Working path planning method, system and device of robot

Abstract

The invention discloses a working path planning method, system and device of a robot, and relates to the field of robot control. According to the scheme, the robot is controlled to start from the preset position to move towards the first advancing direction by the first distance, then steer to the second advancing direction to move to the first steering position, steer to the third advancing direction to move by the second distance, and then steer to the fourth advancing direction to move to the second steering position; and reentering the step of moving the first distance in the first advancing direction. The distance between the two adjacent rows is set to be N times of the width of the cutter head, so that the robot travels for a longer distance on the wire to obtain more positioning data, more accurate positioning information is obtained, and the technical effect of accurate positioning is achieved. According to the mode, the moving path of the robot can be long, then measurement errors are reduced, meanwhile, enough position information is obtained, accurate positioning of the robot is achieved, and the mowing coverage rate is increased.

Description

Technical Field

[0001] The present application relates to the field of robot control, and in particular to a method, system and device for robot work path planning. Background Art

[0002] Lawn mowing robots are widely used because they can complete the mowing task autonomously, improve efficiency and reduce the workload of workers. Among them, the wiring-type lawn mowing robot system includes a lawn mowing robot and a wire, and the wire is arranged near the boundary line of the mowing area. When precise positioning is required, the lawn mowing robot needs to move to the boundary line to achieve precise positioning. At present, the wiring-type lawn mowing robot usually uses a bow-shaped path to mow the mowing area. The path nodes of the bow-shaped path are all set on the wire, and the lawn mowing robot is accurately positioned when it runs on the wire.

[0003] However, when the mowing area is mowed using an arched path, in order to achieve full-range mowing, the spacing between two adjacent rows of the arched path is usually set to be approximately the width of a blade of the mowing robot. The problem with this method is that when the mowing robot moves from the current row to the next row to mow, the length of the path it moves on the wire is approximately the length of a blade, and the moving path is short, resulting in it being unable to obtain sufficient position information for accurate positioning. In addition, since the moving path is relatively short, the measurement error will also be more sensitive, which may cause a large error in the position estimation of the mowing robot, making it impossible to achieve accurate positioning, affecting the mowing effect and overall operating efficiency of the mowing robot. Summary of the invention

[0004] The purpose of this application is to provide a robot working path planning method, system and device, which sets the spacing between two adjacent rows to N times the width of the cutter disc, so that the robot can travel a longer distance on the wire to obtain more positioning data, thereby obtaining more accurate positioning information and achieving the technical effect of precise positioning. This method can make the robot's path longer when moving, thereby reducing measurement errors, while obtaining sufficient position information, achieving precise positioning of the robot, and improving mowing coverage.

[0005] In order to solve the above technical problems, the present application provides a working path planning method for a robot, wherein a wire is arranged in the preset area, comprising:

[0006] S1: Control the robot to start from a preset position and move in a first direction of travel;

[0007] S2: after the robot moves a first distance in the first direction of travel, controlling the robot to turn to move in a second direction of travel;

[0008] S3: when the robot moves to the first turning position in the second traveling direction, controlling the robot to turn to move in a third traveling direction;

[0009] S4: after the robot moves a second distance along the third travel direction, controlling the robot to turn to move toward a fourth travel direction;

[0010] S5: When the robot moves to the second turning position in the fourth direction of travel, control the robot to turn and then re-enter the step of moving in the first direction of travel;

[0011] The first distance is not equal to the second distance, the first traveling direction is opposite to the third traveling direction, and the second traveling direction is opposite to the fourth traveling direction.

[0012] In one embodiment, during the process of the robot moving in the first direction of travel or the third direction of travel, the process includes:

[0013] Controlling the robot to move along the wire in the first direction of travel or the third direction of travel;

[0014] Determine whether the distance between the center position of the robot wheel axle and the preset position in the first direction of travel is equal to a first distance or determine whether the distance between the center position of the robot wheel axle and the first steering position in the third direction of travel is equal to a second distance;

[0015] If yes, the robot is controlled to stop moving in the first direction of travel or the third direction of travel.

[0016] In one embodiment, when it is determined that the robot moves in the second direction of travel and does not move to the first turning position, the method further includes:

[0017] determining whether the robot moves onto the wire;

[0018] If the robot moves onto the wire, the process proceeds to a step of controlling the robot to turn so as to move in a third direction of travel.

[0019] In one embodiment, in the process of controlling the robot to turn to move in the third direction of travel, the method further comprises:

[0020] Acquire the distance moved by the robot in the third direction of travel;

[0021] If the distance moved by the robot in the third moving direction is greater than the second distance, it is determined that there is a missed cutting area in the preset area.

[0022] In one embodiment, after determining that there is a missed area in the preset area, the method further includes:

[0023] Controlling the robot to move to the first turning position;

[0024] After the robot moves to the first turning position, the robot is controlled to move in a direction opposite to the second traveling direction.

[0025] In one embodiment, when it is determined that the robot moves in the fourth direction of travel and does not move to the second turning position, the method further includes:

[0026] determining whether the robot moves onto the wire;

[0027] If the robot moves onto the wire, determining whether the difference between the current position of the robot and the preset position is equal to the preset distance;

[0028] If the difference between the current position and the preset position is not equal to the preset distance, it is determined that there is a missed cutting area.

[0029] In one embodiment, after determining that there is a missed area in the preset area, the method further includes:

[0030] Controlling the robot to move to the second turning position;

[0031] After the robot moves to the second turning position, the robot is controlled to move in a direction opposite to the fourth traveling direction.

[0032] In one embodiment, if it is determined that there is a missed cutting area in the preset area, after the step of controlling the robot to turn and re-enter the step of moving in the first direction of travel, the method further includes:

[0033] When the robot moves to a third turning position in the second traveling direction, controlling the robot to turn to move in the third traveling direction, wherein the third turning position is the adjusted first path node;

[0034] or,

[0035] When the robot moves to the fourth turning position in the fourth traveling direction, the robot is controlled to turn and then re-enter the step of moving in the first traveling direction, wherein the fourth turning position is the adjusted second path node.

[0036] In one embodiment, after step S5, the method further includes:

[0037] S6: controlling the robot to move a preset distance along the first travel direction, and then controlling the robot to turn to move in a second travel direction;

[0038] S7: when the robot moves to a fifth turning position in the second traveling direction, controlling the robot to turn to move in the opposite direction of the third traveling direction;

[0039] S8: after the robot moves the preset distance in the opposite direction of the third traveling direction, controlling the robot to turn to move in a fourth traveling direction;

[0040] S9: When the robot moves to the sixth turning position in the fourth traveling direction, control the robot to turn and then re-enter the step of moving in the first traveling direction;

[0041] Wherein, the preset distance is smaller than the first distance.

[0042] In one embodiment, after step S9, the method further includes:

[0043] After step S6 is executed several times, step S2 is entered again.

[0044] In one embodiment, after step S5, the method further includes:

[0045] Each time the step of moving in the first direction of travel is re-entered, adjusting the first distance and the second distance, and / or adjusting the first turning position and the second turning position;

[0046] Steps S2 to S5 are re-executed with the adjusted first distance and second distance, and / or the adjusted first turning position and second turning position.

[0047] In one embodiment, when the first distance and the second distance remain unchanged, adjusting the first steering position and the second steering position includes:

[0048] Adjusting the first steering position so that the adjusted first steering position differs from the first steering position before the adjustment by a preset distance in the second direction;

[0049] The second steering position is adjusted so that the adjusted second steering position differs from the adjusted second steering position by a preset distance in the fourth direction.

[0050] In one embodiment, the adjusting the first distance and the second distance, and adjusting the first steering position and the second steering position, comprises:

[0051] Adjusting the first distance so that the first distance after adjustment differs from the first distance before adjustment by two preset distances;

[0052] Adjusting the second distance so that the second distance after adjustment differs from the second distance before adjustment by two preset distances;

[0053] The first steering position is adjusted to make the first steering position compatible with the first distance, and the second steering position is adjusted to make the second steering position compatible with the second distance.

