Cleaning robot path planning method

Abstract

The invention relates to the technical field of intelligent robots, in particular to a cleaning robot path planning method. According to the method, the credible obstacle is determined through the obstacle triggering times and other conditions, the credible obstacle is reserved and only other obstacles are shielded when the path planning fails and the path needs to be planned again, so that the obstacle possibly identified by mistake is prevented from hindering the path planning, and meanwhile, the obstacle still existing on the planned path due to blind shielding is avoided; and the success rate and reliability of path planning are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent robots, and in particular to a path planning method for a cleaning robot. Background Art

[0002] When a sweeping robot is cleaning a room, it will inevitably encounter various types of obstacles, triggering different sensor detection signals. Common sensors include collision plates, lasers, cliffs, ultrasonic waves, etc. After the sensor detection signal is triggered, the location of the obstacle will be marked, and the sweeping robot can avoid the location marked with obstacles when planning the path.

[0003] However, when the sensor is triggered by mistake, or there is a moving obstacle, the passable area without obstacles will be marked as an obstacle area, affecting the rationality or success rate of path planning. In this regard, obstacles are usually shielded in the prior art. For example, patent document CN115575960A discloses a method for processing ultrasonic data false alarms, which marks the last ultrasonic sensor obstacle data before the failure of path planning as a target obstacle object, and determines whether the last ultrasonic sensor obstacle data is a false alarm data based on the global path recorded during the last successful planning. If so, the target obstacle object and obstacles within a certain shielding distance range are shielded.

[0004] However, since the position of obstacles may change, the credibility of the last global path is insufficient; at the same time, obstacles within the shielding distance range may actually exist, and blindly shielding them may reduce the success rate of path planning. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a cleaning robot path planning method to improve the accuracy of path planning.

[0006] The present disclosure provides a cleaning robot path planning method, including:

[0007] Path planning based on the original map;

[0008] When path planning fails, the credible obstacles in the original map are retained, and the uncredible obstacles in the original map are shielded to obtain a first reference map, wherein the credible obstacles include at least one of obstacles with a triggering frequency greater than a preset threshold, obstacles at special positions marked in advance, and obstacles of special types marked in advance, and the uncredible obstacles are obstacles other than the credible obstacles;

[0009] Path planning is performed again based on the first reference map.

[0010] In some embodiments, when the path planning fails, shielding the untrusted obstacles in the original map to obtain the first reference map includes:

[0011] Determine the time point when the path planning fails and obtain the failure time point;

[0012] Based on the original map, non-trusted obstacles whose triggering time is earlier than the failure time point are shielded.

[0013] In some embodiments, after performing path planning again based on the first reference map, the method further includes:

[0014] If the path planning is successful, the robot is controlled to move according to the planned target path;

[0015] During the movement of the robot, if a detection signal of any obstacle is triggered, the path planning is performed again based on the original map with the current position as the starting point.

[0016] In some embodiments, performing path planning again based on the original map includes:

[0017] When path planning fails, shielding untrusted obstacles in the original map whose triggering time is earlier than the failure time point, to obtain a second reference map;

[0018] Path planning is performed again based on the second reference map.

[0019] In some embodiments, before performing path planning according to the original map, the method further includes:

[0020] When the robot moves from the first cleaning area to the second cleaning area along the preset path, if a detection signal of any obstacle is triggered, the distance between the obstacle and the path along the edge of the first cleaning area is obtained to obtain a first distance; if the first distance is less than a first preset threshold, the obstacle is marked as a special position obstacle; and / or,

[0021] When the robot moves from the first cleaning area to the second cleaning area along a preset path, if a detection signal of any obstacle is triggered, the distance between the current robot and the edge path of the first cleaning area is obtained to obtain a second distance; if the second distance is less than a second preset threshold, the obstacle is marked as a special position obstacle.

[0022] In some embodiments, before performing path planning according to the original map, the method further includes:

[0023] When the robot moves along the edge, it detects obstacles through ultrasonic sensors and obtains multiple candidate obstacle points in sequence;

[0024] If the distance between at least two candidate obstacle points among the plurality of candidate obstacle points is less than a third preset threshold, determining the at least two candidate obstacle points as target obstacle points;

[0025] If the length of the line formed by the target obstacle point is greater than a preset length threshold, the obstacle corresponding to the target obstacle point is marked as a special type of obstacle.

