Robot full-path coverage planning method and device and robot

Abstract

The invention provides a robot full-path coverage planning method and device and a robot, and the method comprises the steps: scanning a first region to determine a first path, enabling the robot to move based on the first path, responding to a collision instruction received by the robot in the moving process, and scanning the first region again, and determining the second path, re-determining the first path, enabling the robot to move based on the second path, and enabling the robot to move based on the first path again after the robot completes the traversal of the second path. According to the scheme, environment information can be obtained in real time, path planning is conducted according to the current environment condition, the robot can be helped to find and avoid obstacles in time, collision and stagnation caused by path planning errors are avoided, environment changes or uncertainty can be effectively coped with in a dynamic scanning and path adjusting mode, and the real-time performance of the robot is improved. And errors and obstacle interference are reduced, so that full-path coverage in the region is efficiently and comprehensively completed.

Description

Technical Field

[0001] The present invention belongs to the technical field of path coverage planning, and in particular relates to a robot full path coverage planning method, device and robot. Background Art

[0002] With the rapid development of artificial intelligence and robotics technology, robots are increasingly used in all walks of life, especially in the fields of cleaning, inspection, warehousing, etc. The robot's autonomous navigation and path planning technology has become one of its core competitive advantages.

[0003] At present, the existing path planning methods can be roughly divided into two categories: static path planning and dynamic path planning. Static path planning methods usually assume that the environment is known and does not change, and pre-calculate one or more optimal paths for the robot to execute based on a map or environmental model. However, in practical applications, the environment often changes. For example, the appearance of obstacles or the interaction between the robot and the environment may cause path deviations. Static path planning methods perform poorly in this case and cannot adjust the path in time to cope with new environmental conditions.

[0004] Compared with static path planning, dynamic path planning methods can cope with environmental changes to a certain extent. However, the path adjustment process of existing dynamic path planning methods is relatively complicated and requires a high amount of calculation, which can easily affect the robot's ability to respond in real time and cannot guarantee that the robot can achieve efficient and comprehensive mobile path coverage in complex environments. Summary of the invention

[0005] In order to overcome the defects of the prior art, the present invention proposes a robot full path coverage planning method, the method comprising:

[0006] In response to a scanning instruction, scanning the first area to determine a first shape of the first area and a second shape surrounding the first shape according to a scanning result; the second shape includes a rectangle surrounding the first area;

[0007] determining a first path based on the current position of the robot, the first shape, and the second shape, and causing the robot to move based on the first path;

[0008] In response to a collision instruction received by the robot during its movement based on the first path, the first area is re-scanned to redetermine the first shape according to the scanning result, a second path is determined based on the current position of the robot and the newly determined first shape, and the first path is redetermined so that the robot moves based on the second path, so that when the robot completes the traversal of the second path, the robot moves based on the first path again; and when the robot completes the traversal of the first path, full path coverage of the first area is achieved.

[0009] Specifically, the “determining a first path based on the current position of the robot, the first shape, and the second shape, and causing the robot to move based on the first path” includes:

[0010] Determine the long axis of the second shape as the first direction, generate a scatter plot according to the first shape, determine the distance from the current position of the robot to each endpoint in the scatter plot that is perpendicular to the first direction, select the endpoint with the closest distance as the starting endpoint, determine the direction in which the current position of the robot extends toward the starting endpoint as the second direction, and move the robot along the second direction to the starting endpoint;

[0011] Determine in the scatter plot a line segment that is closest to the current position of the robot and is parallel to the first direction and has not been traversed;

[0012] planning a path for the robot to move to a first endpoint of the line segment that is closer to the current position of the robot, moving the robot to the first endpoint, and after the robot moves to the first endpoint, moving the robot along a straight line to a second endpoint of the line segment, so as to determine the line segment as a traversed line segment;

[0013] Based on the second direction, determine in the scatter plot the line segment parallel to the first direction and not traversed that is closest to the current position of the robot, so as to execute again the step of "planning a path for the robot to move to the first endpoint in the line segment that is closer to the current position of the robot".