[0054] In one embodiment, the first distance after adjustment is greater than the first distance before adjustment, and the second distance after adjustment is greater than the second distance before adjustment.

[0055] In one embodiment, the first distance after adjustment is smaller than the first distance before adjustment, and the second distance after adjustment is smaller than the second distance before adjustment.

[0056] In order to solve the above technical problems, the present application also provides a robot work path planning system, including:

[0057] A first moving unit, used to control the robot to move from a preset position to a first moving direction;

[0058] a second moving unit, configured to control the robot to turn and move in a second moving direction after the robot moves a first distance in the first moving direction;

[0059] a third moving unit, configured to control the robot to turn so as to move in a third traveling direction when the robot moves to a first turning position in the second traveling direction;

[0060] a fourth moving unit, configured to control the robot to turn to move in a fourth moving direction after the robot moves a second distance along the third moving direction;

[0061] a fifth moving unit, configured to control the robot to turn so as to re-enter the step of moving in the first direction of travel when the robot moves to a second turning position in the fourth direction of travel;

[0062] The first distance is not equal to the second distance, the first traveling direction is opposite to the third traveling direction, and the second traveling direction is opposite to the fourth traveling direction.

[0063] In order to solve the above technical problems, the present application also provides a robot working path planning device, comprising:

[0064] Memory for storing computer programs;

[0065] The processor is used to implement the steps of the robot work path planning method as described above when storing the computer program.

[0066] The present application provides a robot working path planning method, system and device, which relates to the field of robot control. The scheme controls the robot to move a first distance in the first direction of travel from a preset position, then turn to the second direction of travel and move until the first turning position, turn to the third direction of travel and move a second distance, then turn to the fourth direction of travel and move until the second turning position, and re-enter the step of moving the first distance in the first direction of travel; the present application adopts a line-by-line scanning method for path planning. During scanning, the robot always moves in one direction, turns when reaching the boundary of each row, and then continues to move along the next row. This method can make the robot's path longer when moving, thereby reducing measurement errors, while obtaining sufficient position information to achieve accurate positioning of the robot and improve mowing coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the prior art and the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0068] Figure 1 A schematic diagram of the installation position of a sensor on a lawn mowing robot provided in the present application;

[0069] Figure 2 A schematic diagram of determining the position of a robot on a wire provided by the present application;

[0070] Figure 3 A waveform timing diagram for calculating the position of a robot on a wire provided in the present application;

[0071] Figure 4 A schematic diagram of a process flow of a robot working path planning method provided in this application;

[0072] Figure 5 A schematic diagram of the working path of the first robot provided in this application;

[0073] Figure 6 A schematic diagram of the working path of the second robot provided in this application;

[0074] Figure 7 A schematic diagram of the working path of the third robot provided in this application;

[0075] Figure 8A schematic diagram of the working path of the fourth robot provided in this application;

[0076] Fig. 9 A structural block diagram of a robot work path planning system provided in this application;

[0077] Fig.10 This is a structural block diagram of a robot work path planning device provided in this application. DETAILED DESCRIPTION

[0078] The core of this application is to provide a robot working path planning method, system and device, which sets the spacing between two adjacent rows to N times the width of the cutter disc, so that the robot can travel a longer distance on the wire to obtain more positioning data, thereby obtaining more accurate positioning information and achieving the technical effect of precise positioning. This method can make the robot's path longer when moving, thereby reducing measurement errors, while obtaining sufficient position information, achieving precise positioning of the robot, and improving mowing coverage.

[0079] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are 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.

[0080] The robot in the present application can be but is not limited to being used in the application scenario of mowing. The following embodiments are described using a mowing robot as an example, but are not limited to being a mowing robot. For example, it can also be a mobile robot such as a sweeping robot or a sprinkler robot, and the present application does not make any limitation thereto.

[0081] Before describing the working path planning method of the robot provided in the present application, the structure and principle of the lawn mowing robot involved in the embodiment of the present application are first described as follows:

[0082] A lawn mowing robot is an automated lawn mowing device that replaces the traditional manual mowing method. The lawn mowing robot system includes a boundary wire, a charging station, a mowing module, a drive module, a sensor module, and a control module. Among them, the boundary wire is a wire installed around the lawn to determine the robot's working area. The charging station is the charging base of the lawn mowing robot. The charging station is provided with a signal transmission device for transmitting signals to the lawn mowing robot through the wire. The mowing module includes at least components for mowing, such as a blade, etc. The mowing module performs the mowing task through the instructions of the control module. The drive module includes a driving wheel (active wheel and driven wheel) and a driving motor to drive the robot to move on the lawn. The sensor module is the perception part of the lawn mowing robot system, including a positioning sensor component, a boundary sensor component, a collision sensor component, and a lifting sensor component. The positioning sensor component is used to position the lawn mowing robot to help the robot accurately perform the mowing task. The boundary sensor component is used to detect the boundary information in the preset area to help the robot avoid crossing the boundary. The collision sensor is used to detect whether the robot is hit so that the robot can avoid obstacles. The lift sensor module is used to detect whether the robot is off the ground. When the robot leaves the ground, the mowing module and the drive module will stop working to prevent injury or damage. The control module is equivalent to the brain of the mowing robot. It is responsible for communicating with the mowing module, the drive module and the sensor module, and operates and controls the mowing module and the drive module according to the positioning information, collision information and lift information obtained from the sensor module.

[0083] The positioning sensor assembly usually includes a positioning sensor disposed on the bottom of the lawn mower robot. The position of the positioning sensor on the bottom of the lawn mower robot only needs to satisfy the requirement that when the lawn mower robot moves along the wire, the positioning sensor is located directly above the wire. The number of positioning sensors may be one or more. When the number of positioning sensors is multiple, the sensitive axes of each positioning sensor may be parallel or perpendicular to each other. In this embodiment, the preferred number of positioning sensors is 2. For example, the positioning sensor assembly includes a first positioning sensor 21 and a second positioning sensor 22, and the robot is positioned by detecting the direction of the magnetic field signal. Specifically, the first positioning sensor 21 is used to detect a first signal on a first sensitive axis 31, and the second positioning sensor 22 is used to detect a second signal on a second sensitive axis 32. The first sensitive axis 31 is parallel to the second sensitive axis 32. Figure 1As shown. In a specific embodiment, the first sensitive axis 31 is parallel to the second sensitive axis 32, and the first sensitive axis 31 and the second sensitive axis 32 are perpendicular to the forward direction of the robot. Correspondingly, after the lawn mowing robot is started, the first positioning sensor 21 and the second positioning sensor 22 start working, and respectively locate the robot by detecting the direction of the magnetic field signal; when the robot moves along the wire, the sensitive axes of the first positioning sensor 21 and the second positioning sensor 22 always remain parallel. When the robot moves along the wire, the first positioning sensor 21 will detect the first signal on the first sensitive axis 31, and the second positioning sensor 22 will detect the second signal on the second sensitive axis 32. The processor can determine whether the position of the first positioning sensor 21 and / or the second positioning sensor is directly above the wire by detecting the signals of the two positioning sensors. If the current position of the first positioning sensor 21 and / or the second positioning sensor is not directly above the wire, the robot can be repositioned by adjusting the movement direction of the robot until the signal of the positioning sensor indicates that the first positioning sensor 21 and / or the second positioning sensor is directly above the wire. Through continuous detection and adjustment, the lawn mowing robot can move along the wire and keep the positioning sensor installed on the robot always directly above the wire. The first positioning sensor 21 and the second positioning sensor 22 may be specifically implemented as inductive coils.