[0026] In some embodiments, if the distance between at least two candidate obstacle points among the plurality of candidate obstacle points is less than a third preset threshold, determining the at least two candidate obstacle points as target obstacle points includes:

[0027] If there are two candidate obstacle points whose distance is less than a third preset threshold, the two candidate obstacle points are determined as target obstacle points;

[0028] If the distance between a candidate obstacle point and any target obstacle point is less than a third preset threshold, the candidate obstacle point is determined as the target obstacle point;

[0029] If the length of the line formed by the target obstacle point is less than the preset length threshold, and the distance between the line and any candidate obstacle point is greater than a fourth preset threshold, the target obstacle point corresponding to the line is restored to a candidate obstacle point, and the third preset threshold is less than the fourth preset threshold.

[0030] In some embodiments, after determining the candidate obstacle point as a target obstacle point, the method further includes:

[0031] If, after determining the last target obstacle point, the robot moves a distance greater than a fourth preset threshold and does not trigger an ultrasonic obstacle detection signal, the target obstacle point corresponding to the connecting line is restored as a candidate obstacle point.

[0032] In some embodiments, different types of obstacles correspond to different preset number thresholds; before performing path planning according to the original map, the method further includes:

[0033] For obstacles at the same position, when any sensor triggers a detection signal for the obstacle, determining the type of the obstacle;

[0034] If the number of times the obstacle is triggered is greater than a preset number threshold corresponding to the obstacle type, the obstacle is marked as a credible obstacle.

[0035] In some embodiments, different types of sensors correspond to different preset number thresholds; before performing path planning according to the original map, the method further includes:

[0036] For obstacles at the same position, when any sensor triggers a detection signal for the obstacle, determining the type of the sensor;

[0037] If the number of times the sensor triggers the obstacle is greater than a preset number threshold corresponding to the sensor type, the obstacle is marked as a credible obstacle.

[0038] A cleaning robot path planning method provided by an embodiment of the present disclosure determines credible obstacles through conditions such as the number of obstacle triggering times, retains credible obstacles when path planning fails and needs to be replanned, and only blocks other obstacles to prevent obstacles that may be misidentified from obstructing path planning. At the same time, blind blocking that results in obstacles still existing on the planned path is avoided, thereby improving the success rate and reliability of path planning.

[0039] In some embodiments, when re-planning is required during the movement along the planned path, the original map is used for path planning first, trying to avoid all obstacles, thereby improving the rationality of path planning.

[0040] In some embodiments, obstacle points that will cause the robot to fail to transition between different cleaning areas are marked by judging the distance between the obstacle and the edge trajectory, thereby preventing this type of obstacle from being blocked, reducing repeated attempts during the robot's path planning or movement, and improving path planning efficiency.

[0041] In some embodiments, by marking obstacles corresponding to long-distance continuous ultrasonic obstacle points, large-area, relatively fixed obstacles will not be shielded, thereby improving the rationality of the obstacle shielding strategy, reducing repeated attempts during robot path planning or movement, and improving path planning efficiency.

[0042] In some embodiments, by setting different preset number thresholds for different types of obstacles and / or different types of obstacle detection sensors, the process of determining credible obstacles conforms to the triggering logic of different obstacles and different sensors, further improving the rationality of obstacle shielding. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A flow chart of a path planning method provided by an embodiment of the present disclosure;

[0046] Figure 2 A schematic diagram of a cleaning robot transition provided by an embodiment of the present disclosure;

[0047] Figure 3 A schematic diagram of the structure of a path planning device provided in an embodiment of the present disclosure;

[0048] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0050] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0051] The present disclosure provides a path planning method, which is described below in conjunction with a specific embodiment.

[0052] Figure 1 This is a flow chart of the path planning method provided in the embodiment of the present disclosure. The method can be applied to terminal devices with data processing functions, such as cleaning robots, smart phones, PDAs, tablet computers, wearable devices with display screens, desktop computers, laptop computers, all-in-one computers, smart home devices, etc. It can be understood that the path planning method provided in the embodiment of the present disclosure can also be applied in other scenarios. In the following embodiments, a cleaning robot is taken as an example. Figure 1 The path planning method shown is introduced.

[0053] The specific steps of the method are as follows:

[0054] S101. Perform path planning according to the original map.

