Path planning method and system for parking lot inspection robot

Abstract

The invention discloses a path planning method and system for a parking lot inspection robot, and relates to the technical field of data processing. Obtaining a current position, determining a planned land parcel, and obtaining a plurality of adjacent planned land parcels; obtaining a current static occupation index based on the first constraint model, obtaining a current dynamic occupation index based on the second constraint model, and obtaining a path priority index; the current static occupation index and the current dynamic occupation index of the adjacent planning plots are smaller than a first preset threshold value and a second preset threshold value respectively and serve as pre-passing planning plots, and the pre-passing planning plot with the maximum path priority index serves as a target passing planning plot. And obtaining a real-time moving path according to the target passing planning plot and the planning plot. The method has the advantages of dynamically adjusting the path, being flexible and reliable and improving the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a path planning method and system for a parking lot inspection robot. Background Art

[0002] Traditional parking lot management often relies on manual patrols and fixed monitoring systems, but this approach has many limitations, such as blind spots, delayed response, and high labor costs. In order to solve these problems, robotic inspection technology has gradually been introduced into parking lot management in order to achieve more efficient and comprehensive monitoring and management. Robotic inspection technology can significantly make up for the shortcomings of traditional monitoring systems by using autonomous mobile robots to patrol parking lots regularly or irregularly. These robots are usually equipped with high-definition cameras, sensors, and various detection devices, and can go deep into every corner of the parking lot to monitor the parking situation, facility status, and safety conditions in real time. They can not only identify whether the vehicle is parked illegally, such as crossing the line or exceeding the parking space, but also conduct regular inspections of the lighting, fire protection, parking locks and other infrastructure in the parking lot, and promptly detect and report damage or failures.

[0003] Although robotic inspection technology has many advantages, it also faces some technical difficulties in practical applications. Among them, path planning is one of the core issues in robotic inspection technology.

[0004] Then, traditional path planning methods are often based on simple rules or fixed routes. However, the parking environment is complex and changeable, with a large number of stationary objects (such as parked vehicles, pillars, walls, etc.) and moving objects (such as moving vehicles, pedestrians, etc.). These objects may hinder the movement of the robot. This results in the traditional path planning method being unable to adapt well to the dynamic changes of the parking environment, and unable to fully consider the impact of stationary and moving objects on the movement of the robot, causing the robot to frequently encounter obstacles during the inspection process, reducing the inspection efficiency. More importantly, it lacks flexibility and cannot dynamically adjust the moving path according to the robot's real-time position and changes in the surrounding environment. Summary of the invention

[0005] In view of the defects in the prior art, the present invention provides a path planning method and system for a parking lot inspection robot.

[0006] A path planning method for a parking lot inspection robot comprises: obtaining a parking lot layout, and dividing the parking lot layout into a plurality of planned plots in sequence; obtaining a current position of a robot moving along a predetermined moving path, and determining the planned plot in which it is located according to the current position, and obtaining a plurality of adjacent planned plots according to the planned plot in which it is located; obtaining a current static place-occupancy index of each adjacent planned plot based on a first constraint model, and obtaining a current dynamic place-occupancy index of each adjacent planned plot based on a second constraint model, and obtaining a path priority index of each adjacent planned plot according to historical movement information; screening out adjacent planned plots whose current static place-occupancy index and current dynamic place-occupancy index are respectively less than a first preset threshold value and a second preset threshold value as pre-travel planned plots, and taking the pre-travel planned plot with the largest path priority index as a target travel planned plot, and obtaining a real-time moving path according to the target travel planned plot and the planned plot in which it is located.

[0007] Optionally, obtaining the current static occupancy index of each adjacent planned plot based on the first constraint model includes: obtaining the maximum width of the path used for robot inspection in the i-th adjacent planned plot, and obtaining the occupancy width of stationary objects on the path used for robot inspection in the i-th adjacent planned plot; obtaining the current static occupancy index of the i-th adjacent planned plot based on the first constraint model, the maximum width and the occupancy width.

[0008] Optionally, the first constraint model in obtaining the current static placeholder index of the i-th adjacent planned plot based on the first constraint model, the maximum width and the placeholder width is expressed as: Among them, S is is the current static occupancy index of the i-th adjacent planned plot, W iO is the width of the stationary object on the path for robot inspection in the i-th adjacent planned plot, W M is the robot width, W imax is the maximum width of the path used for robot inspection in the i-th adjacent planned plot.

[0009] Optionally, obtaining the current dynamic occupancy index of each adjacent planned plot based on the second constraint model includes: obtaining a first distance between the robot and an active vehicle on a path used for robot inspection in the ith adjacent planned plot at the current moment, and obtaining a historical moment separated from the current moment by a preset time period, and obtaining a second distance between the robot and an active vehicle on a path used for robot inspection in the ith adjacent planned plot at the historical moment; obtaining the current dynamic occupancy index of the ith adjacent planned plot based on the second constraint model, the first distance, the second distance and the preset time period.

[0010] Optionally, acquiring the second constraint model in the current dynamic placeholder index of the i-th adjacent planned plot based on the second constraint model, the first distance, the second distance and the preset time period includes: Among them, S ir is the current dynamic occupancy index of the i-th adjacent planned plot, L i2 is the second distance between the robot and the active vehicle on the path used for robot inspection in the i-th adjacent planning plot at the historical moment, L i1 is the first distance between the robot and the active vehicle on the path used for robot inspection in the i-th adjacent planned plot at the current moment, and T is the preset time period.