[0084] The boundary sensor assembly generally includes a first boundary sensor 11 and a second boundary sensor 12 disposed on both sides of the bottom of the mowing robot. The boundary sensors can be disposed on the left and right sides of the bottom of the mowing robot, with at least one boundary sensor disposed on each side, or disposed on the front and rear sides of the bottom of the mowing robot. The specific implementation of the boundary sensor can be an inductor coil. The working principle of the boundary sensor is to determine the boundary information by detecting the direction and strength of the magnetic field signal. Specifically, Figure 2 As shown, when the lawn mower robot works within the preset area surrounded by the boundary wire, the signal generating device connected to both ends of the wire (such as the signal generating device is set on the charging station) sends periodic pulse signals to both ends of the wire, and the pulse current signal flows through the wire to form a magnetic field signal centered on the wire. Specifically, when the boundary wire is located between the first boundary sensor 11 and the second boundary sensor 12, the directions of the magnetic field signals detected by the first boundary sensor 11 and the second boundary sensor 12 are opposite, and the magnetic field signal strengths are equivalent; when the boundary wire is located outside the lawn mower robot, the directions of the magnetic fields detected by the first boundary sensor 11 and the second boundary sensor 12 are the same, and the boundary sensor closer to the boundary wire detects a greater magnetic field strength. It can be seen that the robot can be controlled to travel along the boundary line through the characteristics of the magnetic field signals detected by the two boundary sensors.

[0085] When the mowing robot moves along the boundary line, Figure 2 The method shown obtains the initial positioning information of the lawn mower robot on the wire. When the lawn mower robot moves to the boundary wire next time, the lawn mower robot is controlled to move a certain distance on the wire to obtain multiple positioning information. The multiple positioning information and the initial positioning information are processed to obtain the current position of the lawn mower robot. It can be seen that when the lawn mower robot is on the boundary wire, the lawn mower robot can be accurately positioned no matter where on the boundary wire the lawn mower robot is and at what angle to the boundary wire through the two positioning sensors. When the positioning of the mowing area is inaccurate, the lawn mower robot can be controlled to return to the boundary wire for positioning and then return to the mowing area again. When the lawn mower robot needs to return to the charging station to charge, since the current position of the lawn mower robot can be positioned, the shortest path for the lawn mower robot to walk to the charging station can be determined, thereby improving the charging efficiency (such as Figure 3 As shown, the position of the robot can be located based on the time difference of the waveform timing received by the robot).

[0086] In summary, through the above structure and principle, the mowing robot can autonomously mow the grass in a predetermined working area and adjust its actions according to the feedback information from the sensor to complete the mowing task.

[0087] Please refer to Figure 4 . Figure 4 A schematic flow chart of a robot working path planning method provided in the present application, wherein a wire is arranged in a preset area, and the wire may be an underground wire or a mark placed on the ground, and the method comprises:

[0088] S1: Control the robot to start from a preset position and move in a first direction;

[0089] In this embodiment, after the mowing robot receives the mowing instruction, the mowing robot is controlled to move to a preset position, and moves in the first direction of travel with the preset position as the starting point. The preset position may be the point closest to the charging station, or the point on the boundary line closest to the current position of the mowing robot, or the point on the boundary line that the mowing robot moves to without turning, or a point on the boundary line specified by the user, or the coordinate zero point on the boundary line. The robot needs to start moving in the first direction of travel based on the starting point determined by the preset position.

[0090] S2: After the robot moves a first distance in the first direction of travel, controlling the robot to turn to move in a second direction of travel;

[0091] After the robot moves a first distance in the first direction of travel, the robot is controlled to turn to move in the second direction of travel, and when turning, it only needs to turn to the second direction of travel. In this embodiment, if the first direction of travel is perpendicular to the second direction of travel, the turning angle when turning can be 90°.

[0092] The first distance d1 can be expressed as d1=N*L, L=disc width+2*effective cutter length (it can also be understood as: L is the effective mowing width of the disc), N≥2, ensuring that the distance along the conductor is at least 1 spacing L each time.

[0093] In a specific embodiment, it is assumed that the first traveling direction is the direction of the coordinate axis, such as the X-axis or Y-axis direction of the coordinate axis. When the first traveling direction is the X-axis direction, the second traveling direction may be the Y-axis direction. The first traveling direction may be the positive direction of the X-axis or the reverse direction of the X-axis. The second traveling direction may be the positive direction of the Y-axis or the reverse direction of the Y-axis. When the first traveling direction is the Y-axis direction, the second traveling direction is the X-axis direction. The first traveling direction may be the positive direction of the Y-axis or the reverse direction of the Y-axis. The second traveling direction may be the positive direction of the X-axis or the reverse direction of the X-axis.

[0094] S3: When the robot moves to the first turning position in the second traveling direction, control the robot to turn to move in the third traveling direction;

[0095] Specifically, the design idea of ​​this step is: during the robot mowing process, the turning position is reasonably arranged so that the robot can complete the full range of mowing tasks in continuous movement. By setting a wire in the mowing area and monitoring whether the robot moves to the wire through a positioning sensor and / or a boundary sensor, it can be determined whether the robot has reached the first turning position. When the robot moves to the wire, it can be determined that the robot has reached the first turning position. At this time, the robot is automatically controlled to turn so that it changes its direction of travel to the third direction of travel. Otherwise, the robot is continuously controlled to move in the second direction of travel.

[0096] In this embodiment, the third traveling direction is opposite to the first traveling direction, so when the first traveling direction is perpendicular to the second traveling direction, the third traveling direction is also perpendicular to the second traveling direction.

[0097] The method in this embodiment enables the mowing robot to move continuously in the mowing area and accurately obtain position information. By reasonably setting the steering position, the robot can effectively complete the mowing task in the preset area, improving the mowing efficiency and accuracy. In addition, since the setting of the steering position is based on the actual position of the robot and the detection result of the wire, the working path planning method in this embodiment can adapt to mowing areas of different shapes and sizes, and has certain flexibility and adaptability.

[0098] S4: after the robot moves a second distance along the third travel direction, controlling the robot to turn to move toward a fourth travel direction;

[0099] In order to achieve full-range mowing, it is necessary to ensure that the robot can cover all mowing areas. In step S3, the robot has completed the turning operation from the second travel direction to the third travel direction and started mowing in the third travel direction. In order to continue mowing to the fourth travel direction, it is necessary to set an appropriate distance (i.e., the second distance) when moving in the third travel direction, and perform a turning operation after the robot moves to this distance, so that the robot can move along the fourth travel direction.

[0100] The first distance is not equal to the second distance. In a specific embodiment, the second distance d2 is smaller than the first distance d1. Generally speaking, d1-d2=L, and the fourth traveling direction is parallel to the second traveling direction but in the opposite direction.

[0101] S5: When the robot moves to the second turning position in the fourth direction of travel, control the robot to turn and then re-enter the step of moving in the first direction of travel.

[0102] When the mowing robot moves in the fourth direction, the positioning sensor and / or the boundary sensor is used to determine whether the mowing robot has moved onto the wire. If the mowing robot has moved onto the wire, it means that the robot has reached the second turning limit. At this time, the robot needs to be controlled to turn so that the robot re-enters the step of moving in the first direction. The fourth direction is perpendicular to the first direction, and the fourth direction is parallel to the second direction but in opposite directions.

[0103] In one embodiment, the above steps S1-S5 may be repeated until the robot traverses the preset area or until the robot completes the preset task. In another embodiment, the above steps S1-S5 may be repeated several times, and then the robot is controlled to walk along another planned working path to continue to perform the preset task.

[0104] In summary, this embodiment uses a line-by-line scanning method for path planning. During scanning, the robot always moves in one direction, turns when reaching the boundary of each line, and then continues to move along the next line. This method can make the robot's path longer when moving, thereby reducing measurement errors, while obtaining sufficient position information, achieving accurate positioning of the robot, and improving mowing coverage.

[0105] Based on the above embodiments:

[0106] Before controlling the robot to depart from the preset position, it also includes:

[0107] Determine if the robot is docked at a charging station;

[0108] If the robot is docked at the charging station, the robot is controlled to move along the wire to the path node closest to the charging station;

[0109] The path node is located on the conductor, and the location of the path node is a preset location.