[0014] Furthermore, the method further comprises:

[0015] If a line segment parallel to the first direction and not traversed closest to the current position of the robot is not detected in the scatter plot based on the second direction, the robot is moved along a straight line from the second end point of the current line segment to the first end point of the current line segment, and the line segment parallel to the first direction and not traversed closest to the current position of the robot is determined in the scatter plot again based on the second direction, so as to execute the step of "planning a path for the robot to move to the first end point in the line segment that is closer to the current position of the robot" again.

[0016] Furthermore, the method further comprises:

[0017] After the robot is moved along a straight line from the second end point of the current line segment to the first end point of the current line segment, if a line segment that is parallel to the first direction and has not been traversed and is closest to the current position of the robot is still not detected in the scatter plot based on the second direction, the step of “determining in the scatter plot a line segment that is parallel to the first direction and has not been traversed and is closest to the current position of the robot” is performed again;

[0018] If a line segment that is closest to the current position of the robot and parallel to the first direction and has not been traversed is not detected in the scatter plot, it is determined that the robot has completed the traversal of the first path.

[0019] Preferably, the path along which the robot moves from an endpoint of one line segment to an endpoint of another line segment comprises an arc.

[0020] Preferably, the method further comprises:

[0021] The first area is scanned based on a preset frequency to redefine the first shape according to the scanning result; if the currently determined first shape is different from the previously determined first shape, the first path is redetermined, and the robot is moved based on the currently determined first path.

[0022] Furthermore, the method further comprises:

[0023] After achieving full path coverage of the first area, the first area is scanned again, and it is determined based on the scanning result whether there is a second area connected to the first area and without full path coverage, so that when the second area exists, the robot is moved to the second area and the second area is determined as the new first area, and the step of "scanning the first area to determine the first shape of the first area and the second shape surrounding the first shape based on the scanning result" is performed again.

[0024] Furthermore, the method further comprises:

[0025] Before determining the first path and causing the robot to move based on the first path, determining the third path based on the current position of the robot and the first shape, and causing the robot to move based on the third path until the robot completes traversal of the third path; the third path includes an edge of the first shape and the shortest movement path between the current position of the robot and the edge of the first shape.

[0026] The present invention also proposes a robot full path coverage planning device, characterized in that the device comprises:

[0027] A scanning module, configured to scan the first area in response to a scanning instruction, so as to determine a first shape of the first area and a second shape surrounding the first shape according to a scanning result; the second shape includes a rectangle surrounding the first area;

[0028] A first moving module, configured to determine a first path based on the current position of the robot, the first shape, and the second shape, and enable the robot to move based on the first path; so that when the robot completes traversing the first path, full path coverage of the first area is achieved;

[0029] An obstacle correction module is used to respond to a collision instruction received by the robot during the movement based on the first path, re-scan the first area to redefine the first shape according to the scanning result, determine the second path based on the current position of the robot and the newly determined first shape, and redefine the first path so that the robot moves based on the second path, so that when the robot completes the traversal of the second path, the robot moves based on the first path again.

[0030] The present invention also proposes a robot for implementing the robot full-path coverage planning method as described above.

[0031] The present invention has at least the following beneficial effects:

[0032] The solution proposed in the present invention provides a simple and efficient framework for path planning, which can help the robot calculate and execute the moving path more quickly, can respond to environmental changes in real time during the robot's movement, rescan the area and replan the path, can optimize the robot's coverage efficiency of the area, effectively avoid the waste of path duplication, and enable the robot to automatically adjust its strategy in different working areas or under different operating conditions, thereby improving the robot's safety and reliability in complex environments, and achieving more comprehensive path coverage, which is particularly suitable for tasks that require high-precision path coverage, such as cleaning, inspection, and object handling;

[0033] Furthermore, the solution proposed in the present invention enables the robot to flexibly select the most suitable starting point according to the current environment layout through a scatter plot, thereby reducing redundant paths, and avoiding repeated traversal of covered areas by dynamically selecting untraversed line segments, thereby effectively improving the path coverage rate and resource utilization efficiency. Furthermore, when the robot cannot find a new untraversed line segment, it can automatically return along the endpoint of the current path, thereby avoiding unnecessary stagnation or dead ends, and improving the robustness of the method. The arc-shaped endpoint movement path ensures the stability of the robot during movement.