[0055] The original map includes obstacle information of multiple obstacles, such as obstacle positions, sizes, etc. Before the cleaning robot moves from a designated starting point to an end point, it performs path planning according to the original map to avoid various obstacles in the original map.

[0056] S102: When path planning fails, retain the credible obstacles in the original map, shield the uncredible obstacles in the original map, and obtain a first reference map.

[0057] The credible obstacle includes at least one of an obstacle with a triggering frequency greater than a preset threshold, a pre-marked special position obstacle, and a pre-marked special type obstacle, and the untrusted obstacle is an obstacle other than the credible obstacle.

[0058] If there are many obstacles in the original map, or the gaps between obstacles are not large enough for the cleaning robot to pass through, and a path from the specified starting point to the end point cannot be generated, the path planning fails.

[0059] The obstacle information in the original map may not be completely consistent with the obstacle distribution in the current real environment. For example, after an obstacle is moved, it may be marked as an obstacle at its original position and at its moved position respectively. Therefore, there may be "false" obstacle information in the original map, that is, unreliable obstacles.

[0060] To ensure the success rate and accuracy of path planning, it is necessary to judge the credibility of each obstacle and distinguish the obstacles in the original map into credible obstacles and uncredible obstacles.

[0061] Specifically, credible obstacles include obstacles whose triggering times are greater than a preset threshold. When any obstacle triggers the obstacle detection signal of the cleaning robot at the same position for more than the preset threshold, it is determined that the obstacle is in the same position for a long time and is a credible obstacle; correspondingly, if any obstacle triggers the obstacle detection signal of the cleaning robot for less than or equal to the preset threshold, the obstacle may not be fixed at the same position, that is, the location information of the obstacle in the original map is unreliable, and the obstacle is an untrustworthy obstacle.

[0062] Optionally, a time point at which the path planning fails is determined to obtain the failure time point; based on the original map, untrusted obstacles whose triggering time is earlier than the failure time point are shielded.

[0063] For an untrusted obstacle whose triggering times are less than or equal to a preset times threshold, if the time point at which the obstacle triggers the obstacle detection signal of the cleaning robot is earlier than the time point of path planning, the obstacle will be shielded.

[0064] Trusted obstacles also include pre-marked special position obstacles. For example, when a cleaning robot performs a cleaning task, it will move along the edge and move to the next area after cleaning the current area. During this process, obstacles that trigger the obstacle detection signal of the cleaning robot will be marked as special position obstacles. This type of obstacle is usually invisible to lasers.

[0065] Trusted obstacles also include pre-marked special types of obstacles. For example, for a large area of ​​carpet laid in a room, it would waste a lot of time to try after blocking this type of obstacle, so it is marked as a special type of obstacle.

[0066] After distinguishing the credible obstacles from the uncredible obstacles in the original map, the uncredible obstacles are shielded and only the credible obstacles are retained to obtain the first reference map.

[0067] S103: Perform path planning again based on the first reference map.

[0068] The number of obstacles recorded in the first reference map is reduced compared to that in the original map. The probability of successful path planning based on the first reference map and the pre-specified starting and ending points will be increased compared to that based on the original map.

[0069] The disclosed embodiment performs path planning according to an original map; when path planning fails, credible obstacles in the original map are retained, and uncredible obstacles in the original map are shielded to obtain a first reference map; path planning is performed again based on the first reference map, and credible obstacles are determined according to conditions such as the number of obstacle triggering times, and when path planning fails and the path needs to be replanned, credible obstacles are retained and only other obstacles are shielded, so as to avoid obstacles that may be misidentified from obstructing path planning, and to avoid blind shielding that causes obstacles to remain on the planned path, thereby improving the success rate and reliability of path planning.

[0070] In some embodiments, after performing path planning again based on the first reference map, the method further includes: if the path planning is successful, controlling the robot to move according to the planned target path; during the movement of the robot, if a detection signal of any obstacle is triggered, taking the current position as the starting point, performing path planning again based on the original map.

[0071] After the path planning is successfully performed based on the first reference map, the target path is obtained, and the cleaning robot is controlled to move along the target path.

[0072] During the movement, the obstacle detection signal of the cleaning robot may be triggered. The location of the obstacle causes the cleaning robot to be unable to continue to the pre-specified destination along the target path, and the path needs to be re-planned.