[0110] This embodiment describes a series of operations before the robot departs from the preset position. First, it is necessary to determine whether the robot is docked at the charging station. If the robot is docked at the charging station, then it is necessary to control the robot to move along the wire to the path node closest to the charging station. This path node is located on the wire and is the location of the preset position.

[0111] Specifically, before the robot is ready to go, it needs to detect its location to determine whether it is on the charging station. If the robot is on the charging station, the robot is controlled to undo the docking state on the charging station and move along the wire. There are some path nodes on the wire. These path nodes are predetermined positions that reflect the requirements of the robot's work path planning. The robot needs to move to the path node closest to the charging station and stay there for the next work path planning.

[0112] The path nodes may be determined by: controlling the robot to walk along the wire, determining a plurality of positioning points of the robot on the wire; and determining the path nodes based on the plurality of positioning points.

[0113] Specifically, after setting the wire in the preset area, the robot is controlled to walk along the wire, such as controlling the robot to walk along the wire for at least one circle, and during the walking process, multiple positioning points of the robot on the wire are determined, and these multiple positioning points correspond to multiple position information of the robot on the wire, and this position information can represent the distance between the robot and the charging station. After the above-mentioned determination of multiple positioning points, the corresponding path nodes are determined according to the above-mentioned multiple positioning points, and the path nodes are used to subsequently generate the corresponding working path, so that the robot walks along the working path generated according to the path nodes. It should be noted that the path nodes determined in this step are used to generate the working path, so the number of path nodes determined in this step is at least one. It should also be noted that the set of path nodes is a subset of the set of positioning points, that is, the path nodes are a part of the selected positioning points.

[0114] It should be further explained that the number of positioning points may be related to the step length of the robot during walking and the signal frequency of the positioning signal emitted by the charging station, or may be related to the length of the wire. In one embodiment, the method for determining the current positioning point of the robot on the wire is: obtaining the positioning signals sent by the charging station through the wires on both sides of the charging station; and determining the current positioning point of the robot based on the time difference or phase difference of the two received positioning signals.

[0115] Specifically, the first time point and the second time point at which the positioning signals on different sides are transmitted along the wire to the end point can be obtained, and then the current positioning point of the robot can be determined according to the time difference between the first time point and the second time point. The end point can be the current position of the robot, or one or both ends of the wire connected to the signal processor (the signal processor here is a device independent of the robot, used to process the positioning signal, and can be set on the charging station. A similar signal processor that can process the positioning signal can also be set on the robot), and this application does not limit this.

[0116] Please refer to Figure 2 , Figure 2 A schematic diagram for determining the position of a robot on a wire provided for the present application. The wire between the left side of the charging station and the robot is defined as the first part of the wire, with a length of L1, and the wire between the right side of the charging station and the robot is defined as the second part of the wire, with a length of L2. The charging station sends a first positioning signal to the robot through the first part of the wire at time T2, and the charging station sends a second positioning signal to the robot at time T0; or the robot sends a first positioning signal to the robot through the first part of the wire at time T1, and the charging station sends a second positioning signal to the robot at time T3; if the total length L of the wire is known, then a set of two-variable linear equations about L1 and L2 can be obtained according to the above T0 and T2, or T1 and T3, L and the signal transmission speed on the wire, so that L1 and L2 can be calculated, and then the current position information of the robot on the wire can be obtained, and then the current positioning point of the robot can be obtained according to the current position information of the robot on the wire, the odometer data, and the angle information obtained by the IMU (Inertial measurement unit).

[0117] It can be seen that in this embodiment, the time difference or phase difference of the positioning signals sent by the charging station through the wires on both sides is obtained to determine the current position information of the robot on the wire, and then the current positioning point is determined. The implementation method is simple, not easily affected by the external environment, and the positioning accuracy is high.

[0118] In this way, the robot can adjust its position to the preset position before it is ready, so as to facilitate the subsequent work path planning. This ensures that the robot starts from the preset position and moves according to the preset work path planning, thereby improving the robot's work efficiency and accuracy.

[0119] like Figure 5 As shown, in one embodiment, after step S5, the method further includes:

[0120] S6: Control the robot to move a preset distance along the first travel direction, and then control the robot to turn to move in the second travel direction;

[0121] S7: When the robot moves to a fifth turning position in the second traveling direction, control the robot to turn to move in the opposite direction of the third traveling direction;

[0122] S8: after the robot moves a preset distance in the opposite direction of the third traveling direction, controlling the robot to turn to move in the fourth traveling direction;

[0123] S9: When the robot moves to the sixth turning position in the fourth traveling direction, control the robot to turn and then re-enter the step of moving in the first traveling direction;

[0124] Among them, the preset distance is less than the first distance 。

[0125] This embodiment provides another robot working path planning method, which includes additional steps S6 to S9. In the original basic path planning method, the robot moves according to the wires in the preset area and performs working path planning according to steps S1 to S5. After the cycle of S1 to S5 is completed, this embodiment is further improved.

[0126] Specifically, in step S6, the robot moves a preset distance along the first direction of travel and then turns to move in the second direction of travel. The preset distance in step S6 is L (the effective mowing width of the blade), and the preset distance is less than the first distance. By limiting the preset distance to be less than the first distance, step S6 can be used as an interruption condition in the execution of step S2, and when the distance traveled in the first direction of travel reaches the preset distance, step S6 is entered. Next, in step S7, when the robot moves to the fifth turning position in the second direction of travel, it turns to move in the opposite direction of the third direction of travel (this fifth turning position can be the intersection of the second direction of travel and the wire). Next, in step S8, after the robot moves a preset distance in the opposite direction of the third direction of travel, it turns to move in the fourth direction of travel. Finally, in S9, when the robot moves to the sixth turning position in the fourth direction of travel, it turns and re-enters the step of moving in the first direction of travel.

[0127] If the working path of steps S1-S5 is summarized as a "U-shaped" path, and steps S6-S9 is summarized as a "bow-shaped" path, then in this embodiment, a path planning method is added. After the "U-shaped" path, a "bow-shaped" path is added, which can improve the positioning accuracy to a certain extent and also improve the flexibility of the working path planning.

[0128] It should be noted that, in this embodiment, the first distance is not less than N times the “bow-shaped” spacing (the effective mowing width of a blade disc), and N is not less than 2.

[0129] In summary, steps S6-S9 in this embodiment are based on obtaining the wire segment of the length corresponding to the first distance, and then performing bow-shaped mowing on the area surrounded by the wire segment of the length corresponding to the first distance. The path corresponding to steps S6-S9 is planned as a shorter "bow-shaped" path, so that the positioning information obtained by the mowing robot when moving on the bow-shaped path can be directly matched with the positioning information of the wire segment of the length corresponding to the first distance (there is no need to match the positioning information obtained by the mowing robot along the entire boundary wire for positioning), thereby improving matching efficiency and positioning accuracy.

[0130] In one embodiment, after step S9, the method further includes:

[0131] After step S6 is executed several times, step S2 is entered again.

[0132] This embodiment describes a method of re-entering step S2 after executing step S6 several times after step S9. Specifically, before step S2, the robot has moved according to steps S1 to S9. In this embodiment, after each execution of step S9, the number of times step S6 is executed is determined, and when it reaches a preset number of times, step S2 is re-triggered.

[0133] Based on the above summary of the working path of S1-S5 as a "U-shaped" path and steps S6-S9 as a "bow-shaped" path, the specific implementation method in this embodiment is: the robot first moves along the "U-shaped" path, then moves along the "bow-shaped" path, and after moving along the "bow-shaped" path several times, it moves along the "U-shaped" path again. In a specific embodiment, if step S6 is executed once and then re-enters step S2, the specific implementation method is: the robot moves in a loop alternating between the "U-shaped" path and the "bow-shaped" path.