[0011] Optionally, obtaining the path priority index of each adjacent planned plot based on historical movement information includes: if the i-th adjacent planned plot is within a predetermined moving path, obtaining a first variable value; judging whether the i-th adjacent planned plot has been patrolled based on the historical movement information, and if not, obtaining a second variable value; obtaining the path priority index of the i-th adjacent planned plot based on the first variable value and the second variable value.

[0012] Optionally, it also includes: setting a first initial threshold and a second initial threshold, and obtaining a peak correction factor based on the current time point; correcting the first initial threshold and the second initial threshold according to the peak correction factor, and generating a first preset threshold and a second preset threshold.

[0013] A path planning system for a parking lot inspection robot is also provided, and the system includes: an acquisition and division module, which is used to acquire the parking lot layout and divide the parking lot layout into multiple planned plots in sequence; a plot confirmation module, which is used to acquire the current position of the robot moving according to a predetermined moving path, and determine the planned plot it is in according to the current position, and acquire multiple adjacent planned plots according to the planned plot it is in; a data processing module, which is used to acquire the current static occupancy index of each adjacent planned plot based on a first constraint model, and acquire the current dynamic occupancy index of each adjacent planned plot based on a second constraint model, and acquire the path priority index of each adjacent planned plot according to historical movement information; a planning module, which is used to screen out adjacent planned plots whose current static occupancy index and current dynamic occupancy index are respectively less than a first preset threshold and a second preset threshold as pre-passage planned plots, and use the pre-passage planned plot with the largest path priority index as the target passage planned plot, and acquire a real-time moving path according to the target passage planned plot and the planned plot it is in.

[0014] Optionally, the data processing module is also used to: obtain the maximum width of the path used for robot inspection in the i-th adjacent planned plot, and obtain the occupancy width of stationary objects on the path used for robot inspection in the i-th adjacent planned plot; obtain the current static occupancy index of the i-th adjacent planned plot based on the first constraint model, the maximum width and the occupancy width.

[0015] Optionally, the data processing module is also used to: obtain a first distance between the robot and an active vehicle on a path used for robot inspection in the i-th adjacent planned plot at the current moment, and obtain a historical moment separated from the current moment by a preset time period, and obtain a second distance between the robot and an active vehicle on a path used for robot inspection in the i-th adjacent planned plot at the historical moment; obtain the current dynamic occupancy index of the i-th adjacent planned plot based on the second constraint model, the first distance, the second distance and the preset time period.

[0016] The beneficial effects of the present invention are embodied in:

[0017] In the path planning method for the entire parking lot inspection robot, by obtaining the parking lot layout and dividing it into multiple planned plots, the robot can make accurate path selection and adjustment in a smaller space unit, which not only simplifies the path planning problem, but also enables the robot to better adapt to the complexity and variability of the parking lot environment. Further, by obtaining the current position of the robot in real time and determining the planned plot and adjacent planned plots based on the position information, the robot is provided with an instant spatial reference and movement direction. This dynamic position tracking and plot switching mechanism ensures that the robot can adjust the movement path at any time according to environmental changes during the inspection process, avoiding the frequent obstacles and inefficiency caused by the lack of flexibility of the traditional path planning method. Furthermore, the method introduces the first constraint model and the second constraint model, which are used to evaluate the current static occupancy index and the current dynamic occupancy index of the adjacent planned plots, respectively. At the same time, combined with the path priority index obtained from the historical movement information, the robot can also give priority to certain plots, further improving the efficiency and coverage of the inspection. Furthermore, after screening out the pre-travel planning plots, the method determines the optimal target travel planning plot by comparing the path priority index and generates a real-time moving path. This path planning method based on real-time data and dynamic evaluation not only ensures the efficient movement of the robot during the inspection process, but also enables the robot to flexibly adjust its movement strategy according to actual conditions. In summary, the path planning method used by the entire parking lot inspection robot provides an efficient, flexible and reliable path planning solution for the robot in the complex and changeable parking lot environment through refined plot division, dynamic position tracking, comprehensive occupancy evaluation and flexible path selection mechanism. It not only improves the inspection efficiency and coverage of the robot, but also enhances the robot's adaptability and robustness to the environment, providing strong support for the automation and intelligence of parking lot inspection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0019] Figure 1 A schematic diagram of the steps of a path planning method for a parking lot inspection robot according to the present invention;

[0020] Figure 2 A schematic diagram of a portion of steps S3 in the path planning method for a parking lot inspection robot of the present invention;

[0021] Figure 3 It is another part of the step schematic diagram of S3 in the path planning method for the parking lot inspection robot of the present invention;

[0022] Figure 4 This is another schematic diagram of steps S3 in the path planning method for the parking lot inspection robot of the present invention;

[0023] Figure 5 It is a schematic diagram of some steps of S4 in the path planning method for the parking lot inspection robot of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] like Figure 1 As shown, a path planning method for a parking lot inspection robot is provided, comprising:

[0028] S1. Obtain the parking lot layout, and divide the parking lot layout into multiple planning plots in sequence;

[0029] S2, obtaining the current position of the robot moving along a predetermined moving path, determining the planned plot according to the current position, and obtaining a plurality of adjacent planned plots according to the planned plot;

[0030] S3, obtaining the current static occupancy index of each adjacent planned plot based on the first constraint model, obtaining the current dynamic occupancy index of each adjacent planned plot based on the second constraint model, and obtaining the path priority index of each adjacent planned plot according to the historical movement information;

[0031] S4. Filter out the adjacent planned plots whose current static occupancy index and current dynamic occupancy index are respectively less than the first preset threshold and the second preset threshold as the pre-traffic planning plots, and take the pre-traffic planning plot with the largest path priority index as the target traffic planning plot, and obtain the real-time mobile path according to the target traffic planning plot and the planned plot.