[0034] In addition, this solution can also perform periodic scanning to recalculate and adjust the path according to the new shape when the shape of the area changes, adapt to environmental changes in real time, and ensure that the robot can still respond flexibly in complex dynamic environments. It can also scan additional areas by itself after completing the path coverage of an area and move to the new area accordingly. By determining the third path, the robot can pre-traverse the edge of the area before moving inside the area, providing more accurate environmental information for subsequent path planning, and also preventing blind spots that cannot be covered in subsequent processes.

[0035] Therefore, the present invention provides a robot full-path coverage planning method, device and robot. The scheme proposed in the present invention can obtain environmental information in real time and perform path planning according to the current environmental conditions, which can help the robot to promptly detect and avoid obstacles and avoid collisions and stagnation caused by path planning errors. Through dynamic scanning and path adjustment, it can effectively respond to environmental changes or uncertainties, reduce errors and obstacle interference, and thus efficiently and comprehensively complete full-path coverage in the area. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of 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 creative work.

[0037] Figure 1 A schematic diagram of the overall process of the robot full path coverage planning method provided in Example 1;

[0038] Figure 2 An example diagram of a determined first shape;

[0039] Figure 3 A flow chart of a method for re-planning a path for periodic scanning;

[0040] Figure 4 A schematic flow chart of a method for determining a first path and moving;

[0041] Figure 5 This is an example of a scatter plot;

[0042] Figure 6 An example diagram of the robot moving based on the second path in the scatter diagram;

[0043] Figure 7 This is an example diagram of a line segment in a scatter plot;

[0044] Figure 8 is an example diagram of the robot moving based on the first path;

[0045] Fig. 9 An example diagram of an arc path for a robot to move from the endpoint of one line segment to the endpoint of another line segment;

[0046] Fig.10 A flow chart of a method for moving a robot to a new area and planning a path;

[0047] Fig.11 An example diagram of a robot moving to a new area;

[0048] Fig.12 This is a schematic diagram of the module structure of the robot full-path coverage planning device provided in Example 2.

[0049] Reference numerals

[0050] 10-scanning module; 20-second moving module; 30-first moving module; 31-starting unit; 32-first detection unit; 33-segment moving unit; 34-second detection unit; 35-third detection unit; 40-obstacle correction module; 50-cycle correction module; 60-area moving module. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Hereinafter, various embodiments of the present invention will be described more fully. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but the present invention should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0053] Hereinafter, the term "include" or "may include" used in various embodiments of the present invention indicates the presence of disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0054] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0055] The expressions (such as "first", "second", etc.) used in various embodiments of the present invention may modify the various constituent elements in various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0056] It should be noted that in the present invention, unless otherwise clearly specified and defined, the terms such as "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationship herein are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0058] The terms used in various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present invention.

[0059] Example 1

[0060] This embodiment proposes a robot full path coverage planning method, the method comprising:

[0061] S100: In response to a scanning instruction, scanning a first area to determine a first shape of the first area and a second shape surrounding the first shape according to a scanning result.

[0062] In this embodiment, the second shape includes a rectangle surrounding the first area. Preferably, the second shape may include a minimum rectangle that can surround the first area.

[0063] S200: Determine a third path based on the current position and the first shape of the robot, and enable the robot to move based on the third path.

