working robot described in the first aspect above.

[0011] The embodiments of the present application provide a control method for a working robot, a working robot, an electronic device, and a medium. When a lane-changing condition is met, the working robot is controlled to move from the current row of lines in the original planned path to the first row of lines around the current row of lines, and the working robot is controlled to work along the first row of lines and mark the path segment on the first row of lines as worked. In this way, when the lane-changing condition is met, other rows of lines in the original planned path can be worked on first, thereby improving the working efficiency. Furthermore, the embodiments of the present application can also control the working robot to return to the current row of lines to continue working or move to the second row of lines connected to the current row of lines in the forward direction to continue working. In this way, the risk of increasing the missed working area can be reduced to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Shown is a schematic diagram of the system architecture of a control system of a working robot provided by an exemplary embodiment of the present application.

[0013] Figure 2 Shown is a flow chart of a control method for a working robot provided by an exemplary embodiment of the present application.

[0014] Figure 3a Shown is a schematic diagram of a U-turn path provided by an exemplary embodiment of the present application.

[0015] Figure 3b Shown is a schematic diagram of a lane changing process provided by an exemplary embodiment of the present application.

[0016] Figure 4 Shown is a flow chart of a control method for a working robot provided by another exemplary embodiment of the present application.

[0017] Figure 5 Shown is a flow chart of a control method for a working robot provided by another exemplary embodiment of the present application.

[0018] Figure 6 Shown is a flow chart of a control method for a working robot provided by another exemplary embodiment of the present application.

[0019] Figure 7 Shown is a schematic diagram of the structure of a control device for a working robot provided by an exemplary embodiment of the present application.

[0020] Figure 8 Shown is a block diagram of an electronic device for executing a control method for a working robot provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] Application Overview

[0023] Using robots to perform tasks is becoming more and more common in modern society. Robots can be used in cleaning, agricultural production and other fields. For example, robots can be used for indoor cleaning, outdoor cleaning, sowing, spraying pesticides, etc.

[0024] When using a robot to operate in a target area, the robot's driving path in the target area can generally be planned in advance. The planned driving path should cover the entire target area as much as possible, that is, to achieve complete coverage path planning (CCPP). The task of the complete coverage path planning problem is to determine a path that passes through an area or all points within a certain spatial range while avoiding obstacles. However, in the actual operation process, due to sudden situations such as changes in the environment, the appearance of pedestrians, and the appearance of temporary operation areas (such as oil stains on the ground), the robot will perform detours or temporary operations, thereby deviating from the original driving path, resulting in low robot operation efficiency.

[0025] Taking the cleaning robot as an example, when obstacles (such as pedestrians, boxes, etc.) appear in the target area, there are usually two ways to deal with it. The first way to deal with it is to control the cleaning robot to leave the original path to bypass the obstacle, and then control the cleaning robot to return to the original path to continue the cleaning task. The second way to deal with it is to control the cleaning robot to turn around and continue to perform the cleaning task along other subsequent paths. When encountering large obstacles, the first way to deal with it has a high failure rate in bypassing the obstacles, and the bypass path is long, resulting in low operating efficiency. When encountering small obstacles, the second way to deal with it is easy to cause a large area of ​​missed scanning due to a direct U-turn, and the bypass path is long, resulting in low operating efficiency. Therefore, both of these two ways of dealing with it have the problem of low operating efficiency. The operating conditions of other types of robots are similar, that is, there will also be problems of low efficiency in response to emergencies where obstacles appear.

[0026] In view of the above technical problems, the embodiment of the present application provides a control method for a working robot, which controls the working robot to move from the current line in the original planned path to the first line around the current line according to the lane change condition, controls the working robot to work along the first line and marks the path segment on the first line as worked, and controls the working robot to return to the current line to continue working or move to the second line connected to the current line in the forward direction to continue working. In this way, the embodiment of the present application can focus on other lines around the current line in the original planned path, and can control the working robot to work on other lines in the original planned path first when the lane change condition is met, thereby improving the working efficiency.

[0027] Exemplary Systems

[0028] Figure 1 FIG. 1 is a schematic diagram of a system architecture of a control system of a working robot provided by an exemplary embodiment of the present application. Figure 1 As shown, the control system 100 of the working robot may include a working robot 110, and the working robot 110 may be used to work on a target area 120, such as cleaning the target area 120. The working robot 110 may be installed with a sensor 111 and a controller 112. The controller 112 may be used to control the robot to execute the control method of the working robot provided in the embodiment of the present application.

[0029] In one example, the controller 112 can control the working robot 110 to operate on the target area 120 along the original planned path. The original planned path can be a bow-shaped path, and the original planned path can have a forward direction, that is, from the starting point of the original planned path along the original planned path to the end point of the original planned path, so the forward direction is not a fixed direction, but changes with the change of the original planned path, that is, the forward direction corresponding to different positions on the original planned path is determined, but not necessarily the same. The original planned path may include multiple parallel lines (straight paths) and curved paths, and any curved path can connect two adjacent lines or two non-adjacent lines (jumping forward lines).

[0030] When the controller 112 controls the working robot 110 to work along the current row of lines in the original planned path, the sensor 111 on the working robot 110 can detect in real time whether there is an obstacle in front of the working robot. If the detection result is that there is an obstacle, the controller 112 can search for the first row of lines that are not working within a predetermined range around the current row of lines. For example, the controller 112 can use a point on the current row of lines between the obstacle and the working robot 110 as the starting point, and a point on the first row of lines in front of the working robot 110 as the ending point, and plan a lane change path that meets the turning radius constraint of the working robot (the turning radius required for the working robot to complete the turn) according to the starting point and the ending point. The controller 112 can control the working robot 110 to move to the first row of lines along the lane change path and continue to work forward along the first row of lines. The distance that the working robot 110 works (or advances) on the first row of lines is related to the size of the obstacle on the current row of lines. If the obstacle on the current row of lines is larger (such as the distance spanned by the obstacle on the current row of lines is larger), the working robot 110 will also have to work over a larger distance on the first row of lines; if the obstacle on the current row of lines is smaller (such as the distance spanned by the obstacle on the current row of lines is smaller), the working robot 110 will also have to work over a smaller distance on the first row of lines.

[0031] If the sensor 111 detects that the distance of the current line behind the obstacle is enough for the working robot 110 to return from the first line to the current line, that is, during the return process, the working robot 110 will not collide with the obstacle or the objects around the original planned path (such as walls or shelves, etc.), then the controller 112 can control the working robot 110 to return from the first line to the current line. Specifically, the controller 112 can take a certain point on the first line behind the obstacle as the starting point, and a certain point on the current line behind the obstacle as the end point, and plan a return path that meets the turning radius constraint of the working robot according to the starting point and the end point. The controller 112 can control the working robot 110 to move to the current line along the return path and continue to work forward along the current line. In this way, through the lane change path and the return path, the working robot 110 can be controlled to bypass the obstacle to work on the first section of the first line (the part on the first line between the end point of the lane change path and the starting point of the return path), and return to the current line and continue to work along the forward direction.