[0032] In this embodiment, it should be noted that in S1, it is the basis for the path planning of the parking lot inspection robot. First, it is necessary to obtain the overall layout information of the parking lot, which usually includes the boundaries of the parking lot, the distribution of parking spaces, the location of passages, the location of obstacles (such as pillars, walls, etc.), etc. This information can be obtained through a pre-drawn parking lot map, field scanning, or a combination of the two; after obtaining the parking lot layout, it is necessary to divide it into multiple planning plots. The planning plot is the basic unit of path planning. Each plot should have a relatively independent and clear boundary to facilitate subsequent calculation and processing. When dividing the planning plots, the structural characteristics of the parking lot, the distribution of parking spaces, and the mobility of the robot can be considered. For example, each parking space and the passage around it can be divided into a planning plot, or the passage and the adjacent parking space can be combined into a planning plot according to the passage layout of the parking lot; the purpose of dividing the planning plots is to simplify the path planning problem and decompose the complex parking lot environment into a series of relatively simple sub-problems, so that the robot can select the optimal moving path in each planning plot and complete the inspection task of the entire parking lot by constantly switching between adjacent planning plots.

[0033] In S2, the current position of the robot is first obtained; this is usually achieved through the robot's built-in positioning, such as GPS, laser radar, camera with image recognition technology, or special indoor positioning technology (such as UWB, Bluetooth beacon, etc.). These positionings are accurate enough to ensure that the robot can accurately know where it is in the predetermined moving path, especially in a complex parking environment, where a small position deviation may lead to errors in path planning. Among them, the predetermined moving path is confirmed by the robot before the inspection task begins. It is a theoretically optimal moving route pre-planned based on the overall layout of the parking lot, the division of the planned plots, and the specific requirements of the inspection. These routes are usually intended to ensure that the robot can complete the inspection in the most efficient way possible; generally, in order to complete the inspection efficiently, the predetermined moving path will not traverse every planned plot, and it is fixed during the inspection process and will not be dynamically adjusted according to the actual situation of the parking lot (such as parking space occupancy, dynamic changes of active objects, performance limitations of the robot, etc.). Then determine the planned plot; based on the current position information of the robot, it needs to be mapped to the pre-divided planned plot; this is usually achieved by comparing the current position coordinates with the boundary coordinates of each planned plot. Finally, obtain the adjacent planned plots; after determining the plot where the robot is located, it is necessary to further obtain information on other plots adjacent to the plot. The definition of adjacent planned plots is based on the physical connectivity of the plots (such as shared boundaries). In some special environments, such as parking lots with intervals, the adjacent planned plots here can be logically connected (such as the sequential relationship on the inspection path).

[0034] For example: the current position coordinates returned by the robot are (x, y); this coordinate falls within the range of plot E. Specifically, by querying the planned plot database, it can be found that the coordinates (x, y) belong to plot E; then it is found that the adjacent plots of plot E are D (adjacent to the left), and A and B (adjacent to the top and bottom).

[0035] In S3, it involves static and dynamic occupancy evaluation of adjacent planned plots, as well as calculation of path priority. The purpose of this step is to select a path from many adjacent planned plots that meets the requirements of robot movement (i.e. avoiding obstacles) and satisfies efficient inspection movement as much as possible (i.e. giving priority to certain plots). Specifically, the current static occupancy index is obtained, which mainly evaluates the degree of obstruction of the robot's movement path by stationary objects in adjacent planned plots (such as vehicles parked randomly in the passage area, large garbage or other objects located in the passage area). This index is calculated based on the width of the path that can be used for robot inspection in the plot and the width occupied by stationary objects. Simply put, if there are many parked vehicles or obstacles in a planned plot, resulting in a narrow path for the robot to pass, then the current static occupancy index of this plot will be higher, which means that the difficulty and risk of the robot choosing this plot to pass will also increase accordingly. Further, the current dynamic occupancy index is obtained. The current dynamic occupancy index focuses on the potential impact of active objects (such as moving vehicles, pedestrians, etc.) in adjacent planned plots on the robot's moving path. This index is evaluated by comparing the distance between the robot and the active object at the current moment and the change of this distance over a period of time. If the active object is approaching the robot, or its moving trajectory intersects with the robot's predetermined path, then the current dynamic occupancy index of the plot will rise, indicating that the robot may need more obstacle avoidance operations or waiting time when choosing this plot to pass. Further, the path priority index is obtained. The path priority index is determined based on historical movement information. It reflects the robot's preference for adjacent planned plots. This index may consider multiple factors, such as whether the plot is on the predetermined moving path, whether the plot has been patrolled, etc. If a plot is on the predetermined moving path, or has not been patrolled, then its path priority index will be higher, indicating that the robot is more inclined to choose this plot as the next moving target.

[0036] For example, suppose the robot is currently located in plot E, and its adjacent plots are D, A, and B. Now, it is necessary to calculate and evaluate the current static and dynamic occupancy indicators and path priority indicators for these three adjacent plots.

