A path planning method, device, storage medium and robot

Abstract

The application discloses a path planning method and device, a storage medium and a robot, relates to the technical field of robots, and is applied to the robot and comprises the following steps: updating a constructed local map by using recognized sensing information to obtain a current local map; determining a current working scene of the robot, and determining a target point in the current local map based on the current working scene; and performing path planning based on the current local map, a current position of the robot and the target point, so that the robot travels from the current position to the target point according to a planned target path. In this way, the robot does not need to set a global map and a corresponding travel path, but directly updates the local map by using point cloud information of a surrounding environment recognized in real time, can flexibly plan a travel path according to changes in the surrounding environment and the current working scene of the robot in a travel process, and can reduce a failure rate of path planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a path planning method, device, storage medium and robot. BACKGROUND

[0002] The existing path planning method is good in a specific structured scene (such as a highway and an urban road with a guide line), but relatively poor in an unstructured scene such as a courtyard lawn, which may cause path planning failure and the problem of a lawnmower being trapped and pausing work.

[0003] Therefore, how to flexibly plan a path and reduce the path planning failure rate is a problem to be solved in the field. SUMMARY

[0004] Therefore, the present application aims to provide a path planning method, device, storage medium and robot, which can flexibly plan a driving path in real time according to changes in the surrounding environment and the current working scene during driving, thereby reducing the path planning failure rate. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a path planning method applied to a robot, comprising:

[0006] updating a constructed local map using the recognized perception information to obtain a current local map;

[0007] determining a current working scene of the robot, and determining a target point in the current local map based on the current working scene;

[0008] performing path planning based on the current local map, a current position of the robot and the target point, so as to drive from the current position to the target point according to a planned target path.

[0009] Optionally, the updating of the constructed local map using the recognized perception information to obtain a current local map comprises:

[0010] recognizing semantic information and depth information of a working area boundary and / or an obstacle through a visual sensor;

[0011] marking the semantic information and depth information of the working area boundary and / or the obstacle in the constructed local map to update the local map in real time and obtain a current local map.

[0012] Optionally, the determining of a current working scene of the robot and the determining of a target point in the current local map based on the current working scene comprise:

[0013] If the current working scene represents that the robot is moving along a passageway, and the distance between the robot and the obstacle is not less than a preset distance, a plurality of intersection points of the passageway and the boundary of the current local map are determined as first candidate points;

[0014] If the first candidate point matching the advancing direction of the robot at the current time has a distance to the position of the obstacle not less than the preset distance, the corresponding first candidate point is determined as a target point.

[0015] If the first candidate point matching the advancing direction of the robot at the current time has a distance to the position of the obstacle less than the preset distance, a plurality of points on the passageway between the first candidate point and the current position of the robot and having a distance to the position of the obstacle not less than the preset distance are determined as second candidate points, so as to determine a target point having a maximum distance to the current position from the plurality of second candidate points.

[0016] Optionally, the determining of the current working scene of the robot and the target point in the current local map based on the current working scene comprises:

[0017] If the current working scene represents that the robot is moving along the boundary of the working area, and the distance between the current position of the robot and the position of the obstacle is not less than a preset distance, a plurality of third candidate points on the boundary of the working area and intersecting the boundary of the current local map are determined.

[0018] The plurality of third candidate points having a distance to the position of the obstacle not less than the preset distance are determined as fourth candidate points, and a target point having a maximum distance to the current position is determined from the plurality of fourth candidate points.

[0019] Or, if the current working scene represents that the robot is moving along the boundary of the working area, and the satellite positioning signal strength of the robot is less than a preset signal strength threshold, a candidate point corresponding to the retreating direction of the robot at the current time on the current local map is determined as a target point.

[0020] Optionally, the determining of the current working scene of the robot and the target point in the current local map based on the current working scene comprises:

[0021] If the current working scene represents that the robot is moving along the boundary of the working area to construct a boundary map of the working area according to the position points of the robot, a point on the boundary of the working area in the current local map and having a distance to the current position of the robot not less than a preset distance and being closest to the current position is determined as a target point.