[0134] like Figure 5 As shown, Figure 5 In the figure, the robot moves according to 1→2→3→…→15→16. Assuming that the turning point of number 1 is the preset position, the direction of number 1→2 is the first moving direction, and the length between numbers 1→2 is the first distance, then the direction of number 2→3 is the second moving direction, the turning point of number 3 is the first turning position, the moving direction of number 3→4 is the third moving direction, the distance between numbers 3 and 4 is the second distance, the moving direction of number 4→5 is the fourth moving direction, and the turning point of number 5 is the second turning position. The distance between numbers 5→6 is the preset distance, the turning point of number 7 is the third turning position, and the turning point of number 9 is the fourth turning position.

[0135] That is, Figure 5 The robot moves according to 1→2→3→…→15→16, where 1→2→3→4→5 is the first "U-shaped" path, 5→6→7→8→9 is the first "bow-shaped" path after the first "U-shaped" path, 9→10→11→12→13 is the second "U-shaped" path after the first "bow-shaped" path, and 13→14→15→16 is the second "bow-shaped" path after the second "U-shaped" path, and the cycle continues until the preset mowing task position is completed.

[0136] It should be noted that in order to clearly indicate the path, Figure 5 The paths 1→2 and 9→10 are displayed in a staggered manner, the paths 3→4 and 11→12 are displayed in a staggered manner, the paths 5→6 and 13→14 are displayed in a staggered manner, and the paths 7→8 and 15→16 are displayed in a staggered manner. In the specific implementation, Figure 5 The paths corresponding to the numbers 1→2, 9→10 are on the same vertical line, the paths corresponding to 3→4, 11→12 are on the same vertical line, the paths corresponding to 5→6, 13→14 are on the same vertical line, and the paths corresponding to 7→8, 15→16 are on the same vertical line.

[0137] This embodiment can increase the working flexibility and efficiency of the robot. By executing step S6 multiple times and then re-entering step S2, the robot can be moved cyclically between different areas, thereby expanding the working range and coverage area of ​​the robot. At the same time, after re-entering the cycle, the robot can avoid the problems of monotony and inefficiency caused by single path planning, thereby improving work efficiency. In addition, the method can also adapt to the path planning requirements in different scenarios, thereby improving the applicability and flexibility of the robot.

[0138] In one embodiment, after step S5, the method further includes:

[0139] Each time the step of re-entering the moving step in the first direction of travel is performed, adjusting the first distance and the second distance, and / or adjusting the first turning position and the second turning position;

[0140] Steps S2 to S5 are re-executed with the adjusted first distance and second distance, and / or the adjusted first turning position and second turning position.

[0141] In this embodiment, after step S5, it also includes adjusting the first distance and the second distance, and / or adjusting the first turning position and the second turning position, and re-executing steps S2-S5 using the adjusted parameters. The purpose of this embodiment is to dynamically adjust the movement path of the robot each time the step of moving in the first direction of travel is re-entered. Specifically, each time the step of moving in the first direction of travel is re-entered, the movement distance of the robot in the first direction of travel can be changed by adjusting the first distance and the second distance. This means that the robot can move different distances between different positions as needed. In addition, the position of the robot when turning can also be changed by adjusting the first turning position and the second turning position to adapt to different path requirements.

[0142] Once the parameters are adjusted, the robot will re-execute steps S2-S5. This means that the robot will re-move along the path with the adjusted parameters to complete a specific task or meet a specific need. In the implementation process, the method of adjusting parameters can be based on pre-set rules or algorithms, or it can be dynamically adjusted based on real-time feedback from the current environment. In this way, the robot's working path can be flexibly adjusted according to the actual situation to achieve more efficient and precise movement.

[0143] like Figure 6 As shown, in one embodiment, when the first distance and the second distance remain unchanged, adjusting the first steering position and the second steering position includes:

[0144] Adjusting the first steering position so that the adjusted first steering position differs from the first steering position before the adjustment by a preset distance in the second direction;

[0145] The second steering position is adjusted so that the adjusted second steering position differs from the second steering position before the adjustment by a preset distance in the fourth direction.

[0146] In the present embodiment, a method for adjusting the steering position of a robot is proposed, and the method is applicable to the case where the first distance and the second distance remain unchanged. Specifically, the present embodiment includes the following steps: adjusting the first steering position: according to a preset distance, the adjusted first steering position is different from the first steering position before adjustment by a preset distance in the second direction of travel. This means that when the robot re-enters the step of moving in the first direction of travel, it will be adjusted in the second direction of travel relative to the previous position. Adjusting the second steering position: also according to the preset distance, the adjusted second steering position is different from the second steering position before adjustment in the fourth direction of travel by a preset distance. This means that after the robot moves in the third direction and reaches the second steering position, it will be adjusted to the fourth direction of travel relative to the previous position.

[0147] Based on the above summary of the working path of S1-S5 as a "U-shaped" path, the specific implementation method in this embodiment is equivalent to still moving along the "U-shaped" path, but each time the center of the "U-shaped" path moves a preset distance in the second direction of travel or the fourth direction of travel to cover the preset area. Among them, the preset distance in this embodiment is the effective mowing width of a blade disc. The flexibility of path planning is increased through the method in this embodiment.

[0148] like Figure 6 As shown, assuming that number 1 is the preset position, the robot moves according to numbers 1→2→3→...→15→16, and accordingly, the distance between numbers 1→2 / numbers 5→6 / numbers 9→10 / numbers 13→14 is the first distance d1, and the distance between numbers 3→4 / numbers 7→8 / numbers 11→12 / numbers 15→16 is the second distance d2.

[0149] It should be noted that in order to clearly indicate the path, Figure 6 The paths 1→2, 5→6, 9→10, and 13→14 are displayed in a staggered manner, and the paths 3→4, 7→8, 11→12, and 15→16 are displayed in a staggered manner. In the specific implementation, Figure 6 The paths corresponding to 1→2, 5→6, 9→10, and 13→14 are on the same vertical line; the paths corresponding to 3→4, 7→8, 11→12, and 15→16 are on the same vertical line.

[0150] In one embodiment, adjusting the first distance and the second distance, and adjusting the first turning position and the second turning position, comprises:

[0151] Adjusting the first distance so that the adjusted first distance differs from the first distance before the adjustment by two preset distances;

[0152] Adjusting the second distance so that the adjusted second distance differs from the second distance before the adjustment by two preset distances;

[0153] The first steering position is adjusted so that the first steering position is adapted to the first distance, and the second steering position is adjusted so that the second steering position is adapted to the second distance.

[0154] The specific implementation method of this embodiment is: adjusting the first distance and the second distance, and adjusting the first turning position and the second turning position to adapt them to the preset distance. Specifically, first, the purpose of adjusting the first distance and the second distance is to make the distance after adjustment differ from the distance before adjustment by two preset distances. The preset distance mentioned here refers to the effective mowing width of the robot blade. The method of adjusting the first distance can be to increase the length of two preset distances in the current path planning, or to reduce the length of two preset distances. Similarly, the method of adjusting the second distance is similar. The purpose of this is to allow the robot to cover the previously unmowed area during the mowing process each time the step of moving in the first direction is re-entered. Secondly, the purpose of adjusting the first turning position and the second turning position is to adapt them to the adjusted distance. The specific method can be to increase or decrease the turning position on the originally planned path, so that the robot can more accurately control the range of mowing. The method of adjusting the turning position may need to be calculated by an algorithm to ensure that the robot can accurately adjust the direction during movement.

[0155] In summary, this embodiment adjusts the first distance and the second distance, and adjusts the first turning position and the second turning position to adapt to the preset distance. Through such adjustments, the robot can mow more efficiently during the work path planning process, cover more areas, and improve work efficiency.

[0156] In one embodiment, the adjusted first distance is greater than the adjusted first distance, and the adjusted second distance is greater than the adjusted second distance.

[0157] Specifically, based on the above-mentioned summary of the working path of S1-S5 as a "U-shaped" path, in this embodiment, when the first distance after adjustment is greater than the first distance before adjustment and differs by two preset distances, the robot's moving path is to walk along a gradually increasing "U-shaped" path.