[0037] For the current static place-occupancy index, plot D: Since there are many vehicles parked in plot D and they are arranged closely, the path width that the robot can pass is narrow, so the static place-occupancy index of plot D is higher. Plot A: The vehicles parked in plot A are sparse, and the robot has enough space to move, so the static place-occupancy index of plot A is lower. Plot B: There is only one large obstacle (such as a large packaging box) in plot B, and the other areas are relatively open, so the static place-occupancy index of plot B is between D and A.

[0038] For the current dynamic occupancy index, plot D: At this time, there is a vehicle in plot D that is starting and preparing to drive out, and its moving trajectory intersects with the robot's planned path, so the dynamic occupancy index of plot D increases. Plot A: All vehicles in plot A are stationary, and there are no pedestrians or other moving objects interfering, so the dynamic occupancy index of plot A remains low. Plot B: Although there are pedestrians walking in plot B, their moving trajectories do not directly conflict with the robot's planned path, so the dynamic occupancy index of plot B has increased slightly, but is still lower than that of plot D.

[0039] For the path priority index, plot D: Plot D is not on the robot's scheduled moving path and has been patrolled before, so the path priority index of plot D is lower. Plot A: Plot A is on the robot's scheduled moving path and has not been patrolled before, so the path priority index of plot A is the highest. Plot B: Although plot B is not on the robot's scheduled moving path, it has not been patrolled before, so the path priority index of plot B is between A and D.

[0040] In S4, first, the adjacent planned plots are screened according to the current static occupancy index and the current dynamic occupancy index. The adjacent planned plots whose current static occupancy index and the current dynamic occupancy index are respectively less than the first preset threshold and the second preset threshold are screened out. These plots are regarded as candidate plots where the robot can pass safely and smoothly, that is, pre-travel planning plots; wherein, the first preset threshold and the second preset threshold are set according to the calculation method of the occupancy index, the actual situation of the parking lot, the robot's mobility and inspection requirements, etc. For example, the inspection requirements during peak hours and off-peak hours are inconsistent, which is used to control the strictness of the robot's selection of plots. The specific values ​​of the thresholds are mentioned in the subsequent preferred implementation methods. Then, in the pre-travel planning plots screened out, the optimal plot is further determined according to the path priority index, that is, the target travel planning plot. The path priority index reflects the robot's preference for each plot, which is usually determined based on factors such as whether the plot is located on the predetermined moving path and whether the plot has been patrolled. The pre-travel planning plot with the largest path priority index is selected as the target travel planning plot, which is the next moving target of the robot. After the target traffic planning area is finally determined, a real-time moving path from the robot's current position to the target traffic planning area is directly generated.

[0041] For example, first, the plots whose current static occupancy index and current dynamic occupancy index are less than the first preset threshold and the second preset threshold are screened out; assuming that the current static and dynamic occupancy indexes of plot D exceed the threshold, it is excluded; and plots A and B meet the screening conditions and become pre-traffic planning plots. Next, the target traffic planning plot is determined in plots A and B according to the path priority index; since the path priority index of plot A is the highest (because it is on the predetermined moving path and has not been patrolled), plot A is selected as the target traffic planning plot. Finally, a real-time moving path is generated from the current position of the robot (plot E) to the target traffic planning plot (plot A); this path is planned along the channel between plots E and A.

[0042] In summary, in the path planning method for the entire parking lot inspection robot, by obtaining the parking lot layout and dividing it into multiple planned plots, the robot can make accurate path selection and adjustment in a smaller space unit, which not only simplifies the path planning problem, but also enables the robot to better adapt to the complexity and variability of the parking lot environment. Further, by obtaining the current position of the robot in real time and determining the planned plot and adjacent planned plots based on the position information, the robot is provided with an instant spatial reference and movement direction. This dynamic position tracking and plot switching mechanism ensures that the robot can adjust the movement path at any time according to environmental changes during the inspection process, avoiding the frequent obstacles and inefficiency caused by the lack of flexibility of the traditional path planning method. Furthermore, the method introduces the first constraint model and the second constraint model, which are used to evaluate the current static occupancy index and the current dynamic occupancy index of the adjacent planned plots, respectively. At the same time, combined with the path priority index obtained from the historical movement information, the robot can also give priority to certain plots, further improving the efficiency and coverage of the inspection. Furthermore, after screening out the pre-travel planning plots, the method determines the optimal target travel planning plot by comparing the path priority index and generates a real-time moving path. This path planning method based on real-time data and dynamic evaluation not only ensures the efficient movement of the robot during the inspection process, but also enables the robot to flexibly adjust its movement strategy according to actual conditions. In summary, the path planning method used by the entire parking lot inspection robot provides an efficient, flexible and reliable path planning solution for the robot in the complex and changeable parking lot environment through refined plot division, dynamic position tracking, comprehensive occupancy evaluation and flexible path selection mechanism. It not only improves the inspection efficiency and coverage of the robot, but also enhances the robot's adaptability and robustness to the environment, providing strong support for the automation and intelligence of parking lot inspection tasks.

[0043] like Figure 2 As shown, in one embodiment, obtaining the current static occupancy index of each adjacent planned plot based on the first constraint model in S3 includes:

[0044] S31, obtaining the maximum width of the path used for robot inspection in the i-th adjacent planned plot, and obtaining the occupied width of the stationary object on the path used for robot inspection in the i-th adjacent planned plot;

[0045] S32. Obtain the current static placeholder index of the i-th adjacent planned plot based on the first constraint model, the maximum width and the placeholder width.