[0032] If the sensor 111 detects that the distance of the current row of lines behind the obstacle is not enough to make the working robot 110 return from the first row of lines to the current row of lines, the controller 112 can control the working robot 110 to continue working along the first row of lines to the end of the first row of lines, and then control the working robot 110 to turn around to the second row of lines and work along the second row of lines. Specifically, the controller can select a first U-turn path from a plurality of pre-stored U-turn paths, one end of the first U-turn path is connected to the end of the first row of lines, and the other end of the first U-turn path is connected to the head end of the second row of lines. In the original planned path, the second row of lines is a row of lines located in the forward direction of the current row of lines. In other words, in the original planned path, the row of lines connected by the curved path after the first row of lines is the second row of lines. The pre-stored multiple U-turn paths can be stored in the memory of the working robot, or in other devices independent of the working robot, and the controller 112 can be connected to other devices in communication to select the first U-turn path from the pre-stored multiple U-turn paths. The pre-stored multiple U-turn paths may include a path from any end of each end of each row of lines to turn around to other rows of lines. Taking the first row of lines as an example, the other rows of lines may be all the rows of lines except the first row of lines among the multiple rows of lines or the rows of lines pre-selected from the multiple rows of lines as needed. The controller 112 may control the working robot 110 to turn around along the first U-turn path to the second row of lines and perform operations along the second row of lines. In this way, the working robot 110 may be controlled to bypass obstacles and perform operations on the first section of the first row of lines (extending to the end of the first row of lines) through the lane change path. Through the first U-turn path, when the working robot 110 cannot return to the current row of lines, the working robot 110 may be controlled to continue to perform operations along the original forward direction.

[0033] Furthermore, the controller 112 may mark the first path segment as completed.

[0034] In other examples, the controller 112 may be located outside the working robot 110, such as a device independent of the working robot 110. Exemplarily, the controller 112 may include at least one of a logic controller, a machine vision controller, a motion controller, and the like.

[0035] It should be understood that the above application scenario examples are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any scenario that may be applicable.

[0036] Exemplary Methods

[0037] Figure 2 Shown is a flow chart of a control method for a working robot provided by an exemplary embodiment of the present application. Figure 2 The method can be Figure 1 The controller in is executed. Figure 2 As shown, the control method of the working robot may include the following contents.

[0038] 210: Control the working robot to work along the current line among the multiple lines in the original planned path.

[0039] Specifically, the operation robot may be a robot for performing one or more tasks such as cleaning, spraying, sowing or other tasks. The operation robot may operate in a target area, and the target area may be a scene such as a supermarket, a shopping mall, a farm or a station.

[0040] The original planned path may be a path planned for the working robot to work in the target area, for example, the original planned path may be obtained by a full coverage path planning method or other methods. The original planned path may be a bow-shaped path, a U-shaped path, or a path of other shapes. In one example, the original planned path may include multiple lines, and the multiple lines may be parallel to each other, or the angle between two adjacent lines may be greater than 0 degrees and less than or equal to 90 degrees.

[0041] To facilitate understanding of the technical solution of the embodiment of the present application, the control method of the working robot provided in the embodiment of the present application is explained below using a bow-shaped path as an example of the original planned path. The situations of original planned paths of other shapes are similar and will not be repeated.

[0042] 220: When the lane change condition is met, control the working robot to move from the current lane to the first lane among the multiple lanes, control the working robot to work along a first path in the first lane, and mark the first path as worked.

[0043] Specifically, the lane change conditions may include: there is an obstacle in front of the working robot on the current line; or there is a temporary working area on the lines around the current line. In one example, the obstacle may be a pedestrian, a placed object, etc. The temporary working area may be an area that needs to be handled in time. For example, taking a cleaning robot as an example, the temporary working area may be a stain area (such as an area formed by spilling soy sauce on the ground). If it is not handled in time, it will affect the walking of pedestrians and cause a larger area of ​​stain area.

[0044] On the current line, if there is an obstacle in front of the working robot, the working robot can be controlled to change lanes from the current line to the first line to avoid the obstacle and work on the first line. If there is a temporary work area on the line (first line) around the current line, the working robot can be controlled to change lanes from the current line to the first line to work on the temporary work area in time.

[0045] The operation robot can operate on at least a portion of the path (the first path segment) in the first line, and the length of the first path segment can be determined according to the size of the obstacle or the temporary operation area. For example, the greater the distance spanned by the obstacle or the temporary operation area on the line, the longer the first path segment will be.

[0046] In one example, the first row of lines is adjacent to the current row of lines. The first row of lines may be an unoperated row of lines. The position of the first path segment on the first row of lines may be in front of the position where the operating robot leaves the current row of lines, that is, the projection of the first path segment on the current row of lines is in front of the operating robot before leaving the current row of lines. For example, on the current row of lines, when there is an obstacle in front of the operating robot, the projection of the first path segment on the current row of lines corresponds to the projection of the obstacle on the current row of lines. Exemplarily, the projection of the first path segment on the current row of lines may cover at least a portion of the projection of the obstacle on the current row of lines, and the degree of coverage may be determined according to the distance between the first row of lines and the current row of lines to avoid collision.

[0047] 230: Control the working robot to move from the first row of lines to the second row of lines, and control the working robot to continue working along the second row of lines.

[0048] Specifically, the second line may be the current line or a line in the original planned path connected to the current line in the forward direction. The forward direction of the original planned path can be referred to in the above description, and will not be described here to avoid repetition.

[0049] For example, if the obstacle or temporary work area is a certain distance away from the end of the line, the distance is enough for the work robot to return to the current line, and the work robot can be controlled to return to the current line to continue working. If the obstacle or temporary work area is close to the end of the line, resulting in a high risk of collision when the work robot returns to the current line, the work robot can be controlled to work to the end of the first line, and then the work robot can be controlled to turn around to the line connected to the current line in the forward direction and work along the line.

[0050] The embodiment of the present application provides a control method for a working robot, by controlling the working robot to move from the current line in the original planned path to the first line around the current line when the lane change condition is met, controlling the working robot to work along the first line and marking the path segment on the first line as worked, so that when the lane change condition is met, other lines in the original planned path can be worked on first, thereby improving the working efficiency. Furthermore, the embodiment of the present application can also control the working robot to return to the current line to continue working or move to the second line connected to the current line in the forward direction to continue working, so that the risk of increasing the missed working area can be reduced to a certain extent.

[0051] According to an embodiment of the present application, the lane changing conditions include at least one of the following conditions: the first condition includes: there is an obstacle in the working direction of the working robot, the first row of lines is an unoperated row of lines, and there are N rows of lines between the first row of lines and the current row of lines, and N is an integer greater than or equal to 0; the second condition includes: there is a temporary working area in the target area covered by the original planned path, the temporary working area is covered by the working area corresponding to the first row of lines, and there are N rows of lines between the first row of lines and the current row of lines, and N is an integer greater than or equal to 0.

[0052] Specifically, the working direction of the working robot may refer to the direction in which the working robot moves when working on a row of lines. The first row of lines may be a row of lines adjacent to the current row of lines, or one or more rows of lines may be spaced between the first row of lines and the current row of lines.