[0022] Optionally, the determining the current working scenario of the robot, and determining the target point in the current local map based on the current working scenario, comprises:

[0023] If the current working scenario represents that the robot is mowing along the working area boundary, a point on the working area boundary in the current local map, which is closest to the current position of the robot and has a distance no less than a preset distance from the current position, is determined as the target point.

[0024] Optionally, the advancing from the current position to the target point according to the planned target path comprises:

[0025] In the process of advancing from the current position to the target point according to the planned target path, it is determined whether there is a potential collision or a direction deviation in the advancing process according to the real-time updated local map.

[0026] If yes, the path from the current position of the robot to the target point is re-planned based on the real-time updated local map, so as to continue advancing to the target point according to the re-planned target path.

[0027] In a second aspect, the present application provides an electronic device, comprising:

[0028] a memory for saving a computer program;

[0029] a processor for executing the computer program to implement the path planning method as described above.

[0030] In a third aspect, the present application provides a computer readable storage medium for saving a computer program, which is executed by a processor to implement the path planning method as described above.

[0031] In a fourth aspect, the present application provides a robot for implementing the path planning method as described above.

[0032] Therefore, the robot in the present application firstly updates the constructed local map by using the recognized perception information to obtain a current local map; then determines the current working scenario of the robot, and determines a target point in the current local map based on the current working scenario; and finally performs path planning based on the current local map, the current position of the robot and the target point, so as to advance from the current position to the target point according to the planned target path. In this way, the robot in the present application does not need to set a global map and a corresponding advancing path, but directly updates the local map by using the real-time recognized point cloud information of the surrounding environment, so that the advancing path can be flexibly planned according to the changes of the surrounding environment and the current working scenario of the robot in the advancing process, thereby reducing the failure rate of path planning. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute a part of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on the provided drawings without creative labor.

[0034] Figure 1 A path planning method flow chart disclosed by the present application;

[0035] Figure 2 A specific obstacle avoidance path planning schematic diagram disclosed by the present application;

[0036] Figure 3 Another specific obstacle avoidance path planning schematic diagram disclosed by the present application;

[0037] Figure 4 An electronic device structure diagram disclosed by the present application. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] Referring to Figure 1 The embodiments of the present application disclose a path planning method applied to a robot, comprising:

[0040] Step S11, updating the constructed local map by using the recognized perception information to obtain a current local map.

[0041] In the embodiments of the present application, the robot does not need to be pre-set with a global map and a corresponding travel path; the robot can identify the surrounding environment during travel, and then update the constructed local map by using the recognized point cloud information to obtain a real-time current local map.

[0042] In a specific embodiment, the updating of the constructed local map using the recognized perception information to obtain a current local map can include: recognizing, by a vision sensor, semantic information and depth information of a work area boundary and / or an obstacle; and marking the semantic information and depth information of the work area boundary and / or the obstacle in the constructed local map to update the local map in real time to obtain the current local map. Specifically, the robot can recognize, by a vision sensor carried by the robot, semantic information and depth information of a work area boundary and / or an obstacle within a certain range, and use the information to construct a local map in real time. The semantic information and depth information of the corresponding work area boundary and / or obstacle are marked in the local map, that is, the current local map is updated using the point cloud information recognized in real time, and a current local map corresponding to the current position of the mower can be obtained.

[0043] In step S12, a current working scenario of the robot is determined, and a target point in the current local map is determined based on the current working scenario.

[0044] In the embodiments of the present application, the current local map obtained by real-time updating can determine the current working scenario of the robot, such as a working scenario in which the robot is traveling along a passageway, traveling along a work area boundary, traveling along a work area boundary to construct a boundary map of the work area according to a position point of the robot, and performing mowing work along the work area boundary, and the like. In different working scenarios, the robot has different travel path plans. First, a target point to be traveled to in the current working scenario is determined based on the current local map.