[0046] In this embodiment, it should be noted that in S31, a detailed static environment analysis is required for each adjacent planned plot (here the i-th adjacent planned plot is taken as an example). The goal of this step is to determine the maximum path width that the robot can move freely in the plot, and to identify the width of the space occupied by all stationary objects (such as vehicles parked randomly in the passage area, large garbage or other objects located in the passage area). For the passage path, its width is calculated, that is, the maximum distance between the boundaries on both sides of the path, which is generally the width of the vehicle passage road. Then, through sensor data (such as laser radar scanning on the robot or camera image recognition in the parking lot, etc.) or information provided by the parking lot management, the position and size of the stationary object in the i-th plot are identified, and the path width occupied by it is calculated, that is, the width of the object projected on the robot's moving path, so as to subsequently calculate the current static occupancy index.

[0047] In S32, the first constraint model is used to calculate the current static placeholder index of the i-th adjacent planned plot, which reflects the degree of obstruction of the robot's moving path by the stationary objects in the plot. The first constraint model is a mathematical formula or algorithm used to calculate the current static placeholder index based on the maximum path width and the placeholder width of the stationary objects. The maximum path width of the i-th plot and the total placeholder width of the stationary objects are substituted into the first constraint model, and a value is output as the current static placeholder index. This value is usually a ratio between 0 and 2, or a specific score, which is used to indicate the degree of obstruction of the robot's movement by the stationary objects in the plot. The higher the index, the greater the obstruction of the robot's movement by the stationary objects in the plot; the lower the index, the larger the space for the robot to move in the plot.

[0048] In one embodiment, the first constraint model in obtaining the current static placeholder index of the i-th adjacent planned plot based on the first constraint model, the maximum width and the placeholder width in S32 is expressed as:

[0049] in,

[0050] S is is the current static occupancy index of the i-th adjacent planned plot, W iOis the width of the stationary object on the path for robot inspection in the i-th adjacent planned plot, W M is the robot width, W imax is the maximum width of the path used for robot inspection in the i-th adjacent planned plot.

[0051] In this embodiment, it should be noted that W io It represents the width of the stationary objects in the plot (such as vehicles parked randomly in the traffic area, large garbage or other objects in the traffic area) on the robot's inspection path. These stationary objects will hinder the movement of the robot, so their width needs to be included in the calculation to evaluate the actual space available for robot movement in the plot. M is the width of the robot. The size of the robot itself must be considered in path planning because the robot needs enough space to move and avoid obstacles. Including the robot width in the calculation can ensure that the planned path is practical for the robot. W imax is the maximum width of the path used for robot inspection within the plot, which is the maximum space the robot can move within the plot. By comparing the sum of the stationary object width and the robot width with the maximum path width, the degree of obstruction of robot movement within the plot can be calculated. Taking into account the space occupied by static objects in the plot, the size of the robot itself, and the maximum path width of the plot, this ratio reflects the degree to which the robot is hindered by static objects when moving in the plot. The higher the ratio, the more limited the space available for the robot to move in the plot, and the higher the static space occupancy index. At the same time, for the expression of this embodiment, the first preset threshold needs to meet the robot's passage requirements, so the first preset threshold is preferably 1; in peak hours or other situations, in order to avoid more risks, it can be set more strictly and needs to be less than 1.

[0052] like Figure 3 As shown, in one embodiment, obtaining the current dynamic occupancy index of each adjacent planned plot based on the second constraint model in S3 includes:

[0053] S33, obtaining a first distance between the robot and an active vehicle on a path for robot inspection in the ith adjacent planned plot at the current moment, obtaining a historical moment with a preset time interval from the current moment, and obtaining a second distance between the robot and an active vehicle on a path for robot inspection in the ith adjacent planned plot at the historical moment;

[0054] S34. Obtain a current dynamic occupancy index of the i-th adjacent planned plot based on the second constraint model, the first distance, the second distance and a preset time period.

[0055] In this embodiment, it should be noted that in S33, the distance information between the current and historical moments is obtained. The robot perceives the surrounding environment in real time through its built-in sensors (such as laser radar, camera, etc.) or monitoring within the planned plot, especially the position of active vehicles in adjacent planned plots; for the i-th adjacent planned plot, the straight-line distance between the current position of the robot and the active vehicles on the path used for robot inspection in the plot is calculated, which is recorded as the first distance. Then, the historical moments with a preset time period (such as 1 second, 2 seconds, etc.) separated from the current moment are recorded. The selection of this time period depends on the moving speed of the active object and the reaction time of the robot. At the historical moment, the straight-line distance between the robot and the active vehicles in the plot is also calculated, which is recorded as the second distance.

[0056] In S33, a dynamic occupancy index is calculated based on the second constraint model. The second constraint model is a mathematical formula or algorithm for evaluating the potential impact of active objects on the robot's moving path based on the distance information at the current and historical moments. Using the second constraint model, the current dynamic occupancy index of the i-th adjacent planned plot is calculated based on the first distance, the second distance and the preset time period. The higher the dynamic occupancy index, the greater the potential impact of the active object on the robot's moving path, and the higher the risk of the robot choosing this plot to pass.