[0053] Under the first condition, an unoperated line can be searched within a preset distance from the current line, and the preset distance can be set according to actual needs. For example, the preset distance can be represented by the number of line intervals. In one example, the preset distance can be three line intervals. For example, an unoperated line that meets the turning radius constraint of the operating robot can be searched from the two sides of the current line from the closest line in sequence outward, that is, the operating robot can move from the current line to the unoperated line without collision, and the unoperated line is the first line.

[0054] Under the second condition, there are N rows of lines between the first row of lines and the current row of lines, where N is an integer greater than or equal to 0, and N can be set according to actual needs, for example, N is equal to 2 or other values. The working area corresponding to the first row of lines may refer to the area where the working robot works when passing through the first row of lines, and the area has a certain width, which is related to the width of the working tool on the working robot. For example, the larger the width of the working tool, the larger the width of the working area. For a cleaning robot, the width of the working tool is usually the width of the roller brush.

[0055] In one example, before the operation robot operates on the target area, all the lines can be marked as unoperated, such as the entire original planned path is marked as unoperated. As the operation progresses, the sections that have been operated can be marked as operated in real time.

[0056] In this embodiment, by setting the first condition, when there is an obstacle in the current line, the operating robot can be controlled to switch to the first line for operation, so that the other lines can be operated while avoiding the obstacle, thereby improving the operation efficiency. In addition, by setting the second condition, when there is a temporary operation area covered by the operation area corresponding to the first line in the target area, the operating robot can be controlled to switch to the first line for operation, so that the temporary operation area can be operated in time, thereby improving the operation efficiency of the temporary operation area.

[0057] According to an embodiment of the present application, the second condition includes: there is a temporary operation area in the target area covered by the original planned path, the temporary operation area is covered by the operation area corresponding to the first lane, and the current lane is not the lane changed through the lane changing condition, and there are N lanes between the first lane and the current lane, where N is an integer greater than or equal to 0.

[0058] Specifically, in the second case, if the current lane is a lane changed by a lane change condition, the number of consecutive lane changes before the current lane is changed can be less than or equal to a preset lane change number threshold, and the preset lane change number threshold can be set according to actual needs, such as 1 or other values. Preferably, in the second case, the current lane is not a lane changed by a lane change condition, so that the operation robot can avoid the problem of a total detour path being too long and the overall operation efficiency being low due to performing multiple consecutive lane change operations, and can avoid the occurrence of a large area of ​​missed operation areas.

[0059] Similarly, in the first case, the current lane may be a lane changed through a lane changing condition, and the number of consecutive lane changes before changing to the current lane may be less than or equal to a preset lane changing number threshold; or, the current lane is not a lane changed through a lane changing condition.

[0060] According to one embodiment of the present application, step 230 may include: when the first path extends to the end of the first row of wires, controlling the working robot to move from the first row of wires to the second row of wires, and controlling the working robot to continue working along the second row of wires, wherein the second row of wires is a row of wires in the original planned path that is connected to the current row of wires in the forward direction.

[0061] Specifically, if there is an obstacle in front of the working robot on the current line, the working robot is controlled to switch to the first line to work. Then, if the obstacle is a certain distance from the end of the current line, and the distance is sufficient for the working robot to return from the first line to the current line and continue to work along the previous working direction, the working robot can be controlled to return to the current line to continue working. If the distance between the obstacle and the end of the current line is not enough for the working robot to safely return to the current line to work along the previous working direction, that is, the collision risk of the working robot returning to the current line is high, the working robot can be controlled to work to the end of the first line, and then the working robot can be controlled to turn around to the line connected to the current line in the forward direction and work along the line.

[0062] Similarly, if there is a temporary work area on the first row of lines around the current row of lines, the work robot is controlled to switch to the first row of lines to work and process the temporary work area in time. If the temporary work area is a certain distance away from the end of the first row of lines, and the distance is sufficient for the work robot to return from the first row of lines to the current row of lines and continue to work along the previous work direction, the work robot can be controlled to return to the current row of lines to continue working. If the distance between the temporary work area and the end of the first row of lines is not enough for the work robot to safely return to the current row of lines to work along the previous work direction, that is, the risk of collision when the work robot returns to the current row of lines is high, the work robot can be controlled to work to the end of the first row of lines, and then the work robot can be controlled to turn around to the row of lines connected to the current row of lines in the forward direction and work along the row of lines.

[0063] The section between the entry point where the working robot switches to the first row of lines and the exit point where the working robot leaves the first row of lines is the first section of the path.

[0064] In this embodiment, when it is difficult for the working robot to return to the current row of cables from the first row of cables without collision, the working robot can be controlled to work to the end of the first row of cables, that is, the first path extends to the end of the first row of cables. In this way, the working robot can be controlled to turn around to the row of cables connected to the current row of cables in the forward direction and work along the row of cables, thereby reducing the risk of collision and maximizing the overall working efficiency.

[0065] According to an embodiment of the present application, when the first path extends to the end of the first row of cables, controlling the working robot to move from the first row of cables to the second row of cables includes: selecting a first U-turn path from a plurality of pre-stored U-turn paths, wherein one end of the first U-turn path is connected to the end of the first row of cables, and the other end of the first U-turn path is connected to the beginning of the second row of cables; and controlling the working robot to move from the first row of cables to the second row of cables through the first U-turn path.

[0066] Specifically, the pre-stored multiple U-turn paths may include a path from any of the two ends of each cable to turn around to other cables. Taking the first cable as an example, the other cables may be all cables except the first cable among the multiple cables or cables pre-selected from the multiple cables as needed. When the first section of the path extends to the end of the first cable, a U-turn path (first U-turn path) connecting the end of the first cable and the head end of the second cable can be selected from the multiple U-turn paths, and the working robot can be controlled to move from the first cable to the second cable according to the U-turn path. The second cable here is a cable connected to the current cable in the forward direction, and the head end of any cable can be the starting end where the working robot starts working along the cable.

[0067] like Figure 3a As shown, the original planned path includes multiple lines (straight paths) and curved paths (also called original U-turn paths). Any curved path can connect two non-adjacent lines, that is, multiple lines can form a jumping forward line. When the lane change conditions are met, the operating robot can move from the current line L1 to the first line L2. In the original planned path, the current line L1 and the second line L3 are connected in the forward direction by the curved path Q1, and the first path K extends to the end of the first line L2. In order to facilitate the operating robot to move from the first line L2 to the second line L3 to continue working, the first U-turn path D1 can be selected from the multiple pre-stored U-turn paths (indicated by dotted lines in the figure).

[0068] In this embodiment, the working robot is controlled to move from the first row of lines to the second row of lines connected to the current row of lines in the forward direction by the U-turn path, and the working robot can be controlled to return to the forward direction of the original planned path to continue working, which can improve the control of the working process, thereby improving the overall working efficiency and reducing the size of the missed working area to a certain extent. In addition, by pre-storing the U-turn path, the online computing power consumption can be reduced.

[0069] According to one embodiment of the present application, step 230 may also include: when the distance between the end of the first path and the end of the first cable is greater than or equal to a first preset threshold, controlling the working robot to move from the first cable to the second cable, and controlling the working robot to continue working along the second cable in a forward direction, wherein the second cable is the current cable.

