Path planning method, device and mobile device

Abstract

The present invention relates to the field of path planning technology, and discloses a path planning method, device, and mobile device. The method comprises: upon detecting that the mobile device cannot move forward, obtaining the current forward direction of the mobile device; determining a candidate area range based on the width of the mobile device and a preset forward distance, and using the current forward direction as the starting point of the rotation direction, performing a rotation search for a target forward area according to the candidate area range, wherein the target forward area is an area without obstacles; determining a target forward direction corresponding to the target forward area; controlling the mobile device to turn to the target forward direction, and moving forward in the target forward direction. The present invention can actively construct detection areas in different directions and within different ranges around the mobile device, evaluate the passability in each direction, quickly determine and select the best forward direction, enable the mobile device to quickly enter an open area to work, and significantly improve the mobile device's ability to escape and its intelligence.

Description

Technical Field

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

[0002] As a typical smart mobile device, robot vacuums require obstacle avoidance and path planning, which are key steps in ensuring continuous and efficient cleaning. However, when operating in an environment densely populated with furniture, they often encounter narrow blind spots such as corners and behind furniture. Once trapped, they are difficult to exit using simple collision detection or infrared ranging. If a robot vacuum wants to move from the current restricted area to a more spacious open space, existing technologies usually only allow it to repeatedly back off or turn to test the waters, which wastes time and is prone to jamming. Furthermore, they cannot sense in advance whether the selected forward direction is unobstructed, and can only make temporary evasive maneuvers when approaching obstacles. This results in frequent pauses, turns, and repeated coverage within a short distance, making it difficult to ensure cleaning efficiency and path consistency. Summary of the Invention

[0003] In view of this, the present invention provides a path planning method, device and mobile device to solve the problem of being unable to quickly escape from blind spots.

[0004] In a first aspect, the present invention provides a path planning method, applied to a mobile device, the method comprising:

[0005] When it is detected that the mobile device cannot move forward, the current moving direction of the mobile device is obtained;

[0006] The candidate area range is determined based on the width of the mobile device and the preset forward distance, and the current forward direction is used as the starting point of the rotation direction. The target forward area is a region without obstacles according to the candidate area range;

[0007] Determine the target advancing direction corresponding to the target advancing area;

[0008] Control the mobile device to turn to the target direction and move forward in the target direction.

[0009] The path planning method provided by the present invention determines the range of candidate areas based on the mobile device's current forward direction and a preset forward distance after the mobile device becomes unable to move forward. A rotational search for a target forward area is performed using the current forward direction as the starting point for the rotation direction. The target forward area is determined to be an area free of obstacles, and the mobile device is controlled to steer toward the target forward direction corresponding to the target forward area and move forward. The present invention can proactively construct detection areas in different directions and within different ranges around the mobile device, assessing the trafficability in each direction, and quickly determining and selecting the optimal forward direction, enabling the mobile device to quickly enter an open area for operation. This significantly enhances the mobile device's ability to escape obstacles, its intelligence, and its operational efficiency.

[0010] In an optional embodiment, the candidate area range is determined based on the width of the mobile device and the preset forward distance, and the current forward direction is used as the starting point of the rotation direction. A rotation search for the target forward area is performed according to the candidate area range, including: constructing a current candidate area range as a rectangle with the width of the mobile device as the width and the preset forward distance as the length; judging whether there is an obstacle within the current candidate area range, and if not, taking the current candidate area range as the target forward area; if so, determining the angle adjustment range according to the obstacle, and rotating the current candidate area range within the angle adjustment range with the current forward direction as the starting point according to the preset center rotation point and the preset angle to obtain the next candidate area range; judging whether all directions have been traversed within the angle adjustment range after rotation, and if not, taking the next candidate area range as the current candidate area range, and returning to the step of judging whether there is an obstacle within the candidate area range until the target forward area is determined.

[0011] The present invention performs a rotational search with the mobile device as the center, can dynamically adjust the forward direction of the search for obstacles, efficiently screen out the best direction, and provide a safe and passable movement path for the mobile device, which can not only quickly escape from trouble, but also ensure that the risk of collision is reduced in the forward area.

[0012] In an optional embodiment, the method further includes: if all directions have been traversed, reducing the preset forward distance, and returning to the step of constructing a rectangular current candidate area range with the width of the mobile device and the preset forward distance, until the target forward area is determined.

[0013] By adjusting the length of the candidate area range, the present invention can search for a short-distance path when a relatively smooth path cannot be found, so as to ensure that a passable path can be found. In addition, searching from far to near can avoid the robot's repeated retreat or turning attempts to the greatest extent, so that the mobile robot can escape from trouble after multiple accurate adjustments.

[0014] In an optional embodiment, determining whether there is an obstacle within the current candidate area includes: obtaining a point cloud set of the obstacle; determining whether there is a point cloud in the point cloud set within the current candidate area, and if so, determining that there is an obstacle within the current candidate area; otherwise, determining that there is no obstacle.