[0057] In one embodiment, obtaining the second constraint model in the current dynamic placeholder index of the i-th adjacent planned plot based on the second constraint model, the first distance, the second distance and the preset time period in S34 includes:

[0058] in,

[0059] S ir is the current dynamic occupancy index of the i-th adjacent planned plot, L i2 is the second distance between the robot and the active vehicle on the path used for robot inspection in the i-th adjacent planning plot at the historical moment, L i1 is the first distance between the robot and the active vehicle on the path used for robot inspection in the i-th adjacent planned plot at the current moment, and T is the preset time period.

[0060] In this embodiment, it should be noted that Part of it reflects the movement trend of the active vehicle relative to the robot; when the active vehicle is approaching the robot (i.e., the historical distance L i2 Greater than the current distance L i1 ), this ratio will be greater than 1, indicating that the dynamic occupancy index should increase, because the active vehicle is approaching and the potential impact on the robot's movement is increasing; on the contrary, if the active vehicle is moving away from the robot (i.e., L i2 Less than L i1), the ratio will be less than 1, indicating that the dynamic occupancy index should be reduced because the potential impact of active vehicles on the robot's movement is decreasing.

[0061] The distance change (L i1 -L i2 ) is the index relative to the preset time period T, which is used to adjust the sensitivity of the dynamic occupancy index. Dividing it by T makes the dynamic occupancy index more sensitive to the moving speed of the active vehicle. Under the same distance change, the shorter the time interval, the faster the vehicle moves and the greater the threat to the robot. Therefore, the dynamic occupancy index should be higher. When (L i1 -L i2 ) is positive and large (i.e., the vehicle is approaching quickly), and T is small, the exponential function part will increase rapidly. Make S ir Rapidly decreases, reflecting that as long as the active vehicle quickly starts to move away from the robot, the impact on the robot's passage path will be greatly reduced; when (L i1 -L i2 ) is negative (i.e. the vehicle is approaching quickly) and T is small, the exponential function part will decrease slowly, based on Make S ir Slowly increase, that is, as long as the active vehicle approaches the robot, the speed of approach will not affect the robot's subsequent path planning strategy. In this way, the second preset threshold is preferably 1; in peak hours or other situations, in order to avoid more risks, it can be set more strictly and needs to be less than 1.

[0062] like Figure 4 As shown, in one embodiment, obtaining the path priority index of each adjacent planned plot according to the historical movement information in S3 includes:

[0063] S35, if the i-th adjacent planned plot is within the predetermined moving path, obtaining a first variable value;

[0064] S36, judging whether the i-th adjacent planned plot has been inspected according to the historical movement information, and if not, obtaining the second variable value;

[0065] S37. Obtain the path priority index of the i-th adjacent planned plot according to the first variable value and the second variable value.

[0066] In this embodiment, it should be noted that, in S35, if the ith adjacent planned plot is within the predetermined moving path, the first variable value is obtained. The purpose is to determine whether the ith adjacent planned plot is part of the robot's predetermined moving path. If the ith adjacent planned plot is within the predetermined moving path, it is assigned a first variable value (for example, set to 0.5), indicating that this plot has a higher priority in path planning. This step ensures that the robot is more inclined to select plots on those planned, theoretically optimal paths, thereby maintaining the efficiency and continuity of inspections.

[0067] In S36, it is determined whether the i-th adjacent planned plot has been inspected based on the historical movement information. If not, the second variable value is obtained. The purpose is to determine whether the i-th adjacent planned plot has been inspected by the robot. The robot's past movement trajectory and inspected plots can be recorded through the historical movement information database, and then the database is queried in S36 to determine whether the i-th adjacent planned plot has been inspected. If the i-th adjacent planned plot has not been inspected, it is assigned a higher second variable value (for example, set to 1), indicating that this plot has additional priority in path planning because the robot needs to inspect all plots to ensure the integrity of the inspection.

[0068] In S37, the path priority index of the ith adjacent planned plot is obtained according to the first variable value and the second variable value. Specifically, the path priority index of the ith adjacent planned plot is calculated by combining the results of steps S35 and S36. For example, if the first variable value and the second variable value of the ith adjacent planned plot are both obtained, the path priority index may be set to 1.5; if only the first variable value is obtained, the path priority index is set to 0.5; if neither variable value is obtained, the path priority index is set to 0.

[0069] The above steps comprehensively consider two factors: whether the plot is within the predetermined movement path and whether it has been patrolled, providing the robot with a comprehensive and dynamic priority evaluation system, enabling the robot to flexibly adjust its movement strategy according to actual conditions.

[0070] like Figure 5 As shown, in one embodiment, S4 also includes:

[0071] S41, setting a first initial threshold and a second initial threshold, and obtaining a peak correction factor according to the current time point;

[0072] S42, respectively correcting the first initial threshold and the second initial threshold according to the peak correction factor, and generating a first preset threshold and a second preset threshold.

[0073] In this embodiment, it should be noted that in S4, it is mentioned that when screening the pre-traffic planning plots according to the current static occupancy index and the current dynamic occupancy index, the first preset threshold and the second preset threshold are needed. These two thresholds are key parameters for controlling the strictness of the robot's selection of plots. However, the busyness and environmental changes of parking lots often change over time. For example, there are many vehicles and people during peak hours, while the off-peak hours are relatively empty. Therefore, fixed thresholds may not be able to adapt to the environmental differences brought about by such time changes.