[0070] Specifically, the working direction of the working robot on the current line can be parallel to the current line, the original planned path can be a bow-shaped path, and the projection of the first path segment on the current line can cover the projection of the obstacle on the current line, that is, the projection of the first path segment in the working direction of the working robot on the current line covers the projection of the obstacle in the working direction. Optionally, the projection of the first path segment on the first line can cover the projection of the temporary working area on the first line.

[0071] When the distance between the obstacle and the end of the current line is sufficient for the working robot to return from the first line to the current line and continue to work along the previous working direction, or when the distance between the temporary working area and the end of the first line is sufficient for the working robot to return from the first line to the current line and continue to work along the previous working direction, there is a certain distance between the end of the first path and the end of the first line. When the distance between the end of the first path and the end of the first line is greater than or equal to a first preset threshold, the working robot can be controlled to move from the first line to the current line without collision. The first preset threshold can be determined according to the turning radius constraint of the working robot and / or the spacing between the first line and the current line.

[0072] Taking the existence of obstacles on the current row of lines as an example, the process of lane changing of the working robot is described. The situation where there is a temporary working area on the first row of lines is similar. In order to avoid repetition, it will not be repeated.

[0073] like Figure 3bAs shown, before starting the operation, multiple lines in the original planned path can be marked as unoperated. As the operation proceeds, the operating robot gradually approaches the obstacle, and the operated part of the current line L1 can be marked as operated. The operating robot can select a starting point from the first section between the obstacle and the operating robot, and select an end point from the second section on the first line located in front of the operating robot, and the lane change path H1 can be planned according to the starting point and the end point. The selection range of the first section and the second section can be set according to actual needs. The operating robot moves to the first line L2 along the lane change path H1 and continues to work forward along the first line L2. As the operation on the first line L2 proceeds, the operating robot can select a starting point from the third section on the first line L2 located behind the obstacle, and select an end point from the fourth section on the current line L1 located behind the obstacle, and the return path H2 can be planned according to the starting point and the end point. The selection range of the third section and the fourth section can be set according to actual needs. The working robot moves to the current line along the return path H2 and continues to work forward along the current line. The first line L1 is located between the end point of the lane change path and the starting point of the return path, that is, the first path K. After the working robot returns to the current line, the first path can be marked as worked, and the part of the current line between the starting point of the lane change path and the end point of the return path can be marked as missed work. The working robot can continue to work on the unworked part of the current line behind the obstacle.

[0074] In this embodiment, when the distance between the end of the first path and the end of the first line is greater than or equal to a first preset threshold, the working robot is controlled to return from the first line to the current line, and the working robot is controlled to continue to work along the current line. In this way, the original working path can be returned, thereby improving the control over the working process, improving the overall working efficiency to a certain extent, and reducing the size of the missed working area.

[0075] According to one embodiment of the present application, the control method of the working robot also includes: when there is an obstacle in the working direction of the working robot and the first row of lines is not found, a jump point path is planned according to a first point between the working robot and the obstacle and a second point on the side of the obstacle away from the working robot, and the working robot is controlled to bypass the obstacle and continue to work along the current row of lines according to the jump point path.

[0076] Specifically, when there is an obstacle in the working direction of the working robot and no unoperated line is found within a preset range around the current line, a starting point (first point) can be selected from the fifth section of the current line between the obstacle and the working robot, and an end point (second point) can be selected from the sixth section of the current line after the obstacle, and a jump point path can be planned based on the starting point and the end point. The jump point path can be a path that bypasses the obstacle. For example, the obstacle is large in size and occupies multiple lines, resulting in no unoperated lines that can be replaced around the current line. At this time, the obstacle can be bypassed through the jump point path. According to the jump point path, the working robot can be controlled to bypass the obstacle and continue to work along the current line. The selection range of the fifth section and the sixth section can be set according to actual needs. In one example, the part of the current line between the starting point and the end point of the jump point path can be marked as missing work.

[0077] In this embodiment, if no unused arranging line is found within the preset range around the current arranging line, a point can be selected from the front and back of the obstacle to plan a jump point path. Specifically, a shorter path can be preferentially selected as the jump point path under the premise of satisfying the turning radius constraint, which can improve the overall operation efficiency.

[0078] According to an embodiment of the present application, the control method of the working robot also includes: when there is a temporary working area in the target area covered by the original planned path, and the temporary working area exceeds the working area corresponding to a single cable among multiple cables, or the current cable is a cable changed through a lane change condition, path planning is performed on the temporary working area to obtain a planned path corresponding to the temporary working area; the working robot is controlled to move from the third point of the current cable to the temporary working area, and the temporary working area is operated according to the planned path corresponding to the temporary working area; the working robot is controlled to move from the temporary working area to the third point of the current cable and continue to operate along the current cable.

[0079] Specifically, the temporary operation area may be covered by the operation area of ​​any one of the cables, or may exceed the operation area of ​​a single cable, that is, it cannot be covered by the operation area of ​​any one of the cables. In the case where the temporary operation area exceeds the operation area corresponding to a single cable among multiple cables, the area of ​​the temporary operation area at this time is large, and the temporary operation area cannot be processed in time by the operation of a single cable. In this case, the temporary operation area can be path planned to obtain the planned path corresponding to the temporary operation area, that is, the operation path. The operation robot is controlled to move from the third point of the current cable to the temporary operation area, and the temporary operation area is operated according to the planned path corresponding to the temporary operation area. In an example, before the operation robot moves to the temporary operation area, the temporary operation area can be located in front of the operation robot, and the third point can also be a point in front of the operation robot on the current cable. The operation robot can plan a transfer path according to the third point and a fourth point close to the third point on the temporary operation area, and move to the temporary operation area according to the transfer path, and then operate the temporary operation area according to the planned path corresponding to the temporary operation area. In other examples, before the working robot moves to the temporary working area, the temporary working area may be located at other positions of the working robot, such as the rear, left, or right, etc.

[0080] After completing the work in the temporary work area, the work robot can move from the temporary work area to the third point of the current line and continue to work along the current line. For example, the work robot can plan a regression path based on the third point and a point on the temporary work area, and move to the third point of the current line according to the regression path to continue working.

[0081] Similarly, if the current lane is changed through lane-changing conditions, then regardless of whether the temporary work area can be covered by the work area corresponding to a single lane, the temporary work area is path-planned to obtain the planned path corresponding to the temporary work area. The operating robot is controlled to move from the third point of the current lane to the temporary work area, and the temporary work area is operated according to the planned path corresponding to the temporary work area. The operating robot is controlled to move from the temporary work area to the third point of the current lane and continue to operate along the current lane. In this way, the operating robot can avoid the problem of a total detour path being too long and the overall operating efficiency being low due to performing multiple consecutive lane-changing operations, and the operating robot can avoid the problem of missing a large area of ​​the operating area due to the inability to return to the original lane.

[0082] In this embodiment, when the temporary working area exceeds the working area corresponding to a single lane, or the current lane is changed through lane changing conditions, path planning is performed for the temporary working area, and the working robot is controlled to move from the current lane to the temporary working area to perform the work. This can reduce the risk of a decline in overall working efficiency and the risk of missing a large area of ​​working areas.