[0045] In one specific embodiment, determining the robot's current working scene and determining a target point in the current local map based on the current working scene may include: if the current working scene indicates that the robot is moving along a channel and the distance between it and an obstacle is not greater than a preset distance, then a number of intersection points between the channel and the boundary of the current local map are determined as first candidate points; if the distance between the first candidate point matching the robot's current direction of travel and the obstacle is not less than the preset distance, then the corresponding first candidate point is determined as a target point; if the distance between the first candidate point matching the robot's current direction of travel and the obstacle is less than the preset distance, then a number of points on the channel located between the first candidate point and the robot's current position and the distance between them and the obstacle is not less than the preset distance are determined as second candidate points, so as to determine the target point with the largest distance from the current position from the number of second candidate points. Specifically, if the current local map represents the robot's current working scenario as moving along a channel and encountering obstacles during its movement, and the distance between the robot and the obstacles is no greater than a preset distance, then a target point needs to be determined to avoid the obstacles. Specifically, several intersection points between the channel and the boundary of the current local map can be determined as first candidate points, and the distance relationship between each first candidate point and the obstacle (there may be multiple obstacles in the channel, obstacles near the robot, and obstacles near the intersection points of the channel and the current local map, etc.) can be determined. If there is a point among the first candidate points that is no less than the preset distance from the obstacle, it means that the robot will not be affected by the obstacle when it is at that point, and the corresponding point can be determined as the target point. The preset distance here can be understood as the safe distance at which the robot is not affected. Correspondingly, if none of the first candidate points have a distance from the obstacle that is not less than a preset distance, it means that the robot will still be affected by the obstacle when it is at these points. Even after the robot reaches the first candidate point, it still needs to plan a path to avoid the (new) obstacle. Therefore, it is necessary to redetermine the points. Several points can be determined on the channel between the first candidate points that match the current position and the direction of travel of the lawnmower. The points among these points whose distance from the obstacle is not less than a preset distance are determined as the second candidate points. That is, the points whose distance from the obstacle is less than a preset distance are removed from the several first candidate points, and the remaining points are recorded as the second candidate points. It can be understood that the second candidate points should be points located on the channel and located on both sides of the obstacle, respectively, from the robot's current position. At this time, when selecting the target point, in order to avoid the obstacle, the second candidate point farthest from the robot's current position can be selected as the target point. In a specific embodiment, such as Figure 2As shown, the dashed box is the range of the current local map of the mowing robot, which includes the boundary of the mowing area to be mowed (the boundary of the working area), the obstacle blocking the passage, and the mowing robot in the passage. The obstacle blocks the advancing position of the mowing robot, and the mowing robot needs to plan a path to avoid the obstacle; at this time, the intersection between the passage and the current local map can be determined, and then a point on the passage that matches the advancing direction of the mowing robot is selected as the first candidate point, and then the first candidate point is taken as the target point for path planning; further, if the distance between the first candidate point on the passage determined by the above steps and the position of the obstacle is less than the preset distance, the target point needs to be determined again; a plurality of second candidate points can be determined between the first candidate point on the passage and the current position of the mowing robot, and a new target point is selected according to the distance between the second candidate points and the position of the obstacle; specifically, one of the plurality of second candidate points whose distance from the position of the obstacle is not less than the preset distance is selected as a second candidate point farthest from the current position of the mowing robot as the target point, so as to use the target point for path planning, which can avoid the obstacle as much as possible, the planned path is smoother, and the mowing robot is not easy to be trapped.