[0064] Specifically, the third path is determined based on the edge of the first shape. If there is no obstacle inside the first shape, the edge of the first shape only includes the outer edge; if there is an obstacle inside the first shape, the edge of the first shape may include the outer edge and the inner edge, or still only include the inner edge; the third path determined in step S200 may include the edge of the first shape, and the shortest moving path between the current position of the robot and the edge of the first shape.

[0065] Specifically, if the robot completes the traversal of the third path in step S200, step S300 is executed.

[0066] S300: Determine a first path based on the current position, the first shape, and the second shape of the robot, and enable the robot to move based on the first path.

[0067] Specifically, if the robot completes the traversal of the first path in step S300, full path coverage of the first area is achieved.

[0068] S400: In response to a collision instruction received by the robot while it is moving based on the first path or the third path, the first area is re-scanned to redetermine the first shape according to the scanning result, the second path is determined based on the current position of the robot and the newly determined first shape, and the first path or the third path is redetermined, so that the robot moves based on the second path, so that when the robot completes the traversal of the second path, the robot moves based on the first path or the third path again.

[0069] It should be noted that the manner of re-determining the first path and the third path in step S400 is the same as that in step S300 and step S200; the second path newly determined each time in step S400 does not include the second path that has been determined previously. Through step S400, the method proposed in this embodiment can detect dynamic obstacles. When the robot collides with an obstacle that has not been detected previously during movement, the obstacle will be determined as a dynamic obstacle, and a second path around the dynamic obstacle will be generated, so that the robot can go around the dynamic obstacle based on the second path, and the first path and the third path will be replanned.

[0070] Therefore, the method proposed in this embodiment can enable the robot to better cope with sudden dynamic obstacles, and has a higher path coverage rate compared to the method of directly bypassing obstacles in existing path planning algorithms.

[0071] Preferably, the method further comprises:

[0072] S500: Scanning the first area based on a preset frequency to redetermine the first shape according to the scanning result, and if the currently determined first shape is different from the previously determined first shape, and the robot is currently in a moving process based on the first path, redetermining the first path, and causing the robot to move based on the currently determined first path;

[0073] If the currently determined first shape is different from the previously determined first shape, and the robot is currently in a moving process based on the third path, the third path is re-determined, and the robot moves based on the currently determined third path.

[0074] Similarly, the method of re-determining the first path and the third path in step S500 is the same as step S300 and step S200; step S500 enables the robot to obtain changes in the current environment in real time, especially obstacles that may appear during movement, changes in obstacle positions or changes in regional shapes, etc., to ensure that the robot can continuously adapt to changes in a dynamic environment and maintain effective path planning, thereby achieving more accurate and reliable full path coverage;

[0075] After step S400 is combined with step S500, in addition to detecting obstacles before collision, obstacles can also be discovered in advance through periodic scanning, and it can be discovered whether there are dynamic obstacles in the scanning results in step S100, thereby further improving the robot's adaptability in dynamic environments, improving the flexibility of path planning, and ensuring the integrity and safety of path coverage.

[0076] Specifically, see Figure 4-Figure 9 , determining a first path based on the current position of the robot, the first shape and the second shape, and causing the robot to move based on the first path, specifically including:

[0077] S310: Determine the long axis of the second shape as the first direction, generate a scatter plot based on the first shape, determine the distance from the current position of the robot to each endpoint in the scatter plot that is perpendicular to the first direction, select the endpoint closest to the robot as the starting endpoint, determine the direction in which the starting endpoint of the current position of the robot extends as the second direction, and move the robot along the second direction to the starting endpoint.

[0078] By generating a scatter plot in step S310 and selecting a starting point according to the current position of the robot, it is possible to ensure that the robot starts moving along a shorter path, reduce unnecessary path detours, and improve efficiency. After completing step S310, the current position of the robot is the position of the starting endpoint.

[0079] S320: Determine in the scatter plot a line segment that is closest to the current position of the robot and is parallel to the first direction and has not been traversed.