[0073] Performing path planning again based on the original map includes: when path planning fails, shielding untrusted obstacles in the original map whose trigger time is earlier than the failure time point to obtain a second reference map; and performing path planning again based on the second reference map.

[0074] The obstacle detection signal of the cleaning robot is triggered during the movement of the robot because some existing obstacles are blocked in the process of generating the first reference map, or new obstacles appear in the working environment of the cleaning robot. At this time, it is determined that the first reference map is incorrect, and the path planning needs to be re-performed from the position where the obstacle detection signal is triggered, and untrusted obstacles still need to be blocked.

[0075] In this step, the untrusted obstacles in the original map whose trigger time is earlier than the failure time point are blocked to obtain the second reference map. It should be noted that the failure time point is the time point when the path planning based on the original map fails, not the time point when the path planning based on the first reference map fails, and the failure time point is no longer updated in the planning process of the same path.

[0076] The reason for such setting is to avoid mistakenly shielding obstacles on the target path generated based on the first reference map. This obstacle is triggered for the first time, but it is an obstacle detected by the cleaning robot in real time, so even if the number of times the obstacle is triggered is less than the trigger number threshold, it should not be shielded.

[0077] Optionally, when obstacles in the original map are shielded, other credible obstacles may still be retained, such as pre-marked obstacles at special locations and pre-marked obstacles of special types.

[0078] After the obstacle information in the original map is shielded again, a second reference map is obtained, and path planning is performed again based on the second reference map.

[0079] The embodiment of the present disclosure improves the rationality of path planning by giving priority to using the original map for path planning when re-planning is needed during the movement along the planned path, attempting to avoid all obstacles.

[0080] In some embodiments, before performing path planning according to the original map, the method further includes: in the process of the robot moving from the first cleaning area to the second cleaning area along a preset path, if a detection signal of any obstacle is triggered, the distance between the obstacle and the edge path of the first cleaning area is obtained to obtain a first distance; if the first distance is less than a first preset threshold, the obstacle is marked as a special position obstacle.

[0081] And / or, in the process of the robot moving from the first cleaning area to the second cleaning area along a preset path, if a detection signal of any obstacle is triggered, the distance between the current robot and the edge path of the first cleaning area is obtained to obtain a second distance; if the second distance is less than a second preset threshold, the obstacle is marked as a special position obstacle.

[0082] The working logic of the cleaning robot is to clean each cleaning area in turn. After cleaning the first cleaning area, it goes to the second cleaning area. This process is called "transition".

[0083] Figure 2 A schematic diagram of a cleaning robot transition provided by an embodiment of the present disclosure, such as Figure 2 As shown, the cleaning robot determines the edge trajectory 21 when cleaning in the upper left area, and then needs to move to the lower right area to continue cleaning.

[0084] In the process of cleaning a single cleaning area, taking the first cleaning area as an example, the cleaning is performed in a way of first sweeping along the edge and then sweeping in a bow. The edge sweeping process is based on the boundary of the first cleaning area, and the edge path generated is the path that the center of the cleaning robot body travels during the edge sweeping process. Therefore, the edge track is usually within the half body distance of the boundary line of the non-crossable area such as the wall of the room and the boundary of the restricted area.

[0085] Correspondingly, the first preset threshold and the second preset threshold are half of the diameter of the cleaning robot body.

[0086] During the transition process, if the cleaning robot encounters any obstacle and the obstacle detection signal is triggered, it is determined whether the distance between the position of the obstacle and the edge trajectory is greater than half of the diameter of the fuselage. If so, it proves that the distance between the obstacle and the boundary of the first area is less than the diameter of the fuselage, and the cleaning robot cannot pass between the boundary of the first area and the obstacle. This type of obstacle does not need to be tried again in subsequent path planning.

[0087] Alternatively, during the transition process, if the cleaning robot encounters any obstacle and the obstacle detection signal is triggered, it is determined whether the distance between the current position of the cleaning robot and the edge trajectory is greater than half the diameter of the fuselage. If so, it proves that the distance between the obstacle and the edge trajectory is less than half the diameter of the fuselage, and the distance between the obstacle and the boundary of the first area is less than the diameter of the fuselage. The cleaning robot cannot pass between the boundary of the first area and the obstacle, and this type of obstacle does not need to be tried again in subsequent path planning.