[0046] In another specific embodiment, the determining the current working scenario of the robot, and determining the target point in the current local map based on the current working scenario, can include: if the current working scenario indicates that the robot is moving along the boundary of the working area, and the distance between the current position of the robot and the position of the obstacle is not less than a preset distance, then determining a plurality of third candidate points on the boundary of the working area and intersecting with the boundary of the current local map; determining a plurality of points in the plurality of third candidate points and having a distance not less than the preset distance from the position of the obstacle as a plurality of fourth candidate points, and determining the target point with the maximum distance from the current position from the plurality of fourth candidate points; or, if the current working scenario indicates that the robot is moving along the boundary of the working area, and the satellite positioning signal strength of the robot is less than a preset signal strength threshold, then determining a candidate point on the current local map corresponding to the retreat direction of the current time of the robot as the target point. Specifically, if the current working scenario of the robot is moving along the boundary of the working area, and the distance between the position of the robot and the obstacle is less than the preset distance, i.e., the path needs to be planned to avoid the obstacle, then a plurality of points intersecting the boundary of the working area and the current local map can be determined as a plurality of third candidate points; then, from the plurality of third candidate points, a point having a distance not less than the preset distance from the current position of the robot is determined as a fourth candidate point, so as to determine the target point farthest from the robot from the plurality of fourth candidate points. It can be understood that when the distance to the obstacle is close, selecting a point far away as the target point can more easily plan a path to avoid the obstacle and reduce the probability of collision with the obstacle. Correspondingly, if the robot is moving along the boundary of the working area, but the satellite positioning signal strength gradually weakens over time, and when the satellite signal strength is less than the preset signal strength threshold, the driving path of the robot needs to be adjusted to avoid the robot from losing control or being trapped due to the loss of positioning signals; and since the historical trajectory of the robot has been accurately positioned and has not been trapped by obstacles or other things, a point in the retreat direction can be selected as the target point. In a specific embodiment, as shown in FIG. 10B, the dashed box is the range of the current local map of the lawn mower, which includes the boundary of the area to be mowed, the obstacle, and the lawn mower. The obstacle blocks the mowing advance position of the lawn mower, and the lawn mower needs to plan a path to avoid the obstacle. At this time, the intersection of the current local map and the boundary of the area to be mowed is determined, i.e., the target point is obtained. Figure 3 Figure 3 ​Two candidate points in the current local map, to avoid path planning failure, usually select the target point matching the mower's backward direction to plan the path, of course, can also select the target point matching the mower's forward direction to plan the path. In special cases, the walking rules are pre-set, such as clockwise or counterclockwise, etc.; at this time, the corresponding target point can be selected according to the walking rules, and the intersection between the mower's backward direction or forward direction and the boundary of the area to be mowed or the local map can be selected as the target point, and then the path planning is carried out, and the corresponding path 1 or path 2 can be planned. It can be understood that when avoiding obstacles, the farther the distance between the selected target point and the current position of the mower, the easier it is to avoid obstacles, and the smoother the planned path, and it is not easy to be trapped in a dead angle.

[0047] In a specific embodiment, the determining the current working scenario of itself, and determining the target point in the current local map based on the current working scenario, can include: if the current working scenario represents that the robot is advancing along the boundary of the working area to construct a boundary map of the working area according to the position points of the robot's advancement, then the point on the boundary of the working area in the current local map which is not less than a preset distance from the current position of itself and is closest to the current position is determined as the target point. Specifically, if the current local map represents that the current working scenario of the robot is advancing along the boundary of the working area to construct a boundary map of the working area according to the position points of the robot's advancement, in order to construct the map, it should be slowly advancing point by point to ensure the integrity of the constructed map, therefore, in this case, the robot can select a target point on the boundary of the working area in the current local map to construct a corresponding boundary map; specifically, a point on the boundary of the working area which is not less than a preset distance from the current position of the robot and is closest to the current position of the robot is selected as the target point, so as to construct the map in the process of advancing to the target point.

[0048] In another specific embodiment, the determining the current working scenario of the robot, and determining the target point in the current local map based on the current working scenario, can include: if the current working scenario represents that the robot is mowing along the working area boundary, then determining a point on the working area boundary in the current local map that is closest to the current position of the robot and has a distance not less than a preset distance from the current position as the target point. Specifically, if the current working scenario of the robot is represented by the current local map as mowing along the working area boundary, in order to avoid the situation of missing grass, the working area boundary in the current local map should be maximally covered. Therefore, a point on the working area boundary in the current local map that is closest to the current position of the robot and has a distance not less than a preset distance from the current position can be selected as the target point. In this way, the working area can be maximally covered, and the situation of missing grass can be avoided. It can be understood that when selecting the point during the mowing operation, the preset mowing operation condition can be referred to, such as mowing in a clockwise or counterclockwise direction, selecting a forward or backward direction for edge mowing, and the like.

[0049] Step S13: performing path planning based on the current local map, the current position of the robot, and the target point, and moving from the current position to the target point according to the planned target path.