[0158] like Figure 7 As shown, assuming that number 1 is the preset position, the robot moves according to numbers 1→2→3→…→17→18, and accordingly, the distance between numbers 1→2 is the initial first distance, the distance between numbers 5→6 is the first distance after the first adjustment, the distance between numbers 9→10 is the first distance after the second adjustment…, the distance between numbers 3→4 is the initial second distance, the distance between numbers 7→8 is the second distance after the first adjustment, the distance between numbers 11→12 is the second distance after the second adjustment…, and so on, until the preset area is traversed.

[0159] In a specific embodiment, in order to clearly indicate the path, Figure 7The paths 1→2, 5→6, 9→10, 13→14, and 17→18 are displayed in a staggered manner, and the paths 3→4, 7→8, 11→12, and 15→16 are displayed in a staggered manner. In the specific implementation, Figure 7 The paths corresponding to 1→2, 5→6, 9→10, 13→14, and 17→18 are on the same vertical line, and the paths corresponding to 3→4, 7→8, 11→12, and 15→16 are on the same vertical line.

[0160] In one embodiment, the adjusted first distance is smaller than the first distance before adjustment, and the adjusted second distance is smaller than the second distance before adjustment.

[0161] In this embodiment, when the adjusted first distance is smaller than the first distance before adjustment and differs by two preset distances, the moving path of the robot is to walk along a gradually decreasing "U-shaped" path.

[0162] like Figure 8 As shown, assuming that number 1 is the preset position, the robot moves according to numbers 18→17→16→…→2→1, and accordingly, the distance between numbers 18→17 is the initial first distance, the distance between numbers 14→13 is the first distance after the first adjustment, the distance between numbers 10→9 is the first distance after the second adjustment…, the distance between numbers 16→15 is the initial second distance, the distance between numbers 12→11 is the second distance after the first adjustment, the distance between numbers 8→7 is the second distance after the second adjustment…, and so on, until the preset area is traversed.

[0163] It should be noted that in order to clearly indicate the path, Figure 7 The paths 2→1, 6→5, 10→9, 14→13, and 18→17 are displayed in a staggered manner, and the paths 4→3, 8→7, 12→11, and 16→15 are displayed in a staggered manner. In the specific implementation, Figure 8 The paths corresponding to 2→1, 6→5, 10→9, 14→13, and 18→17 are on the same vertical line, and the paths corresponding to 4→3, 8→7, 12→11, and 16→15 are on the same vertical line.

[0164] In one embodiment, during the process of the robot moving toward the first direction of travel or the third direction of travel, the process includes:

[0165] Controlling the robot to move along the guide wire in the first travel direction or the third travel direction;

[0166] Determine whether the distance between the center position of the robot's wheel axle and the preset position in the first direction of travel is equal to the first distance or determine whether the distance between the center position of the robot's wheel axle and the first steering position in the third direction of travel is equal to the second distance;

[0167] If yes, the robot is controlled to stop moving in the first direction of travel or the third direction of travel.

[0168] This embodiment describes how to determine whether the robot needs to stop moving during the process of the robot moving along the wire. The principle of this embodiment is: to determine whether to control the robot to stop moving by judging the distance. Specifically, in the process of controlling the robot to move along the wire in the first direction of travel, it is determined whether the distance between the center position of the robot axle and the preset position in the first direction of travel is equal to the first distance, and in the process of moving in the third direction of travel, it is determined whether the distance between the center position of the robot axle and the first turning position in the third direction of travel is equal to the second distance to determine whether the robot needs to stop moving. If the distance meets the condition, the robot is controlled to stop moving in the first direction of travel or the third direction of travel.

[0169] In this embodiment, "axle center" refers to the center position of the robot's axle or axle assembly. During the movement of the robot, the distance between the center position of its axle and the preset position or the first turning position is measured and compared to determine whether the robot needs to stop moving. The function of this feature is to monitor the position of the robot and compare it with the preset position or the first turning position to control the movement path of the robot. When the distance between the center position of the robot's axle and the preset position is equal to the first distance, it can be determined that the robot has moved to the predetermined position and needs to stop moving. When the distance between the center position of the robot's axle and the first turning position is equal to the second distance, it can be determined that the robot has moved to the predetermined position and needs to stop moving.

[0170] In this embodiment, the reason for comparing the distance between the center position of the wheel axle and the preset position with the first distance, or comparing the distance between the center position of the wheel axle and the first turning position with the second distance is that when the robot turns, the center of the wheel axle is used as the rotation center point. Then, when the distance between the center position of the wheel axle and other positions is used as the judgment basis, the robot does not need to make too many action adjustments before and after turning, and can reach the second travel direction or the fourth travel direction, which can improve work efficiency.

[0171] The method in this embodiment can accurately control the movement path of the robot. By judging the preset distance and position, it can ensure that the robot stops accurately at the position where it needs to stop, avoiding the problem of excessive movement or inaccurate stop position. This precise path planning method can improve the work efficiency and accuracy of the robot and reduce the error rate and waste of resources.

[0172] In one embodiment, when it is determined that the robot moves in the second direction of travel and does not move to the first turning position, the method further includes:

[0173] Determine whether the robot moves onto the wire;

[0174] If the robot moves onto the wire, the process enters a step of controlling the robot to turn so as to move in a third direction of travel.

[0175] In this embodiment, when it is determined that the robot moves in the second direction and has not yet reached the first turning position, a judgment operation needs to be performed during the movement of the robot. This judgment operation is to determine whether the robot has moved to the wire in the preset area. If the robot moves to the wire, it means that it has completed the movement in the second direction of travel and entered the first turning position. At this time, it is necessary to enter the operation step of controlling the robot to turn to move in the third direction of travel. It is also equivalent to that the first turning position is the position corresponding to the point where the second direction of travel and the wire intersect. Therefore, when judging whether the robot has moved to the wire, it is actually determining whether the robot has reached the first turning position.

[0176] The judgment operation in this embodiment can be implemented by the robot's sensor, for example, by using the boundary and / or positioning sensor to judge whether the robot has touched the wire. If the robot's sensor detects the wire, the operation step of controlling the robot to turn to move in the third direction of travel will be executed.

[0177] In summary, this embodiment ensures that the robot can move correctly according to the guidance of the wire and make corresponding turning movements when reaching different directions, which improves the accuracy and reliability of the robot's motion path.

[0178] In one embodiment, in the process of controlling the robot to turn to move in the third direction of travel, the method further includes:

[0179] Obtain the distance the robot moves in the third direction of travel;

[0180] If the distance moved by the robot in the third traveling direction is greater than the second distance, it is determined that there is a missed cutting area in the preset area.

[0181] This embodiment describes an additional step in the process of the robot turning to move in the third direction of travel. This step requires obtaining the distance the robot moves in the third direction of travel (the distance moved is the distance the robot moves in the third direction of travel when the robot moves along the line to the second turning position after turning), and comparing this distance with the preset second distance. If the distance the robot moves in the third direction of travel is greater than the preset second distance, it can be determined that there is an area that is not processed correctly in the preset area, that is, a missed cutting area.

[0182] This embodiment determines whether the robot correctly executes the path planning in the third direction of travel by comparing the moving distance of the robot in the third direction of travel with the preset second distance. If the robot exceeds the preset second distance, it means that the robot may not correctly execute the path planning in the third direction of travel to detect the existence of the missed cutting area.

[0183] In summary, the method of this embodiment detects the missed cutting area by comparing the moving distance of the robot with the preset distance, thereby improving the accuracy and efficiency of the robot's path planning.

[0184] In one embodiment, after determining that there is a missed area in the preset area, the method further includes:

[0185] Controlling the robot to move to a first turning position;

[0186] After the robot moves to the first turning position, the robot is controlled to move in the opposite direction of the second traveling direction.

[0187] This embodiment is a further action of controlling the robot after determining that there is a missed cutting area in the preset area. Specifically, after determining the missed cutting area, the robot is further controlled to move to the first turning position, and after reaching the position, the robot is controlled to move in the opposite direction of the second direction.