[0088] Optionally, in this embodiment, the obstacle that triggers the obstacle detection signal of the cleaning robot during the transition is an obstacle that is invisible to the laser, and the obstacle detection signal is triggered by colliding with the cleaning robot, that is, the body of the cleaning robot contacts the obstacle when the obstacle detection signal is triggered.

[0089] The disclosed embodiment marks obstacle points that may cause the robot to fail to transition between different cleaning areas by judging the distance between the obstacle and the edge trajectory, thereby preventing such obstacles from being blocked, reducing repeated attempts during the robot's path planning or movement, and improving path planning efficiency.

[0090] In some embodiments, before performing path planning according to the original map, the method further includes: performing obstacle detection by using an ultrasonic sensor while the robot is moving along the edge, and obtaining a plurality of candidate obstacle points in sequence; if a distance between at least two candidate obstacle points among the plurality of candidate obstacle points is less than a third preset threshold, determining the at least two candidate obstacle points as target obstacle points; if a length of a line formed by the target obstacle points is greater than a preset length threshold, marking the obstacle corresponding to the target obstacle point as a special type of obstacle.

[0091] Optionally, the ultrasonic sensor is installed at the bottom of the cleaning robot, and the ultrasonic signal is emitted toward the ground. Floor materials or areas such as carpets laid on the ground that affect the normal movement of the cleaning robot will trigger the obstacle detection signal of the ultrasonic sensor.

[0092] When using an ultrasonic sensor to detect obstacles, the ultrasonic sensor emits ultrasonic waves and receives sound wave signals reflected from obstacles. The location where the sound waves are reflected on the obstacle becomes an "obstacle point". As the cleaning robot moves, the obstacle detection range of the ultrasonic sensor also changes with the movement of the cleaning robot, and multiple candidate obstacle points are gradually detected.

[0093] Since the ultrasonic signal may jump, some independent candidate obstacle points will be generated. The distances between these candidate obstacle points obtained by false detection are far. Therefore, by detecting the distances between the candidate obstacle points, the candidate obstacle points obtained by false detection can be eliminated.

[0094] Specifically, if there are at least two candidate obstacle points whose distance is less than a third preset threshold, they are determined as target obstacle points; if the distance between any two candidate obstacle points is greater than or equal to the third preset threshold, it is determined that these candidate obstacle points are not target obstacle points, and may be candidate obstacle points mistakenly detected by the ultrasonic sensor.

[0095] Furthermore, as the target obstacle points gradually accumulate, the length or range of the obstacle can be determined. When the obstacle is too long or the range is too large, if it is blocked during path planning, it will take a long time to test it when the robot encounters the obstacle again during movement. Therefore, this type of obstacle is marked as a special type of obstacle to avoid it being blocked during re-path planning.

[0096] Wherein, if the distance between at least two candidate obstacle points among the multiple candidate obstacle points is less than the third preset threshold, the at least two candidate obstacle points are determined as target obstacle points, including: if the distance between two candidate obstacle points is less than the third preset threshold, the two candidate obstacle points are determined as target obstacle points; if the distance between a candidate obstacle point and any target obstacle point is less than the third preset threshold, the candidate obstacle point is determined as the target obstacle point; if the length of a line formed by the target obstacle points is less than the preset length threshold, and the distance between the line and any candidate obstacle point is greater than a fourth preset threshold, the target obstacle point corresponding to the line is restored as a candidate obstacle point, and the third preset threshold is less than the fourth preset threshold.

[0097] When the length of the line formed by the target obstacle points is less than the preset length threshold, the obstacle has not yet reached the condition of being marked as a special type of obstacle. The line formed by the target obstacle points represents the boundary of the obstacle or a part of the obstacle boundary.

[0098] If the distance between the connecting lines formed by other candidate obstacle points and the target obstacle point is greater than the fourth preset threshold, it indicates that the candidate obstacle point is far from the boundary of the currently detected obstacle and does not belong to the same whole, that is, the obstacles corresponding to the target obstacle point have been fully detected, and the obstacle is not sufficient to be marked as a special type of obstacle. At this time, the target obstacle point is restored to a candidate obstacle point, and other target obstacle points are searched again.