[0080] S330: Plan a path for the robot to move to the first endpoint of the line segment that is closer to the current position of the robot, move the robot to the first endpoint, and after the robot moves to the first endpoint, move the robot along a straight line to the second endpoint of the line segment to determine the line segment as a traversed line segment.

[0081] S340: Determine in the scatter plot, based on the second direction, a line segment that is closest to the current position of the robot and is parallel to the first direction and has not been traversed.

[0082] If a line segment meeting the condition is detected in step S340, step S330 is executed again; if a line segment meeting the condition is not detected in step S340, step S350 is executed.

[0083] Preferably, when it is necessary to move from the endpoint of one line segment to the new endpoint of another line segment in step S330, the planned path for the robot to move to the new endpoint includes an arc; it should be noted that when the robot turns from one line segment to another, directly driving in a straight line may cause a sudden change in direction, resulting in discontinuous or unsmooth movement, while using an arc-shaped path allows the robot to transition to a new direction along a smooth curve, thereby avoiding a change in direction. The center of the arc is determined by the current position and the endpoint of the target line segment, ensuring that the turning process is smooth. By reasonably setting the radius of the arc, the robot can avoid turning too quickly or too slowly, affecting the accuracy and stability of the movement.

[0084] S350: Move the robot along a straight line from the second end point of the current line segment to the first end point of the current line segment, and again determine in the scatter plot a line segment parallel to the first direction and not traversed that is closest to the current position of the robot based on the second direction.

[0085] If a line segment meeting the conditions is detected in step S350, step S330 is executed again; if a line segment meeting the conditions is still not detected in step S350, step S320 is re-executed, and when step S320 also fails to detect a line segment meeting the conditions, the traversal of the first path is completed.

[0086] Therefore, the method proposed in the present invention ensures that the robot always selects the line segment closest to the current position and has not been traversed through repeated searches and adjustments in steps S320-S350, making the path traversal more efficient, avoiding repeated paths and invalid cycles, and improving work efficiency. When the robot cannot find a new line segment during the traversal process, the solution will fall back to the previous step and search again. The dynamic adjustment method can effectively deal with unexpected situations and ensure that the path traversal is not missed.

[0087] In addition, the method proposed in the present invention does not rely on too much external sensor input, but instead performs path inference through the robot's own current position, shape information, etc. Therefore, it can maintain good path selection and traversal effects in relatively simple or dynamically changing environments, ensuring that the robot can complete tasks smoothly and safely in complex environments. It is suitable for application in robot navigation systems that require high precision and smooth driving.

[0088] For further information, see Figure 10-11 , the method further comprises:

[0089] S600: After achieving full path coverage of the first area, scan the first area again, and determine whether there is a second area connected to the first area and without full path coverage based on the scanning results, so that when the second area exists, the robot moves to the second area and determines the second area as the new first area, and executes step S100 again.

[0090] Therefore, the method proposed in the present invention can be applied to multiple connected areas. After the robot completes the path coverage of an area, it can scan and confirm other areas not covered by the path on its own without relying on user instructions, thereby completing the path coverage of each different area.

[0091] Example 2

[0092] This embodiment proposes a robot full path coverage planning device, which is used to implement the robot full path coverage planning method proposed in Example 1. Fig.12 , the device comprises:

[0093] The scanning module 10 is used to scan the first area in response to the scanning instruction, so as to determine a first shape of the first area and a second shape surrounding the first shape according to the scanning result;

[0094] A second moving module 20, configured to determine a third path based on the current position and the first shape of the robot, and enable the robot to move based on the third path;

[0095] A first moving module 30, configured to determine a first path based on the current position, the first shape and the second shape of the robot, and enable the robot to move based on the first path;

[0096] The obstacle correction module 40 is used to respond to the collision instruction received by the robot during the movement based on the first path or the third path, re-scan the first area to redetermine the first shape according to the scanning result, determine the second path based on the current position of the robot and the newly determined first shape, and redetermine the first path or the third path, so that the robot moves based on the second path, so that when the robot completes the traversal of the second path, the robot moves based on the first path or the third path again.