[0083] According to an embodiment of the present application, the control method of the working robot further includes: marking a portion of the plurality of cables covered by the temporary working area as having been worked.

[0084] Specifically, when the working robot is working on the temporary working area, the parts of the multiple wires covered by the temporary working area have been worked on. Therefore, the parts of the multiple wires covered by the temporary working area can be marked as worked on. This can avoid repeated operations on these parts, thereby reducing the power consumption of the working robot to a certain extent.

[0085] According to one embodiment of the present application, the control method of the working robot also includes: marking the second segment of the path in the current wiring arrangement as a missed operation, wherein the projection of the second segment of the path in the working direction of the working robot in the current wiring arrangement covers the projection of the first segment of the path in the working direction.

[0086] Specifically, in the case of lane change, there is a part of the current line that the working robot has not passed through, which is the second path segment and can be marked as missed work. The length of the second path segment can be greater than the length of the first path segment, so that it is convenient for the working robot to move from the current line to the first line, and return from the first line to the current line.

[0087] In this embodiment, by marking the second section of the path in the current wiring arrangement that is passed by the operating robot as a missed operation, it is convenient to accurately operate the missed operation part in the subsequent operation, thereby improving the overall operation efficiency.

[0088] According to an embodiment of the present application, the control method of the working robot also includes: controlling the working robot to operate along a third row of wires among multiple rows of wires; when there is a path marked as operated in the working direction of the third row of wires, searching whether there is a path marked as missed operation in the wires near the third row of wires; when there is a path marked as missed operation in the wires near the third row of wires, controlling the working robot to switch to the wires near the third row of wires and operate on the path marked as missed operation; controlling the working robot to move from the wires near the third row of wires to the third row of wires to continue operating, and re-marking the path marked as missed operation as operated.

[0089] Specifically, the third row of lines can be any of the multiple rows of lines. In the process of the working robot working along the third row of lines, if there is a path marked as having been worked in front of the working robot, it means that the worked path may have been processed by the working robot through the lane changing process before, so there may be a path marked as missing work on the lines around the third row of lines. By searching, it can be determined whether there is a path marked as missing work in the lines near the third row of lines. In the case that there is a path marked as missing work in the lines near the third row of lines, the working robot can be controlled to switch to the lines near the third row of lines to work on the path marked as missing work. If the reason why the path of missing work was previously marked as missing work is the existence of an obstacle, then the obstacle has been removed at this time, so the path of missing work can be worked on.

[0090] In one example, the working direction of the working robot on the path of the missed operation is the same as the working direction of the working robot on the third row of lines. Further, the working robot is controlled to move from the line near the third row of lines to the third row of lines to continue the operation, and the path marked as the missed operation is re-marked as the worked one. In one example, if the worked path extends to the end of the third row of lines, the path of the missed operation extends to the end of the corresponding line (the line near the third row of lines). At this time, after the path marked as the missed operation is operated, the working robot can be controlled to turn around from the line to the line connected to the third line in the forward direction to continue the operation. The U-turn operation here can refer to the above description of controlling the working robot to move from the first row of lines to the second row of lines through the U-turn path.

[0091] The arrangement lines near the third arrangement line may be arrangement lines within a certain distance from the third arrangement line, and the distance may be set according to actual needs.

[0092] In this embodiment, by marking the paths that have been worked on and those that have not been worked on, it is convenient to perform supplementary work on the paths that have not been worked on, and it is also possible to avoid repeating the work on the paths that have been worked on. In addition, when encountering a path that has been worked on, it is possible to find out whether there is a path marked as a missed work in the nearby lines, so that the missed work path can be dynamically supplemented during the operation, thereby improving the efficiency of supplementary work and improving the overall operation efficiency.

[0093] Figure 4 Shown is a flow chart of a control method for a working robot provided by another exemplary embodiment of the present application. Figure 4 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 4 As shown, the control method of the working robot may include the following contents.

[0094] 410: Control the working robot to work along the current line among the multiple lines in the original planned path.

[0095] 420: When there is a temporary obstacle on the current wiring, determine whether there is a first wiring that has not been operated within a preset distance from the current wiring.

[0096] If there is an unoperated first wiring within the preset distance from the current wiring, then step 430 is executed; otherwise, step 440 is executed.

[0097] In one example, it is possible to first determine whether the obstacle is a dynamic obstacle. If the obstacle is not a dynamic obstacle, it is possible to directly determine whether there is a first row of unoperated lines within a preset distance from the current row of lines. If the obstacle is a dynamic obstacle, it is possible to wait for a certain period of time to determine whether the obstacle has been removed, and further determine whether the waiting time exceeds a preset time. If the waiting time exceeds the preset time and the obstacle has not been removed, it is possible to determine whether there is a first row of unoperated lines within a preset distance from the current row of lines. If the waiting time does not exceed the preset time and the obstacle has been removed, the operating robot can be controlled to continue operating along the current row of lines.

[0098] Dynamic obstacles can be pedestrians, temporarily placed boxes, etc. Non-dynamic obstacles can be pillars, shelves, etc. The types of dynamic obstacles and non-dynamic obstacles can be set according to actual needs.

[0099] 430: Planning a lane-changing path, controlling the working robot to move to the first row of lanes according to the lane-changing path, controlling the working robot to work along a first section of the path in the first row of lanes, and marking the first section of the path as worked.

[0100] The planning method of the lane change path may adopt the hybrid A* method, the quintic polynomial method or other path planning methods. For example, the hybrid A* method may be used to plan the lane change path, and the input of the hybrid A* method may include a starting point selected from the first section of the current line and an end point selected from the second section of the first line. The first section and the second section can refer to the description above, and to avoid repetition, they are not repeated here. Further, the input of the hybrid A* method may also include the forward direction of the starting point and the forward direction of the end point. For example, the forward direction of the starting point and the forward direction of the end point are the same, and both are the working directions of the working robot on the current line. Further, the input of the hybrid A* method may also include a grid map, and the range of the grid map may be the range corresponding to the target area. By performing path planning in the blank grid (not the forbidden area) in the grid map, the lane change path output by the hybrid A* method can meet the collision-free constraint.

[0101] 440: Plan a jump point path, and control the working robot to bypass obstacles and continue to work along the current line according to the jump point path.

[0102] Similar to the planning of the lane change path, the planning method of the jump point path can adopt the hybrid A* method, the quintic polynomial method or other path planning methods. For example, the hybrid A* method can be used to plan the jump point path, and the input of the hybrid A* method may include the first point between the working robot and the obstacle and the second point on the side of the obstacle away from the working robot. Further, the input of the hybrid A* method may also include the forward direction of the first point and the second point. Exemplarily, the forward direction of the first point and the second point are both the working directions of the working robot on the current line. Further, the input of the hybrid A* method may also include a grid map, and the range of the grid map may be the range corresponding to the target area.

[0103] 450: Determine whether the operating robot can return to the current wiring arrangement.

[0104] If the working robot can return to the current wiring arrangement, execute step 460, otherwise execute step 470.