[0099] Optionally, after determining the candidate obstacle point as the target obstacle point, the method further includes: if after determining the last target obstacle point, the robot moves a distance greater than a fourth preset threshold and does not trigger an ultrasonic obstacle detection signal, then restoring the target obstacle point corresponding to the connecting line as a candidate obstacle point.

[0100] After determining the previous target obstacle point, if the cleaning robot still fails to detect a candidate obstacle point after moving beyond the fourth preset threshold, the length of the line formed by the target obstacle point and the distance between the next candidate obstacle point must be greater than the fourth preset threshold, and the target obstacle point corresponding to the line is restored to a candidate obstacle point.

[0101] By adopting the marking logic of special types of obstacles, large-area, relatively fixed obstacles can be marked as special types of obstacles, and for threshold scenes, the threshold will not be mistakenly marked as a special type of obstacle.

[0102] Optionally, the preset length threshold is 2 meters, and the fourth preset threshold is 0.5 meters.

[0103] The disclosed embodiment marks obstacles corresponding to long-distance continuous ultrasonic obstacle points so that large-area, relatively fixed obstacles will not be shielded, thereby improving the rationality of the obstacle shielding strategy, reducing repeated attempts during robot path planning or movement, and improving path planning efficiency.

[0104] In some embodiments, different types of obstacles have different preset number thresholds corresponding to them; before performing path planning according to the original map, the method further includes: for obstacles at the same location, when any sensor triggers a detection signal for the obstacle, determining the type of the obstacle; if the number of times the obstacle is triggered is greater than the preset number threshold corresponding to the obstacle type, marking the obstacle as a credible obstacle.

[0105] Optionally, different types of sensors correspond to different preset number thresholds; before performing path planning according to the original map, the method also includes: for obstacles in the same position, when any sensor triggers a detection signal for the obstacle, determining the type of the sensor; if the number of times the sensor triggers the obstacle is greater than the preset number threshold corresponding to the sensor type, marking the obstacle as a trusted obstacle.

[0106] Different types of obstacles have different degrees of mobility and possibilities of being moved, so corresponding preset number thresholds can be set for different types of obstacles. Only when the number of times the obstacle triggers the obstacle detection signal of the cleaning robot reaches the preset number threshold corresponding to the type, can the obstacle be marked as a trusted obstacle.

[0107] For example, for fixed, immovable obstacles such as walls and insurmountable steps, the corresponding preset number threshold can be set to a smaller value; while for temporary obstacles such as fallen objects and small ornaments, a higher preset number threshold can be set for them.

[0108] In addition, cleaning robots are equipped with multiple types of sensors, each of which can detect obstacles through different detection mechanisms. However, due to different sensor installation locations or sensor detection principles, not all types of sensors can achieve the same obstacle detection effect.

[0109] For example, for a collision detection sensor, it will only be triggered when the cleaning robot comes into physical contact with other objects, and its credibility is relatively high. Therefore, the obstacle that triggers the obstacle detection signal of the collision detection sensor is usually more credible, and the preset number threshold corresponding to the collision detection sensor can be set to a smaller value; for laser sensors or ultrasonic sensors, their detection range is limited and is affected by the posture of the cleaning robot's body. Their credibility is lower than that of collision sensors, and the possibility of false detection needs to be considered. Therefore, a relatively large preset number threshold needs to be set.

[0110] The embodiments of the present disclosure set different preset number thresholds for different types of obstacles and / or different types of obstacle detection sensors, so that the process of determining credible obstacles conforms to the triggering logic of different obstacles and different sensors, further improving the rationality of obstacle shielding.

[0111] Figure 3 Schematic diagram of the structure of the path planning device provided in the embodiment of the present disclosure. The path planning device may be a terminal device with data processing function as described in the above embodiment, or the path planning device may be a component or assembly in the terminal device. The path planning device provided in the embodiment of the present disclosure may execute the processing flow provided in the path planning method embodiment, such as Figure 3 As shown, the path planning device 30 includes: a first planning module 31, a map updating module 32, and a second planning module 33; wherein the first planning module 31 is used to perform path planning according to the original map; the map updating module 32 is used to retain the credible obstacles in the original map and shield the untrusted obstacles in the original map when the path planning fails, so as to obtain a first reference map, wherein the credible obstacles include obstacles with a triggering number greater than a preset number threshold, pre-marked special position obstacles, and at least one of pre-marked special types of obstacles, and the untrusted obstacles are obstacles other than the credible obstacles; the second planning module 33 is used to perform path planning again based on the first reference map.