[0097] In this embodiment, the second shape includes a rectangle surrounding the first area. Preferably, the second shape may include a minimum rectangle that can surround the first area.

[0098] Specifically, the third path is determined based on the edge of the first shape. If there is no obstacle inside the first shape, the edge of the first shape only includes the outer edge; if there is an obstacle inside the first shape, the edge of the first shape may include the outer edge and the inner edge, or still only include the inner edge; the third path determined by the second moving module 20 may include the edge of the first shape, and the shortest moving path between the current position of the robot and the edge of the first shape.

[0099] In this embodiment, after the second mobile module 20 enables the robot to complete the traversal of the third path, the first mobile module 30 executes the preset steps; after the first mobile module 30 enables the robot to complete the traversal of the first path, full path coverage of the first area is achieved.

[0100] It should be noted that the obstacle correction module 40 redefines the first path and the third path in the same manner as the first moving module 30 and the second moving module 20; through the obstacle correction module 40, the device proposed in this embodiment can detect dynamic obstacles. When the robot collides with an obstacle that has not been detected beforehand during movement, the obstacle will be determined as a dynamic obstacle, and a second path surrounding the dynamic obstacle will be generated, so that the robot can circle the dynamic obstacle based on the second path and re-plan the first path and the third path.

[0101] Preferably, the device further comprises:

[0102] a period correction module 50, configured to scan the first area based on a preset frequency to redefine the first shape according to the scanning result, and if the currently determined first shape is different from the previously determined first shape, and the robot is currently in a moving process based on the first path, redefine the first path, and enable the robot to move based on the currently determined first path;

[0103] If the currently determined first shape is different from the previously determined first shape, and the robot is currently in a moving process based on the third path, the third path is re-determined, and the robot moves based on the currently determined third path.

[0104] Similarly, the periodic correction module 50 re-determines the first path and the third path in the same manner as the first moving module 30 and the second moving module 20. The periodic correction module 50 enables the robot to obtain changes in the current environment in real time, especially obstacles that may appear during movement, changes in obstacle positions or changes in regional shapes, etc., to ensure that the robot can continuously adapt to changes in a dynamic environment and maintain effective path planning, thereby achieving more accurate and reliable full-path coverage;

[0105] After the functions of the obstacle correction module 40 are combined with the periodic correction module 50, in addition to detecting obstacles before collision, obstacles can also be discovered in advance through periodic scanning, and whether there are dynamic obstacles in the scanning results of the scanning module 10 can be discovered, thereby further improving the robot's adaptability in dynamic environments, improving the flexibility of path planning, and ensuring the integrity and safety of path coverage.

[0106] The area movement module 60 is used to scan the first area again after achieving full path coverage of the first area, and determine whether there is a second area connected to the first area and without full path coverage based on the scanning result, so that when the second area exists, the robot moves to the second area and determines the second area as the new first area, so that the scanning module 10 executes the preset steps again.

[0107] Therefore, the device proposed in the present invention can be applicable to multiple connected areas. After the robot completes the path coverage of an area, it can scan and confirm other areas not covered by the path on its own without relying on user instructions, thereby completing the path coverage of each different area.

[0108] Specifically, the first moving module 30 includes:

[0109] A starting unit 31 is used to determine the long axis of the second shape as the first direction, generate a scatter plot according to the first shape, determine the distance from the current position of the robot to each endpoint in the scatter plot that is perpendicular to the first direction, select the endpoint with the closest distance as the starting endpoint, determine the direction in which the starting endpoint of the current position of the robot extends as the second direction, and move the robot along the second direction to the starting endpoint;

[0110] A first detection unit 32, used to determine in the scatter plot a line segment that is closest to the current position of the robot and is parallel to the first direction and has not been traversed;