[0105] For example, the distance between the obstacle and the end of the current line can be used to determine whether the working robot can return to the current line. For example, when the distance between the obstacle and the end of the current line is sufficient for the working robot to return from the first line to the current line and continue to work along the previous working direction, step 460 can be executed, otherwise the working robot is controlled to work along the first line to the end of the first line (that is, the first path extends to the end of the first line) and then the working robot is controlled to turn around, that is, step 470 is executed.

[0106] 460: Plan a regression path, control the working robot to move to the current line according to the regression path and continue to work forward along the current line, and mark the second path in the current line as a missed operation.

[0107] The second path may be the portion of the current line that is missed by the working robot.

[0108] Similar to the planning of the lane change path, the planning method of the regression path can adopt the hybrid A* method, the quintic polynomial method or other path planning methods. For example, the hybrid A* method can be used to plan the regression path, and the input of the hybrid A* method may include a starting point selected from the third section of the first line and an end point selected from the fourth section of the current line. The third section and the fourth section can be found in the description above, and will not be repeated here to avoid repetition. Further, the input of the hybrid A* method may also include the forward direction of the starting point and the forward direction of the end point. For example, the forward direction of the starting point and the forward direction of the end point are the same, and can both be the working direction of the working robot on the current line. Further, the input of the hybrid A* method may also include a grid map, and the range of the grid map may be the range corresponding to the target area.

[0109] 470: Select a first U-turn path from a plurality of pre-stored U-turn paths, control the working robot to move from the first line arrangement to the second line arrangement to perform the operation through the first U-turn path, and mark the second segment of the path in the current line arrangement as a missed operation.

[0110] The second row of lines here is a row of lines connected to the current row of lines in the forward direction. The second row of lines can be updated to the current row of lines.

[0111] Figure 5 Shown is a flow chart of a control method for a working robot provided by another exemplary embodiment of the present application. Figure 5 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 5 As shown, the control method of the working robot may include the following contents.

[0112] 510: Control the working robot to work along the current line among the multiple lines in the original planned path.

[0113] 520: If a temporary operation area exists in the target area covered by the original planned path, it is determined whether the current lane is the lane changed through the lane change condition and whether the temporary operation area exceeds the operation area corresponding to a single lane.

[0114] If the current lane is not the lane changed by the lane change condition and the temporary operation area does not exceed the operation area corresponding to the single lane, then step 530 is executed; otherwise, step 540 is executed.

[0115] 530: Planning a lane-changing path, controlling the working robot to move to the first row of lanes according to the lane-changing path, controlling the working robot to work along a first section of the path in the first row of lanes, and marking the first section of the path as worked.

[0116] The planning method of the lane change path may adopt the hybrid A* method, the quintic polynomial method or other path planning methods. For example, the hybrid A* method may be used to plan the lane change path. The specific content of planning the lane change path using the hybrid A* method can be referred to the description in the above embodiment, and will not be repeated here to avoid repetition.

[0117] 540: Perform path planning for the temporary work area, obtain the planned path corresponding to the temporary work area, control the work robot to move from the current line to the temporary work area and work on the temporary work area according to the planned path corresponding to the temporary work area, and control the work robot to move from the temporary work area to the current line to continue working.

[0118] Specifically, the working robot can be controlled to move from the third point of the current line to the temporary working area, and perform work on the temporary working area according to the planned path corresponding to the temporary working area. The working robot can be controlled to move from the temporary working area to the third point of the current line and continue to work along the current line.

[0119] For example, before the working robot moves to the temporary working area, the temporary working area may be located in front of the working robot, and the third point may also be a point on the current line located in front of the working robot. The working robot may plan a transfer path according to the third point and a fourth point on the temporary working area close to the third point, and move to the temporary working area according to the transfer path, and then operate on the temporary working area according to the planned path corresponding to the temporary working area.

[0120] 550: Determine whether the operation robot can return to the current wiring arrangement.

[0121] If the working robot can return to the current wiring arrangement, execute step 560, otherwise execute step 570.

[0122] For example, the distance between the temporary operation area and the end of the first row of lines can be used to determine whether the operation robot can return to the current row of lines. For example, when the distance between the temporary operation area and the end of the first row of lines is sufficient for the operation robot to return from the first row of lines to the current row of lines and continue to operate along the previous operation direction, step 560 can be executed; otherwise, the operation robot is controlled to operate along the first row of lines to the end of the first row of lines (i.e., the first path extends to the end of the first row of lines) and then the operation robot is controlled to turn around, i.e., step 570 is executed.

[0123] 560: Plan a regression path, control the working robot to move to the current line according to the regression path and continue to work forward along the current line, and mark the second path in the current line as a missed operation.

[0124] The second path may be the portion of the current line that is missed by the working robot.

[0125] Similar to the planning of the lane change path, the planning method of the regression path can adopt the hybrid A* method, the quintic polynomial method or other path planning methods. For example, the hybrid A* method can be used to plan the regression path. The specific content of planning the regression path using the hybrid A* method can be referred to the description in the above embodiment, and will not be repeated here to avoid repetition.

[0126] Optionally, controlling the working robot to return to a point on the current wiring arrangement may be the point on the current wiring arrangement that the working robot left when it was previously controlled to switch to the first wiring arrangement, thereby avoiding missing work on the current wiring arrangement.

[0127] 570: Select a first U-turn path from a plurality of pre-stored U-turn paths, control the working robot to move from the first line arrangement to the second line arrangement to perform the operation through the first U-turn path, and mark the second segment of the path in the current line arrangement as a missed operation.

[0128] The second row of lines here is a row of lines connected to the current row of lines in the forward direction. The second row of lines can be updated to the current row of lines.

[0129] Figure 6 Shown is a flow chart of a control method for a working robot provided by another exemplary embodiment of the present application. Figure 6 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 6 As shown, the control method of the working robot may include the following contents.

[0130] 610: Control the working robot to work along a third row of the multiple rows of lines.

[0131] 620: When there is a path marked as completed in the working direction of the third row of wires by the working robot, determine whether there is a path marked as missed work in the wires near the third row of wires.

[0132] If there is a path marked as a missed operation in the wiring near the third wiring, then step 630 is executed, otherwise, step 610 is continued.

[0133] 630: Plan a lane-changing path, control the working robot to move to the lane near the third lane according to the lane-changing path, and perform work on the path marked as missed work.

[0134] The planning method of the lane-changing path may adopt the hybrid A* method, the quintic polynomial method or other path planning methods. For example, the hybrid A* method may be used to plan the lane-changing path. The input of the hybrid A* method may include a starting point and an ending point. The starting point may be a point on the third row of lines, such as the starting point of the operated path in the operating direction of the operating robot or a point within a certain range before and after the starting point. The ending point may be a point on the line near the third row of lines, such as the starting point of the missed path in the operating direction of the operating robot or a point within a certain range before and after the starting point. The specific content of planning the lane-changing path using the hybrid A* method can be found in the description in the above embodiment. To avoid repetition, it will not be repeated here.

[0135] 640: Control the working robot to return from the line arrangement near the third line arrangement to the third line arrangement to continue working, and re-mark the path marked as missed operation as completed.