[0112] Optionally, the map updating module 32 is used to determine the time point when the path planning fails to obtain the failure time point; based on the original map, shield the untrusted obstacles whose trigger time is earlier than the failure time point.

[0113] Optionally, the path planning device 30 also includes a moving module 34, which is used to control the robot to move according to the planned target path if the path planning is successful; the second planning module 33 is also used to, during the movement of the robot, if a detection signal of any obstacle is triggered, take the current position as the starting point and perform path planning again based on the original map.

[0114] Optionally, the second planning module 33 includes a shielding unit 331 and a path planning unit 332; the shielding unit 331 is used to shield the non-trusted obstacles in the original map whose trigger time is earlier than the failure time point when the path planning fails, so as to obtain a second reference map; the path planning unit 332 is used to perform path planning again based on the second reference map.

[0115] Optionally, the path planning device 30 also includes a marking module 35, which is used to obtain the distance between the obstacle and the edge path of the first cleaning area to obtain a first distance if a detection signal of any obstacle is triggered during the process of the robot moving from the first cleaning area to the second cleaning area along a preset path; if the first distance is less than a first preset threshold, the obstacle is marked as a special position obstacle; and / or, when the robot moves from the first cleaning area to the second cleaning area along a preset path, if a detection signal of any obstacle is triggered, the distance between the current robot and the edge path of the first cleaning area is obtained to obtain a second distance; if the second distance is less than a second preset threshold, the obstacle is marked as a special position obstacle.

[0116] Optionally, the marking module 35 is also used to perform obstacle detection through an ultrasonic sensor while the robot is moving along the edge, before path planning is performed according to the original map, to obtain multiple candidate obstacle points in sequence; if the distance between at least two candidate obstacle points among the multiple candidate obstacle points is less than a third preset threshold, the at least two candidate obstacle points are determined as target obstacle points; if the length of the line formed by the target obstacle points is greater than a preset length threshold, the obstacle corresponding to the target obstacle point is marked as a special type of obstacle.

[0117] Optionally, the marking module 35 is further used to determine the two candidate obstacle points as target obstacle points if the distance between the two candidate obstacle points is less than a third preset threshold; determine the candidate obstacle point as the target obstacle point if the distance between the candidate obstacle point and any target obstacle point is less than the third preset threshold; and restore the target obstacle point corresponding to the connecting line to the candidate obstacle point if the length of the connecting line formed by the target obstacle points is less than a preset length threshold and the distance between the connecting line and any candidate obstacle point is greater than a fourth preset threshold, and the third preset threshold is less than the fourth preset threshold.

[0118] Optionally, the marking module 35 is also used to restore the target obstacle point corresponding to the connecting line as a candidate obstacle point after the candidate obstacle point is determined as the target obstacle point, if after the last target obstacle point is determined, the robot moves a distance greater than a fourth preset threshold and does not trigger an ultrasonic obstacle detection signal.

[0119] Optionally, different types of obstacles have different preset number thresholds corresponding to them; the marking module 35 is also used to determine the type of obstacle for obstacles in the same position when any sensor triggers a detection signal for the obstacle; if the obstacle is triggered more than the preset number threshold corresponding to the obstacle type, the obstacle is marked as a credible obstacle.

[0120] Optionally, different types of sensors correspond to different preset number thresholds; the marking module 35 is also used to determine the type of sensor for obstacles in the same position when any sensor triggers a detection signal for the obstacle; if the number of times the sensor triggers the obstacle is greater than the preset number threshold corresponding to the sensor type, the obstacle is marked as a trusted obstacle.

[0121] Figure 3 The path planning device of the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar and will not be repeated here.

[0122] Figure 4 The electronic device provided in the embodiment of the present disclosure may be the device to be upgraded as described in the above embodiment. The electronic device provided in the embodiment of the present disclosure may execute the processing flow provided in the path planning method embodiment, such as Figure 4 As shown, the electronic device 40 includes: a memory 41, a processor 42, a computer program and a communication interface 43; wherein the computer program is stored in the memory 41 and is configured so that the processor 42 executes the path planning method as described above.

[0123] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the path planning method described in the above embodiment.

[0124] In addition, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the path planning method as described above is implemented.