[0050] Further, after determining the target point to which the robot needs to move by the above steps, path planning can be performed based on the target point, and then the robot moves from the current position to the target point according to the planned target path. It can be understood that when performing path planning, the path exploration method based on graph search, the local path exploration method based on control space, or the local path exploration method based on condition space can be used.

[0051] Further, in specific embodiments, the traveling along the planned target path from the current position to the target point can include: during the traveling along the planned target path from the current position to the target point, determining whether there is a potential collision or a direction deviation in the traveling process according to the real-time updated local map; if yes, re-planning the path from the current position at the current time to the target point based on the real-time updated local map, so as to continue to travel to the target point along the re-planned target path. Specifically, the robot can also identify the surrounding environment in real time during the traveling along the planned target path, update the local map, and determine whether there is a potential collision or a direction deviation in the traveling process according to the real-time updated local map. If no, the target point can be directly reached along the target path, and the path is re-planned at the target point according to the real-time local map. Correspondingly, if there is a collision or a direction deviation during the traveling along the target path, the traveling can be immediately stopped, the path is re-planned according to the real-time updated local map, so as to correct the current traveling route.

[0052] In this way, the robot in the present application does not need to set a global map or plan a path in advance, and the robot can directly update the local map through the point cloud information of the surrounding environment identified in real time, and then select a corresponding target point according to the working scene of the robot. In the face of obstacles in the channel, the target point farthest from the current position of the robot can be determined on the channel according to the positional relationship between the current local map and the channel, the path is planned to avoid the obstacles, and collision in the channel is avoided. When performing the mowing operation, the target point closest to the current position of the robot is selected based on a preset distance to continue the mowing operation, and the situation of missing grass can be avoided. It can be seen that the robot in the present application can be directly put into operation without the need of setting a global map and a path in advance, and the corresponding traveling path can be adjusted in real time according to the change of the surrounding environment, the influence of obstacles can be avoided, and the success rate of path planning can be improved.

[0053] Further, the present application discloses an electronic device, Figure 4 FIG. 1 is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the contents in the figure cannot be considered as any limitation on the use range of the present application.

[0054] Figure 4A structural schematic diagram of an electronic device 20 is provided in the embodiments of the present application. The electronic device 20 can specifically include at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25 and a communication bus 26. The memory 22 is configured to store a computer program, and the processor 21 is configured to load and execute the computer program to implement the related steps in the path planning method disclosed in any of the foregoing embodiments. In addition, the electronic device 20 in the embodiments of the present application can be specifically an electronic computer.

[0055] In the embodiments of the present application, the power supply 23 is configured to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 is capable of creating a data transmission channel between the electronic device 20 and external devices, and the communication protocol followed by the communication interface 24 can be any communication protocol applicable to the technical solution of the present application, which is not specifically limited herein; the input / output interface 25 is configured to obtain external input data or output data to the outside, and the specific interface type can be selected according to the specific application needs, which is not specifically limited herein.

[0056] In addition, the memory 22 as a carrier for resource storage can be a read-only memory, a random access memory, a magnetic disk or an optical disk, etc., and the resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage mode can be temporary storage or permanent storage.

[0057] The operating system 221 is configured to manage and control each hardware device on the electronic device 20 and the computer program 222, and can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program capable of completing the path planning method executed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 can further include a computer program capable of completing other specific work.

[0058] Further, the present application further discloses a computer readable storage medium for storing a computer program; wherein the computer program is executed by a processor to implement the path planning method disclosed above. The specific steps of the method can refer to the corresponding contents disclosed in the foregoing embodiments, which will not be repeated here.

[0059] The embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can refer to the method part.

[0060] Those skilled in the art will further appreciate that the units and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various examples have been described herein in terms of their functionality, which has been described generally and symbolically in flow charts. Having thus described the functionality of the examples, a person of ordinary skill in the art will be able to implement such functions in hardware and / or software, using the means and methods available to those skilled in the art. The examples described herein are not meant to limit the scope of the application, but merely to provide examples of the methods and systems being described.