[0136] For example, a regression path from the line near the third line to the third line can be planned, and after the operation on the missed path is completed, the working robot can be controlled to return to the third line according to the regression path. The starting point of the regression path can be the end point of the missed path in the working direction of the working robot or a point within a certain range before and after the end point, and the end point can be the end point of the worked path on the third line in the working direction of the working robot or a point within a certain range before and after the end point. The planning method of the regression path can refer to the description in the above embodiment, and will not be repeated here to avoid repetition.

[0137] pass Figure 6 The embodiment can dynamically supplement the missed paths during the operation process. Further, after the operation is completed, the remaining missed paths in the target area can be connected in series, and then the remaining missed paths can be supplemented in sequence according to the connected paths, so that the target area can be fully operated.

[0138] Exemplarily, in the process of controlling the operation or movement of the operating robot according to the path in the embodiment of the present application (such as the original planned path, the lane change path, the regression path and the transfer path, etc.), the local operating path and speed of the robot can be predicted in real time by the Model Predictive Path Integral (MPPI) method. Specifically, the real-time speed of the operating robot running in the target operating area can be obtained, and the local operating path and speed of the robot can be predicted in real time based on the aforementioned path and real-time speed by using the model prediction path integration method. The input of the model prediction path integration method may include the real-time speed of the operating robot and the aforementioned path.

[0139] In an embodiment of the present application, by combining the lane-changing method and the jump-point method, it is possible to handle obstacles of various sizes and maximize operating efficiency. For example, when the obstacle is small in size, the obstacle can be circumvented by changing lanes. When the obstacle is large and occupies multiple lines, the obstacle can be circumvented by jumping points. Furthermore, the embodiment of the present application can achieve optimal operating efficiency under the condition of satisfying coverage through dynamic supplementary operations and supplementary operations at the end (connecting the remaining paths of the missed operations in series). In addition, the embodiment of the present application can reduce online computing power consumption by pre-storing the U-turn path.

[0140] Exemplary Devices

[0141] Figure 7 FIG. 1 is a schematic diagram of the structure of a control device for a working robot provided by an exemplary embodiment of the present application. Figure 7 As shown, the control device 700 of the working robot includes: a first control module 710 , a second control module 720 and a third control module 730 .

[0142] The first control module 710 is used to control the working robot to work along the current line among the multiple lines in the original planned path. The second control module 720 is used to control the working robot to move from the current line to the first line among the multiple lines when the lane change condition is met, control the working robot to work along the first section of the first line, and mark the first section of the path as worked, wherein the first line is adjacent to the current line. The third control module 730 is used to control the working robot to move from the first line to the second line, and control the working robot to continue working along the second line, wherein the second line is the current line or a line connected to the current line in the forward direction in the original planned path.

[0143] The embodiment of the present application provides a control device for a working robot, which controls the working robot to move from the current line in the original planned path to the first line around the current line when the lane change condition is met, controls the working robot to work along the first line and marks the path segment on the first line as worked, so that when the lane change condition is met, other lines in the original planned path can be worked on first, thereby improving the working efficiency. Furthermore, the embodiment of the present application can also control the working robot to return to the current line to continue working or move to the second line connected to the current line in the forward direction to continue working, so that the risk of increasing the missed working area can be reduced to a certain extent.

[0144] According to one embodiment of the present application, the third control module 730 is used to: when the first path extends to the end of the first cable, control the working robot to move from the first cable to the second cable, and control the working robot to continue working along the second cable, wherein the second cable is the cable in the original planned path that is connected to the current cable in the forward direction.

[0145] According to one embodiment of the present application, the third control module 730 is used to: select a first U-turn path from a plurality of pre-stored U-turn paths, wherein one end of the first U-turn path is connected to the end of the first row of cables, and the other end of the first U-turn path is connected to the beginning of the second row of cables; through the first U-turn path, control the working robot to move from the first row of cables to the second row of cables.

[0146] According to one embodiment of the present application, the third control module 730 is also used to: when the distance between the end of the first path and the end of the first cable is greater than or equal to a first preset threshold, control the working robot to move from the first cable to the second cable, and control the working robot to continue working along the second cable in a forward direction, wherein the second cable is the current cable.

[0147] According to an embodiment of the present application, the lane changing conditions include at least one of the following conditions: the first condition includes: there is an obstacle in the working direction of the working robot, the first row of lines is an unoperated row of lines, and there are N rows of lines between the first row of lines and the current row of lines, and N is an integer greater than or equal to 0; the second condition includes: there is a temporary working area in the target area covered by the original planned path, the temporary working area is covered by the working area corresponding to the first row of lines, and there are N rows of lines between the first row of lines and the current row of lines, and N is an integer greater than or equal to 0.

[0148] According to an embodiment of the present application, the second condition includes: there is a temporary operation area in the target area covered by the original planned path, the temporary operation area is covered by the operation area corresponding to the first lane, and the current lane is not the lane changed through the lane changing condition, and there are N lanes between the first lane and the current lane, where N is an integer greater than or equal to 0.

[0149] According to one embodiment of the present application, the control device 700 of the working robot also includes a first planning module 740, which is used to: when there is an obstacle in the working direction of the working robot and the first row of lines is not found, plan a jump point path according to a first point between the working robot and the obstacle and a second point on the side of the obstacle away from the working robot, and control the working robot to bypass the obstacle and continue to work along the current row of lines according to the jump point path.

[0150] According to an embodiment of the present application, the control device 700 of the working robot also includes a second planning module 750, which is used to: when there is a temporary working area in the target area covered by the original planned path, and the temporary working area exceeds the working area corresponding to a single cable among multiple cables, or the current cable is a cable changed through a lane change condition, perform path planning for the temporary working area to obtain a planned path corresponding to the temporary working area; control the working robot to move from the third point of the current cable to the temporary working area, and operate on the temporary working area according to the planned path corresponding to the temporary working area; control the working robot to move from the temporary working area to the third point of the current cable and continue to operate along the current cable.

[0151] According to an embodiment of the present application, the control device 700 of the operating robot further includes a marking module 760 for marking a portion of the plurality of cables covered by the temporary operating area as having been operated.

[0152] According to one embodiment of the present application, the second control module 720 is also used to: mark the second path segment in the current wiring arrangement as a missed operation, wherein the projection of the second path segment in the working direction of the working robot in the current wiring arrangement covers the projection of the first path segment in the working direction.

[0153] According to an embodiment of the present application, the control device 700 of the working robot also includes a fourth control module 770, which is used to: control the working robot to operate along a third row of wires among multiple rows of wires; when there is a path marked as operated in the operating direction of the third row of wires by the working robot, search whether there is a path marked as missed operation in the wires near the third row of wires; when there is a path marked as missed operation in the wires near the third row of wires, control the working robot to switch to the wires near the third row of wires and operate on the path marked as missed operation; control the working robot to move from the wires near the third row of wires to the third row of wires to continue operating, and re-mark the path marked as missed operation as operated.