[0074] Therefore, in S41, a peak correction factor is introduced. First, two basic values ​​are set, namely the first initial threshold value and the second initial threshold value, which correspond to the benchmark screening conditions of the static occupancy index and the dynamic occupancy index respectively. These initial threshold values ​​can be preliminarily determined based on factors such as the average busyness of the parking lot, the mobility of the robot, and safety requirements. Next, it is necessary to obtain the peak correction factor according to the current time point. This correction factor is a dynamically changing value that reflects the relationship between the current time and the busyness of the parking lot. For example, during peak hours, the correction factor may increase, making the screening conditions more stringent to avoid the robot from encountering obstacles frequently due to the overly complex environment; while during off-peak hours, the correction factor may decrease, making the screening conditions relatively loose, so that the robot can choose the moving path more flexibly. The peak correction factor can be obtained in various ways, such as obtaining the busyness change pattern of the parking lot in different time periods through historical data analysis, or dynamically calculating through real-time sensor data (such as vehicle entry and exit counters, crowd flow monitors, etc.). Regardless of which method is used, the key is to ensure that the correction factor can accurately reflect the relationship between the current time and the parking lot environment.

[0075] In S42, the first initial threshold and the second initial threshold are respectively corrected according to the peak correction factor, and the first preset threshold and the second preset threshold are generated. Specifically, the correction method can be a simple linear addition and subtraction, or a more complex functional relationship, depending on the calculation method of the correction factor and the actual application requirements. Assuming that the first initial threshold is T1_initial, the second initial threshold is T2_initial, and the peak correction factor is F, the corrected first preset threshold T1_preset and the second preset threshold T2_preset can be calculated as: T1_preset = T1_initial*F, T2_preset = T2_initial*F; in this way, the screening threshold that is dynamically adjusted according to the current time point is obtained to ensure that the robot can make appropriate movement decisions according to the real-time environment of the parking lot.

[0076] For example, suppose that in a parking lot inspection robot, the following initial thresholds are set: the first initial threshold (T1_initial) is 1 (indicating that adjacent planned plots whose current static occupancy index exceeds 1 will be deemed inaccessible), and the second initial threshold (T2_initial) is 1 (indicating that plots whose current dynamic occupancy index exceeds 1 will be deemed inaccessible). Now, suppose the current time is 5 pm. According to historical data analysis, it is known that this time period is the peak period of the parking lot, with more vehicles and pedestrians. Therefore, the calculated peak correction factor is 0.6, and the corrected threshold can be calculated: the first preset threshold (T1_preset) is 1*0.6=0.6 (indicating that the adjacent planned plots whose current static occupancy index exceeds 0.6 are deemed inaccessible); the second preset threshold (T2_preset) is 1*0.6=0.6 (i.e. the plots whose current dynamic occupancy index exceeds 0.6 are deemed inaccessible). In this way, when the robot performs path planning, it will screen the pre-travel planned plots according to these dynamically adjusted thresholds, so as to better adapt to the complex environment of the parking lot during peak hours.

[0077] A path planning system for a parking lot inspection robot is also provided, the system comprising:

[0078] An acquisition division module is used to acquire a parking lot layout and divide the parking lot layout into a plurality of planned plots in sequence;

[0079] A plot confirmation module is used to obtain the current position of the robot moving along a predetermined moving path, determine the planned plot according to the current position, and obtain multiple adjacent planned plots according to the planned plot;

[0080] A data processing module, used to obtain the current static occupancy index of each adjacent planned plot based on the first constraint model, obtain the current dynamic occupancy index of each adjacent planned plot based on the second constraint model, and obtain the path priority index of each adjacent planned plot according to the historical movement information;

[0081] The planning module is used to screen out adjacent planned plots whose current static occupancy index and current dynamic occupancy index are respectively less than the first preset threshold and the second preset threshold as pre-traffic planning plots, and take the pre-traffic planning plot with the largest path priority index as the target traffic planning plot, and obtain the real-time mobile path according to the target traffic planning plot and the planned plot.

[0082] In one embodiment, the data processing module is also used to: obtain the maximum width of the path used for robot inspection in the i-th adjacent planned plot, and obtain the occupied width of stationary objects on the path used for robot inspection in the i-th adjacent planned plot; obtain the current static occupancy index of the i-th adjacent planned plot based on the first constraint model, the maximum width and the occupied width.

[0083] In one embodiment, the data processing module is also used to: obtain a first distance between the robot and an active vehicle on a path used for robot inspection in the i-th adjacent planned plot at the current moment, and obtain a historical moment separated from the current moment by a preset time period, and obtain a second distance between the robot and an active vehicle on a path used for robot inspection in the i-th adjacent planned plot at the historical moment; obtain the current dynamic occupancy index of the i-th adjacent planned plot based on the second constraint model, the first distance, the second distance and the preset time period.

[0084] In this embodiment, it should be noted that regarding the above-mentioned path planning system for the parking lot inspection robot, the specific method of performing the operation has been described in detail in the implementation of the path planning method for the parking lot inspection robot, and will not be elaborated here.