[0188] This embodiment is realized by trajectory planning and path control of the robot. After determining the missed cutting area, the robot needs to re-plan the path so as to make up the missed cutting area. In this process, the robot first needs to move to the first turning position to ensure that it can correctly turn to the opposite direction of the second direction. After reaching this position, the robot is controlled to move in the opposite direction of the second direction so as to enter the missed cutting area for making up the cutting operation.

[0189] The method in this embodiment can effectively solve the problem of missed mowing in the preset area, and by controlling the movement and steering of the robot, the robot can accurately enter the missed mowing area to make up for the mowing operation. In this way, the robot's mowing coverage rate can be improved, while reducing the need for manual intervention, and realizing automated mowing operations. In addition, the method can also ensure that the robot works according to the preset path, avoiding the generation of additional mowing paths, thereby further improving work efficiency and saving energy.

[0190] In one embodiment, when it is determined that the robot moves in the fourth direction of travel and does not move to the second turning position, the method further includes:

[0191] Determine whether the robot moves onto the wire;

[0192] If the robot moves onto the wire, it is determined whether the difference between the current position of the robot and the preset position is equal to the preset distance;

[0193] If the difference between the current position and the preset position is not equal to the preset distance, it is determined that there is a missed cutting area.

[0194] This embodiment describes a specific implementation method when determining that the robot moves to the fourth direction of travel and does not move to the second turning position. In this embodiment, it is first necessary to determine whether the robot moves to the wire. If the robot moves to the wire, according to the correct path planning, the current position of the robot should be a preset distance (the effective mowing width of a blade disc) different from the preset position; therefore, in this embodiment, it is determined whether the robot deviates from the preset planned path by judging whether the difference between the current position of the robot and the preset position is equal to the preset distance. If the difference between the current position and the preset position is not equal to the preset distance, it can be determined that the robot has deviated from the preset planned path, and it is determined that there is a missed cutting area. In short, this embodiment is used to detect whether there is a missed cutting area on the robot's moving path. When the robot moves to the wire, by comparing the difference between the current position and the preset position, it can be determined whether there is a missed cutting area.

[0195] This embodiment can help the robot to accurately plan the path and perform work, and can timely find the missed cutting area, so that the robot can avoid the missed cutting phenomenon caused by not correctly reaching the target position during the work process. By timely finding the missed cutting area, the robot's working path can be corrected in time, unnecessary movement operations can be avoided, and work efficiency and accuracy can be improved.

[0196] In one embodiment, after determining that there is a missed area in the preset area, the method further includes:

[0197] Controlling the robot to move to a second turning position;

[0198] After the robot moves to the second turning position, the robot is controlled to move in the opposite direction of the fourth traveling direction.

[0199] In this embodiment, after determining that there is a missed cutting area in the preset area, the robot is controlled to move to the second turning position (that is, the intersection position of the first travel direction and the fourth travel direction, and this second turning position is the starting point of the complementary cutting path planned in this embodiment). After the robot moves to the second turning position, the robot is controlled to move in the opposite direction of the fourth travel direction (this is the complementary cutting path planned in this embodiment).

[0200] The core of this embodiment is to realize the supplementary cutting of the missed cutting area by positioning the robot to the second turning position. The specific steps are: first determine the missed cutting area: when the robot moves in the fourth direction of travel and has not moved to the second turning position, determine whether the robot has moved to the wire. If the robot moves to the wire, calculate whether the difference between the current position and the preset position is equal to the preset distance. If the difference in distance is not equal to the preset distance, it is determined that there is a missed cutting area. Once it is determined that there is a missed cutting area, the robot needs to be moved to the second turning position. After the robot moves to the second turning position, the robot is controlled to change the moving direction, that is, to move in the opposite direction of the fourth direction of travel. The purpose of this is to supplement the missed cutting area, and by moving in the opposite direction of the fourth direction of travel, it can also return to the working path and continue the subsequent work.

[0201] This embodiment mainly solves the problem of missed cutting areas. By moving the robot to the second turning position and changing the moving direction, it can ensure that the robot returns to the predetermined working path, avoiding the existence of missed cutting areas. In this way, the working path of the robot can be ensured to be continuous and complete, thereby improving work efficiency and accuracy.

[0202] In one embodiment, if it is determined that there is a missed cutting area in the preset area, after controlling the robot to turn and re-enter the step of moving in the first direction of travel, the method further includes:

[0203] When the robot moves to a third turning position in the second traveling direction, controlling the robot to turn to move in the third traveling direction, wherein the third turning position is the adjusted first path node;

[0204] or,

[0205] When the robot moves to the fourth turning position in the fourth traveling direction, the robot is controlled to turn and then re-enter the step of moving in the first traveling direction, wherein the fourth turning position is the adjusted second path node.

[0206] This embodiment describes that when it is determined that there is a missed cutting area in the preset area, the method further includes planning a complementary cutting path after controlling the robot to turn and re-enter the step of moving in the first direction of travel. Specifically, the claim provides two complementary cutting path planning methods.

[0207] The first method of compensating cutting path planning is to control the robot to turn to move in the third direction of travel when the robot moves to the third turning position in the second direction of travel, in which the third turning position is the adjusted first path node. Specifically, by adjusting the position of the first path node, the robot turns to the third direction of travel and moves in the third direction of travel, which can ensure that the robot can more accurately cover the missed cutting area in the second direction of travel.

[0208] The second method of path planning for supplementary cutting is for the case where there is a missed cutting area when the robot moves in the fourth direction of travel. When the robot moves to the fourth turning position in the fourth direction of travel, the robot is controlled to turn and then re-enter the step of moving in the first direction, wherein the fourth turning position is the adjusted second path node. At this time, the fourth turning position is determined based on the adjusted second path node. By adjusting the position of the second path node, the robot turns in the fourth direction of travel to re-enter the step of moving in the first direction, thereby achieving supplementary cutting of the missed cutting area.

[0209] In the above manner, the robot's steering position in a specific direction can be determined by adjusting the path node position, thereby realizing the supplementary cutting operation of the missed cutting area. It is possible to realize efficient and accurate work path planning for the preset area where there is a missed cutting area. This method can avoid the omission of the missed cutting area and improve the comprehensiveness and accuracy of the robot's work. At the same time, by selecting the appropriate steering position according to the specific situation, the distance and time of the robot's movement can also be reduced, further improving the work efficiency.

[0210] In one embodiment, during the process of the robot moving toward the first direction of travel or the third direction of travel, the process includes:

[0211] Controlling the robot to move along the wire in the first direction of travel or the third direction of travel, and determining whether the robot encounters an obstacle in the process of moving along the wire;

[0212] If the robot encounters an obstacle while moving along the wire, the robot is controlled to move along the edge of some obstacles close to the preset area.

[0213] This embodiment describes the specific steps and control method in the process of the robot moving in the first direction of travel or the third direction of travel. In this embodiment, in the process of the robot moving along the wire, it is necessary to determine whether the robot encounters an obstacle. If the robot encounters an obstacle during the movement, it is also necessary to perform edge processing on some obstacles close to the preset area.

[0214] This edge operation enables the robot to bypass obstacles and continue to move, ensuring that the robot can successfully complete the preset movement path. Through the control method of this embodiment, the robot can automatically adjust the movement direction when encountering obstacles, ensuring the effectiveness and stability of the robot's work path planning in the preset area.

[0215] In an embodiment, the method can be applied to various robot working scenarios, such as automatic navigation vehicles, drones, etc. By detecting and processing obstacles that may be encountered during the movement of the robot, the working efficiency and safety of the robot in a complex environment can be improved, while also ensuring the continuity and accuracy of the robot's working path.