[0154] It should be understood that the operations and functions of the first control module 710, the second control module 720, the third control module 730, the first planning module 740, the second planning module 750, the marking module 760 and the fourth control module 770 in the above embodiment can refer to the above Figure 2 , Figure 4 , Figure 5 or Figure 6 In order to avoid repetition, the description of the control method of the working robot provided in the embodiment will not be repeated here.

[0155] An embodiment of the present application also provides a working robot, which includes a control module, and the control module is used to execute the control method of the working robot provided by any of the above embodiments.

[0156] In some embodiments, the working robot may include a cleaning robot, and the appearance of the cleaning robot may be a vehicle shape or other shapes. In other embodiments, the working robot may be a sowing, spraying or other robot.

[0157] The operation and functions of the working robot provided in the embodiment of the present application can refer to the above Figure 2 , Figure 4 , Figure 5 or Figure 6 In order to avoid repetition, the description of the control method of the working robot provided in the embodiment will not be repeated here.

[0158] Figure 8 FIG. 8 is a block diagram of an electronic device 800 for executing a control method for a working robot provided by an exemplary embodiment of the present application. The electronic device 800 may specifically be a working robot, a remote control device for controlling the working robot, or other devices.

[0159] Reference Figure 8 The electronic device 800 includes a processing component 810, which further includes one or more processors, and a memory resource represented by a memory 820 for storing instructions executable by the processing component 810, such as an application. The application stored in the memory 820 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 810 is configured to execute instructions to perform the control method of the working robot.

[0160] The electronic device 800 may also include a power supply component configured to perform power management of the electronic device 800, a wired or wireless network interface configured to connect the electronic device 800 to a network, and an input / output (I / O) interface. The electronic device 800 may be operated based on an operating system stored in the memory 820, such as Windows Server 2000. TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0161] A non-temporary computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the above-mentioned electronic device 800, enables the above-mentioned electronic device 800 to execute a control method for a working robot.

[0162] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described one by one here.

[0163] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0164] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0165] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0166] 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.

[0167] 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.

[0168] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several 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 methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program check codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0169] It should be noted that, in the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0170] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0171] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a working robot, characterized in that: include: Controlling the working robot to work along a current line among a plurality of lines in the original planned path; When a lane change condition is met, controlling the working robot to move from the current lane to a first lane among the multiple lanes, controlling the working robot to work along a first path in the first lane, and marking the first path as worked, wherein the first lane is adjacent to the current lane; Control the working robot to move from the first row of wires to the second row of wires, and control the working robot to continue working along the second row of wires, wherein the second row of wires is the current row of wires or is a row of wires in the original planned path that is connected to the current row of wires in the forward direction.

2. The control method of the working robot according to claim 1, characterized in that: The controlling the working robot to move from the first row of wires to the second row of wires, and controlling the working robot to continue working along the second row of wires, comprises: When the first path extends to the end of the first cable, the working robot is controlled to move from the first cable to the second cable, and the working robot is controlled to continue working along the second cable, wherein the second cable is the cable in the original planned path that is connected to the current cable in the forward direction.

3. The control method of the working robot according to claim 2, characterized in that: When the first path extends to the end of the first cable, controlling the working robot to move from the first cable to the second cable comprises: Selecting a first U-turn path from a plurality of pre-stored U-turn paths, wherein one end of the first U-turn path is connected to the end of the first row of cables, and the other end of the first U-turn path is connected to the beginning of the second row of cables; The working robot is controlled to move from the first row of wires to the second row of wires through the first U-turn path.

4. The control method of the working robot according to claim 2, characterized in that: The controlling the working robot to move from the first row of wires to the second row of wires, and controlling the working robot to continue working along the second row of wires, further includes: When the distance between the end of the first path and the end of the first cable is greater than or equal to a first preset threshold, the working robot is controlled to move from the first cable to the second cable, and the working robot is controlled to continue working along the second cable in the forward direction, wherein the second cable is the current cable.

5. The control method of the working robot according to claim 1, characterized in that: The lane changing condition includes at least one of the following conditions: The first condition includes: there is an obstacle in the working direction of the working robot, the first cable is an unoperated cable, and there are N cables between the first cable and the current cable, where N is an integer greater than or equal to 0; The second condition includes: there is a temporary operation area in the target area covered by the original planned path, the temporary operation area is covered by the operation area corresponding to the first row of lines, and there are N rows of lines between the first row of lines and the current row of lines, where N is an integer greater than or equal to 0.

6. The control method of the working robot according to claim 5, characterized in that: The second condition includes: there is a temporary operation area in the target area covered by the original planned path, the temporary operation area is covered by the operation area corresponding to the first lane, and the current lane is not the lane changed by the lane changing condition, and there are N lanes between the first lane and the current lane, where N is an integer greater than or equal to 0.

7. The control method of the working robot according to claim 5, characterized in that: Also includes: When there is an obstacle in the working direction of the working robot and the first row of cables is not found, a jump-point path is planned according to a first point between the working robot and the obstacle and a second point on a side of the obstacle away from the working robot, and the working robot is controlled according to the jump-point path to bypass the obstacle and continue to work along the current row of cables.

8. The control method of the working robot according to claim 5, characterized in that: Also includes: If there is a temporary operation area in the target area covered by the original planned path, and the temporary operation area exceeds the operation area corresponding to a single lane among the multiple lanes, or the current lane is a lane changed by the lane change condition, path planning is performed for the temporary operation area to obtain a planned path corresponding to the temporary operation area; Control the operating robot to move from the third point of the current wiring arrangement to the temporary operating area, and operate the temporary operating area according to the planned path corresponding to the temporary operating area; The working robot is controlled to move from the temporary working area to the third point of the current line and continue to work along the current line.

9. The control method of the working robot according to claim 8, characterized in that: Also includes: Marking a portion of the plurality of cables covered by the temporary operation area as completed.

10. The control method of the working robot according to any one of claims 1 to 8, characterized in that: Also includes: The second path segment in the current wiring arrangement is marked as a missed operation, wherein the projection of the second path segment in the working direction of the working robot in the current wiring arrangement covers the projection of the first path segment in the working direction.

11. The control method of the working robot according to claim 10, characterized in that: Also includes: Controlling the working robot to work along a third row of the plurality of rows of rows; When there is a path marked as having been worked on in the working direction of the third row of wires by the working robot, searching for a path marked as having missed work in the rows of wires near the third row of wires; When there is a path marked as a missed operation in the wiring near the third wiring, controlling the working robot to switch to the wiring near the third wiring to work on the path marked as a missed operation; The operation robot is controlled to move from the arrangement of wires near the third arrangement of wires to the third arrangement of wires to continue the operation, and the path marked as missed operation is re-marked as completed operation.

12. A working robot, characterized in that: It comprises a control module, and the control module is used to execute the control method of the working robot according to any one of claims 1 to 11.

13. The working robot according to claim 12, characterized in that: The working robot includes a cleaning robot.

14. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor, Wherein, the processor is used to execute the control method of the working robot described in any one of claims 1 to 11.

15. A computer-readable storage medium, characterized in that: The storage medium stores a computer program for executing the control method of the working robot according to any one of claims 1 to 11.

16. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer device is enabled to execute the control method of the working robot according to any one of claims 1 to 11.

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