[0125] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0126] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning robot path planning method, characterized in that: The method comprises: Path planning based on the original map; When path planning fails, the credible obstacles in the original map are retained, and the uncredible obstacles in the original map are shielded to obtain a first reference map, wherein the credible obstacles include at least one of obstacles with a triggering frequency greater than a preset threshold, obstacles at special positions marked in advance, and obstacles of special types marked in advance, and the uncredible obstacles are obstacles other than the credible obstacles; Path planning is performed again based on the first reference map.

2. The method according to claim 1, characterized in that When the path planning fails, shielding the untrusted obstacles in the original map to obtain a first reference map includes: Determine the time point when the path planning fails and obtain the failure time point; Based on the original map, non-trusted obstacles whose triggering time is earlier than the failure time point are shielded.

3. The method according to claim 1, characterized in that After performing path planning again based on the first reference map, the method further includes: If the path planning is successful, the robot is controlled to move according to the planned target path; During the movement of the robot, if a detection signal of any obstacle is triggered, the path planning is performed again based on the original map with the current position as the starting point.

4. The method according to claim 3, characterized in that Path planning is performed again based on the original map, including: When path planning fails, shielding untrusted obstacles in the original map whose triggering time is earlier than the failure time point, to obtain a second reference map; Path planning is performed again based on the second reference map.

5. The method according to claim 1, characterized in that Before performing path planning according to the original map, the method further includes: When the robot moves from the first cleaning area to the second cleaning area along the preset path, if a detection signal of any obstacle is triggered, the distance between the obstacle and the path along the edge of the first cleaning area is obtained to obtain a first distance; if the first distance is less than a first preset threshold, the obstacle is marked as a special position obstacle; and / or, When the robot moves from the first cleaning area to the second cleaning area along a preset path, if a detection signal of any obstacle is triggered, the distance between the current robot and the edge path of the first cleaning area is obtained to obtain a second distance; if the second distance is less than a second preset threshold, the obstacle is marked as a special position obstacle.

6. The method according to claim 1, characterized in that Before performing path planning according to the original map, the method further includes: When the robot moves along the edge, it detects obstacles through ultrasonic sensors and obtains multiple candidate obstacle points in sequence; If the distance between at least two candidate obstacle points among the plurality of candidate obstacle points is less than a third preset threshold, determining the at least two candidate obstacle points as target obstacle points; If the length of the line formed by the target obstacle point is greater than a preset length threshold, the obstacle corresponding to the target obstacle point is marked as a special type of obstacle.

7. The method according to claim 6, characterized in that If the distance between at least two candidate obstacle points among the plurality of candidate obstacle points is less than a third preset threshold, determining the at least two candidate obstacle points as target obstacle points includes: If there are two candidate obstacle points whose distance is less than a third preset threshold, the two candidate obstacle points are determined as target obstacle points; If the distance between a candidate obstacle point and any target obstacle point is less than a third preset threshold, the candidate obstacle point is determined as the target obstacle point; If the length of the line formed by the target obstacle point is less than the preset length threshold, and the distance between the line and any candidate obstacle point is greater than a fourth preset threshold, the target obstacle point corresponding to the line is restored to a candidate obstacle point, and the third preset threshold is less than the fourth preset threshold.

8. The method according to claim 7, characterized in that After determining the candidate obstacle point as the target obstacle point, the method further includes: If, after determining the last target obstacle point, the robot moves a distance greater than a fourth preset threshold and does not trigger an ultrasonic obstacle detection signal, the target obstacle point corresponding to the connecting line is restored as a candidate obstacle point.

9. The method according to claim 1, characterized in that: Different types of obstacles have different preset number thresholds. Before performing path planning according to the original map, the method further includes: For obstacles at the same position, when any sensor triggers a detection signal for the obstacle, determining the type of the obstacle; If the number of times the obstacle is triggered is greater than a preset number threshold corresponding to the obstacle type, the obstacle is marked as a credible obstacle.

10. The method according to claim 1, characterized in that Different types of sensors correspond to different preset number thresholds; before performing path planning according to the original map, the method further includes: For obstacles at the same position, when any sensor triggers a detection signal for the obstacle, determining the type of the sensor; If the number of times the sensor triggers the obstacle is greater than a preset number threshold corresponding to the sensor type, the obstacle is marked as a credible obstacle.

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