[0085] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0086] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0087] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A path planning method for a parking lot inspection robot, characterized in that: include: Obtaining a parking lot layout, and dividing the parking lot layout into a plurality of planning plots in sequence; Obtaining a current position of a robot moving along a predetermined moving path, determining a planned plot according to the current position, and obtaining a plurality of adjacent planned plots according to the planned plot; Based on the first constraint model, the current static occupancy index of each adjacent planned plot is obtained, and based on the second constraint model, the current dynamic occupancy index of each adjacent planned plot is obtained, and the path priority index of each adjacent planned plot is obtained according to the historical movement information; Adjacent planned plots whose current static occupancy index and current dynamic occupancy index are respectively less than the first preset threshold and the second preset threshold are selected as pre-traffic planning plots, and the pre-traffic planning plot with the largest path priority index is selected as the target traffic planning plot, and the real-time mobile path is obtained according to the target traffic planning plot and the planned plot.

2. The path planning method for a parking lot inspection robot according to claim 1, characterized in that: The step of obtaining the current static occupancy index of each adjacent planned plot based on the first constraint model includes: Obtain the maximum width of the path used for robot inspection in the i-th adjacent planned plot, and obtain the occupied width of the stationary object on the path used for robot inspection in the i-th adjacent planned plot; The current static occupancy index of the i-th adjacent planned plot is obtained based on the first constraint model, the maximum width and the occupancy width.

3. The path planning method for a parking lot inspection robot according to claim 2, characterized in that: The first constraint model in obtaining the current static placeholder index of the i-th adjacent planned plot based on the first constraint model, the maximum width and the placeholder width is expressed as: in, S is is the current static occupancy index of the i-th adjacent planned plot, W iO is the width of the stationary object on the path for robot inspection in the i-th adjacent planned plot, W M is the robot width, W imax is the maximum width of the path used for robot inspection in the i-th adjacent planned plot.

4. The path planning method for a parking lot inspection robot according to claim 1, characterized in that: The step of obtaining the current dynamic occupancy index of each adjacent planned plot based on the second constraint model includes: Obtain a first distance between the robot and an active vehicle on a path for robot inspection in the ith adjacent planned plot at the current moment, obtain a historical moment with a preset time interval from the current moment, and obtain a second distance between the robot and an active vehicle on a path for robot inspection in the ith adjacent planned plot at the historical moment; The current dynamic occupancy index of the i-th adjacent planned plot is obtained based on the second constraint model, the first distance, the second distance and the preset time period.

5. The path planning method for a parking lot inspection robot according to claim 4, characterized in that: The method of acquiring the second constraint model in the current dynamic placeholder index of the i-th adjacent planned plot based on the second constraint model, the first distance, the second distance and the preset time period includes: in, S ir is the current dynamic occupancy index of the i-th adjacent planned plot, L i2 is the second distance between the robot and the active vehicle on the path used for robot inspection in the i-th adjacent planning plot at the historical moment, L i1 is the first distance between the robot and the active vehicle on the path used for robot inspection in the i-th adjacent planned plot at the current moment, and T is the preset time period.

6. The path planning method for a parking lot inspection robot according to claim 1, characterized in that: The step of obtaining the path priority index of each adjacent planned plot according to the historical movement information includes: If the i-th adjacent planned plot is within the predetermined moving path, the first variable value is obtained; Determine whether the i-th adjacent planned plot has been patrolled according to the historical movement information, and if not, obtain the value of the second variable; The path priority index of the i-th adjacent planned plot is obtained according to the first variable value and the second variable value.

7. The path planning method for a parking lot inspection robot according to claim 1, characterized in that: Also includes: Setting a first initial threshold and a second initial threshold, and obtaining a peak correction factor according to the current time point; The first initial threshold and the second initial threshold are respectively corrected according to the peak correction factor, and a first preset threshold and a second preset threshold are generated.

8. A path planning system for a parking lot inspection robot, characterized in that: The system comprises: An acquisition division module is used to acquire a parking lot layout and divide the parking lot layout into a plurality of planned plots in sequence; A plot confirmation module is used to obtain the current position of the robot moving along a predetermined moving path, determine the planned plot according to the current position, and obtain multiple adjacent planned plots according to the planned plot; A data processing module, used to obtain the current static occupancy index of each adjacent planned plot based on the first constraint model, obtain the current dynamic occupancy index of each adjacent planned plot based on the second constraint model, and obtain the path priority index of each adjacent planned plot according to the historical movement information; The planning module is used to screen out adjacent planned plots whose current static occupancy index and current dynamic occupancy index are respectively less than the first preset threshold and the second preset threshold as pre-traffic planning plots, and take the pre-traffic planning plot with the largest path priority index as the target traffic planning plot, and obtain the real-time mobile path according to the target traffic planning plot and the planned plot.

9. The path planning system for a parking lot inspection robot according to claim 8, characterized in that: The data processing module is also used for: Obtain the maximum width of the path used for robot inspection in the i-th adjacent planned plot, and obtain the occupied width of the stationary object on the path used for robot inspection in the i-th adjacent planned plot; The current static occupancy index of the i-th adjacent planned plot is obtained based on the first constraint model, the maximum width and the occupancy width.

10. The path planning system for a parking lot inspection robot according to claim 8, characterized in that: The data processing module is also used for: Obtain a first distance between the robot and an active vehicle on a path for robot inspection in the ith adjacent planned plot at the current moment, obtain a historical moment with a preset time interval from the current moment, and obtain a second distance between the robot and an active vehicle on a path for robot inspection in the ith adjacent planned plot at the historical moment; The current dynamic occupancy index of the i-th adjacent planned plot is obtained based on the second constraint model, the first distance, the second distance and the preset time period.

Images