[0111] The line segment moving unit 33 is used to plan a path for the robot to move to a first endpoint of the line segment that is closer to the current position of the robot, move the robot to the first endpoint, and after the robot moves to the first endpoint, move the robot along a straight line to a second endpoint of the line segment to determine the line segment as a traversed line segment;

[0112] A second detection unit 34 is used to determine, based on the second direction, in the scatter plot, a line segment that is closest to the current position of the robot and is parallel to the first direction and has not been traversed;

[0113] The third detection unit 35 is used to move the robot along a straight line from the second end point of the current line segment to the first end point of the current line segment, and again determine the line segment parallel to the first direction and not traversed that is closest to the current position of the robot in the scatter plot based on the second direction.

[0114] Specifically, if the second detection unit 34 detects a line segment that meets the conditions, the line segment moving unit 33 executes the preset steps again; if the second detection unit 34 does not detect a line segment that meets the conditions, the third detection unit 35 executes the preset steps;

[0115] If the third detection unit 35 detects a line segment that meets the conditions, the line segment moving unit 33 executes the preset steps again; if the third detection unit 35 does not detect a line segment that meets the conditions, the first detection unit 32 executes the preset steps to complete the traversal of the first path when the first detection unit 32 also does not detect a line segment that meets the conditions.

[0116] Thus, the first mobile module 30 will ensure that the robot always selects the line segment closest to the current position and has not been traversed through repeated searches and adjustments, making the path traversal more efficient, avoiding repeated paths and invalid cycles, and improving work efficiency. When the robot cannot find a new line segment during the traversal process, the solution will fall back to the previous step and search again. The dynamic adjustment method can effectively deal with unexpected situations and ensure that the path traversal is not missed;

[0117] In addition, the device proposed in the present invention does not rely on too much external sensor input, but instead performs path inference through the robot's own current position, shape information, etc., and can therefore maintain good path selection and traversal effects in relatively simple or dynamically changing environments, ensuring that the robot can complete tasks smoothly and safely in complex environments, and is suitable for use in robot navigation systems that require high precision and smooth driving.

[0118] Example 3

[0119] This embodiment proposes a robot for implementing the robot full-path coverage planning method proposed in Embodiment 1.

[0120] Specifically, the robot proposed in this embodiment includes a scanning module and a collision detection module. The scanning module is used to scan the area where the robot is located and objects in the area, and the collision detection module is used to detect the collision suffered by the robot during movement.

[0121] Optionally, the robot proposed in this embodiment may include but is not limited to a cleaning robot and an inspection robot.

[0122] In summary, the present invention provides a robot full-path coverage planning method, device and robot. The scheme proposed in the present invention can obtain environmental information in real time and perform path planning according to the current environmental conditions. It can help the robot to detect and avoid obstacles in time and avoid collisions and stagnation caused by path planning errors. Through dynamic scanning and path adjustment, it can effectively respond to environmental changes or uncertainties, reduce errors and obstacle interference, and thus efficiently and comprehensively complete full-path coverage in the area.

[0123] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot full path coverage planning method, characterized in that: The method comprises: In response to a scanning instruction, scanning the first area to determine a first shape of the first area and a second shape surrounding the first shape according to a scanning result; the second shape includes a rectangle surrounding the first area; determining a first path based on the current position of the robot, the first shape, and the second shape, and causing the robot to move based on the first path; In response to a collision instruction received by the robot during its movement based on the first path, the first area is re-scanned to redetermine the first shape according to the scanning result, a second path is determined based on the current position of the robot and the newly determined first shape, and the first path is redetermined so that the robot moves based on the second path, so that when the robot completes the traversal of the second path, the robot moves based on the first path again; and when the robot completes the traversal of the first path, full path coverage of the first area is achieved.