[0216] In order to solve the above technical problems, this application also provides a robot work path planning system, please refer to Fig. 9 , Fig. 9 A structural block diagram of a robot work path planning system provided in this application, the system comprising:

[0217] A first moving unit 91 is used to control the robot to move from a preset position to a first moving direction;

[0218] A second moving unit 92 is used to control the robot to turn to move in a second moving direction after the robot moves a first distance in the first moving direction;

[0219] A third moving unit 93 is used to control the robot to turn to move in a third direction of travel when the robot moves to the first turning position in the second direction of travel;

[0220] a fourth moving unit 94, configured to control the robot to turn to move in a fourth moving direction after the robot moves a second distance along the third moving direction;

[0221] A fifth moving unit 95, configured to control the robot to turn to re-enter the step of moving in the first direction of travel when the robot moves to the second turning position in the fourth direction of travel;

[0222] The first distance is not equal to the second distance, the first traveling direction is opposite to the third traveling direction, and the second traveling direction is opposite to the fourth traveling direction.

[0223] For an introduction to the work path planning system, please refer to the above embodiments, and this application will not go into details here.

[0224] In order to solve the above technical problems, the present application also provides a robot working path planning device, please refer to Fig.10 , Fig.10 This is a structural block diagram of a robot work path planning device provided in this application, the device comprising:

[0225] A memory 101, used for storing computer programs;

[0226] The processor 102 is used to implement the steps of the robot work path planning method as described above when storing the computer program.

[0227] For the introduction of the working path planning device, please refer to the above embodiment, and this application will not go into details here.

[0228] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0229] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot working path planning method, characterized in that: The preset area is provided with a conductor, including: S1: Control the robot to start from a preset position and move in a first direction of travel; S2: after the robot moves a first distance in the first direction of travel, controlling the robot to turn to move in a second direction of travel; S3: when the robot moves to the first turning position in the second traveling direction, controlling the robot to turn to move in a third traveling direction; S4: after the robot moves a second distance along the third travel direction, controlling the robot to turn to move toward a fourth travel direction; S5: When the robot moves to the second turning position in the fourth direction of travel, control the robot to turn and then re-enter the step of moving in the first direction of travel; The first distance is not equal to the second distance, the first traveling direction is opposite to the third traveling direction, and the second traveling direction is opposite to the fourth traveling direction.

2. The robot working path planning method according to claim 1, characterized in that: In the process of the robot moving in the first direction of travel or the third direction of travel, the process includes: Controlling the robot to move along the wire in the first direction of travel or the third direction of travel; Determine whether the distance between the center position of the robot wheel axle and the preset position in the first direction of travel is equal to a first distance or determine whether the distance between the center position of the robot wheel axle and the first steering position in the third direction of travel is equal to a second distance; If yes, the robot is controlled to stop moving in the first direction of travel or the third direction of travel.

3. The robot working path planning method according to claim 1, characterized in that: When it is determined that the robot moves in the second direction of travel and does not move to the first turning position, the method further includes: determining whether the robot moves onto the wire; If the robot moves onto the wire, the process proceeds to a step of controlling the robot to turn so as to move in a third direction of travel.

4. The robot working path planning method according to claim 3, characterized in that: In the process of controlling the robot to turn to move in the third direction of travel, the method further includes: Acquire the distance moved by the robot in the third direction of travel; If the distance moved by the robot in the third moving direction is greater than the second distance, it is determined that there is a missed cutting area in the preset area.

5. The robot working path planning method according to claim 4, characterized in that: After determining that there is a missed cutting area in the preset area, the method further includes: Controlling the robot to move to the first turning position; After the robot moves to the first turning position, the robot is controlled to move in a direction opposite to the second traveling direction.

6. The robot working path planning method according to claim 1, characterized in that: When it is determined that the robot moves in the fourth direction of travel and does not move to the second turning position, the method further includes: determining whether the robot moves onto the wire; If the robot moves onto the wire, determine whether the difference between the current position of the robot and the preset position is equal to the preset distance. ； If the difference between the current position and the preset position is not equal to the preset distance, it is determined that there is a missed cutting area.

7. The robot working path planning method according to claim 6, characterized in that: After determining that there is a missed cutting area in the preset area, the method further includes: Controlling the robot to move to the second turning position; After the robot moves to the second turning position, the robot is controlled to move in a direction opposite to the fourth traveling direction.

8. The robot working path planning method according to claim 4 or 6, characterized in that: If it is determined that there is a missed cutting area in the preset area, after the step of controlling the robot to turn and re-enter the step of moving in the first direction of travel, the method further includes: When the robot moves to a third turning position in the second traveling direction, controlling the robot to turn to move in the third traveling direction, wherein the third turning position is the adjusted first path node; or, When the robot moves to the fourth turning position in the fourth traveling direction, the robot is controlled to turn and then re-enter the step of moving in the first traveling direction, wherein the fourth turning position is the adjusted second path node.

9. The robot working path planning method according to any one of claims 1 to 7, characterized in that: After step S5, the method further comprises: S6: controlling the robot to move a preset distance along the first travel direction, and then controlling the robot to turn to move in a second travel direction; S7: when the robot moves to a fifth turning position in the second traveling direction, controlling the robot to turn to move in the opposite direction of the third traveling direction; S8: after the robot moves the preset distance in the opposite direction of the third traveling direction, controlling the robot to turn to move in a fourth traveling direction; S9: When the robot moves to the sixth turning position in the fourth traveling direction, control the robot to turn and then re-enter the step of moving in the first traveling direction; Wherein, the preset distance is smaller than the first distance.

10. The robot working path planning method according to claim 9, characterized in that: After step S9, the method further includes: After step S6 is executed several times, step S2 is entered again.

11. The robot working path planning method according to any one of claims 1 to 7, characterized in that: After step S5, the method further comprises: Each time the step of moving in the first direction of travel is re-entered, adjusting the first distance and the second distance, and / or adjusting the first turning position and the second turning position; Steps S2 to S5 are re-executed with the adjusted first distance and second distance, and / or the adjusted first turning position and second turning position.

12. The robot working path planning method according to claim 11, characterized in that: When the first distance and the second distance remain unchanged, adjusting the first steering position and the second steering position includes: Adjusting the first steering position so that the adjusted first steering position differs from the first steering position before the adjustment by a preset distance in the second direction; The second steering position is adjusted so that the adjusted second steering position differs from the adjusted second steering position by a preset distance in the fourth direction.

13. The robot working path planning method according to claim 11, characterized in that: The adjusting the first distance and the second distance, and adjusting the first turning position and the second turning position, comprises: Adjusting the first distance so that the first distance after adjustment differs from the first distance before adjustment by two preset distances; Adjusting the second distance so that the second distance after adjustment differs from the second distance before adjustment by two preset distances; The first steering position is adjusted to make the first steering position compatible with the first distance, and the second steering position is adjusted to make the second steering position compatible with the second distance.

14. The robot working path planning method according to claim 13, characterized in that: The first distance after adjustment is greater than the first distance before adjustment, and the second distance after adjustment is greater than the second distance before adjustment.

15. The robot working path planning method according to claim 13, characterized in that: The first distance after adjustment is smaller than the first distance before adjustment, and the second distance after adjustment is smaller than the second distance before adjustment.

16. A robot working path planning system, characterized in that: include: A first moving unit, used to control the robot to move from a preset position to a first moving direction; a second moving unit, configured to control the robot to turn and move in a second moving direction after the robot moves a first distance in the first moving direction; a third moving unit, configured to control the robot to turn so as to move in a third traveling direction when the robot moves to a first turning position in the second traveling direction; a fourth moving unit, configured to control the robot to turn to move in a fourth moving direction after the robot moves a second distance along the third moving direction; a fifth moving unit, configured to control the robot to turn so as to re-enter the step of moving in the first direction of travel when the robot moves to a second turning position in the fourth direction of travel; The first distance is not equal to the second distance, the first traveling direction is opposite to the third traveling direction, and the second traveling direction is opposite to the fourth traveling direction.

17. A robot working path planning device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the steps of the robot work path planning method as described in any one of claims 1 to 15 when storing a computer program.

Images