[0061] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in random access memory (RAM), flash memory, read-only memory (ROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0062] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to distinguish one element from another, and are more especially used for the purpose of distinction from other elements in the specification. Also, the terms "comprise", "include" or "contain" or any other variant thereof are intended to encompass non-exclusive inclusions, such that processes, methods, articles, or apparatuses that comprise, include, or contain a list of elements are not limited to those elements, but can include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses. Without further limitation, an element defined by the phrase "comprising a... " does not exclude the existence of additional elements in the process, method, article, or apparatus that includes the element.

[0063] The above has described the technical solutions provided by the present application in detail, and the principles and implementation manners of the present application have been described by using specific examples; the above example descriptions are only used to help understand the method and core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges can be changed; in conclusion, the content of the specification should not be understood as limiting the present application.

Claims

1. A path planning method characterized by, The application is applied to a robot, comprising: updating a constructed local map by using recognized perception information to obtain a current local map; determining a current working scenario of the robot, and determining a target point in the current local map based on the current working scenario; performing path planning based on the current local map, a current position of the robot, and the target point, so as to move from the current position to the target point along a planned target path; wherein the determining of the current working scenario of the robot and the target point in the current local map based on the current working scenario comprises: if the current working scenario indicates that the robot is moving along a passage, and a distance between the robot and an obstacle is not greater than a preset distance, then determining a plurality of intersection points between the passage and a boundary of the current local map as first candidate points; if a first candidate point matching a moving direction of the robot at a current time is not less than a preset distance from a position of the obstacle, then determining the corresponding first candidate point as the target point; if a first candidate point matching the moving direction of the robot at the current time is less than the preset distance from the position of the obstacle, then determining a plurality of second candidate points on the passage between the first candidate point and the current position of the robot and not less than the preset distance from the position of the obstacle, so as to determine a target point with a maximum distance from the current position from the plurality of second candidate points; or, if the current working scenario indicates that the robot is moving along a working area boundary, and a distance between the current position of the robot and a position of an obstacle is not less than a preset distance, then determining a plurality of third candidate points on the working area boundary intersecting with a boundary of the current local map; determining a plurality of fourth candidate points from the plurality of third candidate points not less than the preset distance from the position of the obstacle, and determining a target point with a maximum distance from the current position from the plurality of fourth candidate points; or, if the current working scenario indicates that the robot is moving along the working area boundary, and a satellite positioning signal strength of the robot is less than a preset signal strength threshold, then determining a candidate point corresponding to a retreating direction of the robot at a current time on the current local map as the target point.

2. The path planning method of claim 1, wherein, The updating of the constructed local map by using the recognized perception information to obtain the current local map comprises: recognizing semantic information and depth information of a working area boundary and / or an obstacle by a visual sensor; labeling the semantic information and the depth information of the working area boundary and / or the obstacle in the constructed local map, so as to update the local map in real time to obtain the current local map.

3. The path planning method of claim 1, wherein, The determining of the current working scenario of the robot and the target point in the current local map based on the current working scenario comprises: If the current working scenario represents that the robot is moving along the working area boundary to construct a boundary map of the working area according to the position points at which the robot moves, a point on the working area boundary in the current local map which is not less than a preset distance from the current position of the robot and closest to the current position is determined as the target point.

4. The path planning method of claim 1, wherein, The determining of the current working scenario and the target point in the current local map based on the current working scenario comprises: If the current working scenario represents that the robot is performing a mowing operation along the working area boundary, a point on the working area boundary in the current local map which is not less than a preset distance from the current position of the robot and closest to the current position is determined as the target point.

5. The path planning method according to any one of claims 1 to 4, characterized in that, The moving from the current position to the target point according to the planned target path comprises: In the process of moving from the current position to the target point according to the planned target path, it is determined whether there is a potential collision or direction deviation in the moving process according to the real-time updated local map; If yes, the path from the current position of the robot to the target point is re-planned based on the real-time updated local map, and the robot continues to move to the target point according to the re-planned target path.

6. An electronic device, comprising: comprise: a memory for storing a computer program; a processor for executing the computer program to implement the path planning method according to any one of claims 1 to 5.

7. A computer readable storage medium characterized by a computer program for storing, which is executed by a processor to implement the path planning method according to any one of claims 1 to 5.

8. A robot, characterized in that a computer program product for implementing the path planning method according to any one of claims 1 to 5.

Images