2. The method according to claim 1, characterized in that The “determining a first path based on the current position of the robot, the first shape and the second shape, and causing the robot to move based on the first path” includes: Determine the long axis of the second shape as the first direction, generate a scatter plot according to the first shape, determine the distance from the current position of the robot to each endpoint in the scatter plot that is perpendicular to the first direction, select the endpoint with the closest distance as the starting endpoint, determine the direction in which the current position of the robot extends toward the starting endpoint as the second direction, and move the robot along the second direction to the starting endpoint; Determine in the scatter plot a line segment that is closest to the current position of the robot and is parallel to the first direction and has not been traversed; planning a path for the robot to move to a first endpoint of the line segment that is closer to the current position of the robot, moving the robot to the first endpoint, and after the robot moves to the first endpoint, moving the robot along a straight line to a second endpoint of the line segment, so as to determine the line segment as a traversed line segment; Based on the second direction, determine in the scatter plot the line segment that is parallel to the first direction and has not been traversed and is closest to the current position of the robot, so as to execute the step of "planning a path for the robot to move to the first endpoint in the line segment that is closer to the current position of the robot" again.

3. The method according to claim 2, characterized in that The method further comprises: If a line segment parallel to the first direction and not traversed that is closest to the current position of the robot is not detected in the scatter plot based on the second direction, the robot is moved along a straight line from the second end point of the current line segment to the first end point of the current line segment, and the line segment parallel to the first direction and not traversed that is closest to the current position of the robot is determined in the scatter plot again based on the second direction, so as to execute the step of "planning a path for the robot to move to the first end point in the line segment that is closer to the current position of the robot" again.

4. The method according to claim 3, characterized in that The method further comprises: After the robot is moved along a straight line from the second end point of the current line segment to the first end point of the current line segment, if a line segment that is parallel to the first direction and has not been traversed and is closest to the current position of the robot is still not detected in the scatter plot based on the second direction, the step of "determining in the scatter plot a line segment that is parallel to the first direction and has not been traversed and is closest to the current position of the robot" is performed again; If a line segment that is closest to the current position of the robot and parallel to the first direction and has not been traversed is not detected in the scatter plot, it is determined that the robot has completed the traversal of the first path.

5. The method according to claim 3, characterized in that: The path along which the robot moves from an endpoint of one line segment to an endpoint of another line segment includes an arc.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: The first area is scanned based on a preset frequency to redefine the first shape according to the scanning result; if the currently determined first shape is different from the previously determined first shape, the first path is redetermined, and the robot is moved based on the currently determined first path.

7. The method according to claim 1 or 4, characterized in that: The method further comprises: After achieving full path coverage of the first area, the first area is scanned again, and it is determined based on the scanning result whether there is a second area connected to the first area and without achieving full path coverage, so that when the second area exists, the robot is moved to the second area, and the second area is determined as a new first area, and the step of "scanning the first area to determine the first shape of the first area and the second shape surrounding the first shape based on the scanning result" is performed again.

8. The method according to claim 1, characterized in that: The method further comprises: Before determining the first path and causing the robot to move based on the first path, determining the third path based on the current position of the robot and the first shape, and causing the robot to move based on the third path until the robot completes traversal of the third path; the third path includes an edge of the first shape and the shortest movement path between the current position of the robot and the edge of the first shape.

9. A robot full path coverage planning device, characterized in that: The device comprises: A scanning module, configured to scan the first area in response to a scanning instruction, so as to determine a first shape of the first area and a second shape surrounding the first shape according to a scanning result; the second shape includes a rectangle surrounding the first area; A first moving module, configured to determine a first path based on the current position of the robot, the first shape, and the second shape, and enable the robot to move based on the first path; so that when the robot completes traversing the first path, full path coverage of the first area is achieved; An obstacle correction module is used to respond to a collision instruction received by the robot during the movement based on the first path, re-scan the first area to redefine the first shape according to the scanning result, determine the second path based on the current position of the robot and the newly determined first shape, and redefine the first path so that the robot moves based on the second path, so that when the robot completes the traversal of the second path, the robot moves based on the first path again.

10. A robot, characterized in that: Used to implement the method according to any one of claims 1 to 8.

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