[0015] The present invention can search for a passage path without obstacles for a mobile device by judging whether there are any detected obstacles within the candidate area currently being searched, thereby ensuring that the mobile device can quickly enter an open area when trapped.

[0016] In an optional embodiment, the angle adjustment range is determined according to the obstacle, including: determining the left edge point cloud closest to the left boundary of the current candidate area range and the right edge point cloud closest to the right boundary of the current candidate area range based on the point cloud within the current candidate area range; taking the preset center rotation point as the origin, determining the obstacle angle range based on the left edge point cloud, the right edge point cloud and the origin; and using the area outside the obstacle angle range as the angle adjustment range.

[0017] The present invention adjusts the search range after detecting an obstacle, and can directly ignore the area where the obstacle exists during the search process, without repeatedly trying angles that are obviously blocked, thereby improving the search efficiency.

[0018] In an optional embodiment, controlling the mobile device to turn to the target forward direction and move forward in the target forward direction includes: determining a preset forward distance corresponding to the target forward area; controlling the mobile device to turn to the target forward direction and move forward in the target forward direction and the preset forward distance; during the movement, detecting whether there is an obstacle, and if so, using the target forward direction as the current forward direction, and returning to the step of determining the candidate area range based on the width of the mobile device and the preset forward distance, and using the current forward direction as the starting point of the rotation direction, performing a rotation search for the target forward area according to the candidate area range, until no obstacle is detected within the preset driving time or the preset driving distance.

[0019] The present invention moves according to the target forward area and detects obstacles during the movement. It can plan the path in advance during the forward process, ensure the smooth flow of the far-end channel, and avoid the mobile device from frequently stopping, turning and repeating coverage within a short distance due to the presence of other obstacles when escaping from narrow blind spots. It can achieve efficient escape and path optimization in blind spots and complex obstacle environments.

[0020] In an optional embodiment, after reducing the preset forward distance, the method further includes: determining whether the preset forward distance reaches a minimum length threshold; if so, obtaining the actual feasible width corresponding to the current candidate area when determining whether there is an obstacle within the current candidate area; if the target forward area cannot be determined after traversing all directions, determining the maximum feasible width based on the actual feasible widths in each direction; determining the target forward direction based on the maximum feasible width, controlling the mobile device to turn to the target forward direction, and moving forward in the target forward direction.

[0021] When a clear passage path cannot be found, the present invention advances in the direction corresponding to the maximum feasible width of the surrounding area, thereby finding the most likely passage direction for the mobile device, ensuring that the mobile device can escape to the minimum extent and avoiding ineffective repeated retreat or turning attempts as much as possible.

[0022] In a second aspect, the present invention provides a path planning device, applied to a mobile device, comprising:

[0023] A current direction determination module is used to obtain the current direction of the mobile device when it is detected that the mobile device cannot move forward;

[0024] The target area search module is used to determine the range of the candidate area based on the width of the mobile device and the preset forward distance, and to perform a rotation search for the target forward area according to the candidate area range, using the current forward direction as the starting point of the rotation direction. The target forward area is an area without obstacles;

[0025] A target direction determination module is used to determine the target moving direction corresponding to the target moving area;

[0026] The mobile control module is used to control the mobile device to turn to the target direction and move forward in the target direction.

[0027] In a third aspect, the present invention provides a mobile device, comprising: a controller; the controller comprises: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the path planning method of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0028] In an optional embodiment, the mobile device is a sweeping robot.

[0029] The sweeping robot provided by the present invention can actively construct a detection area when trapped, evaluate the passability in all directions, quickly judge and select the best direction of advance, and then quickly enter an open area to work, thereby greatly improving its own escape ability and intelligence, improving the cleaning efficiency of the sweeping robot, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 is a flow chart of a path planning method according to an embodiment of the present invention;

[0032] Figure 2 is a schematic diagram of regional planning according to a path planning method according to an embodiment of the present invention;

[0033] Figure 3 is a flow chart of another path planning method according to an embodiment of the present invention;

[0034] Figure 4 is a schematic diagram of a specific flow chart of another path planning method according to an embodiment of the present invention;

[0035] Figure 5 is a flow chart of another path planning method according to an embodiment of the present invention;

[0036] Figure 6 is a structural block diagram of a path planning device according to an embodiment of the present invention;

[0037] Figure 7 4 is a schematic diagram of the hardware structure of a controller of a mobile device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0039] Embodiments of the present invention are applicable to scenarios where a mobile device may become trapped in a narrow blind spot during operation. For example, a robot vacuum cleaner, which operates in densely furnished environments, often encounters narrow blind spots such as corners and behind furniture. Embodiments of the present invention provide a path planning method that achieves dynamic obstacle avoidance by constructing a variable rectangular search area.

[0040] According to an embodiment of the present invention, a path planning method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0041] In this embodiment, a path planning method is provided, which can be used for the above-mentioned sweeping robot. Figure 1 is a flow chart of a path planning method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0042] Step S101: When it is detected that the mobile device cannot move forward, the current moving direction of the mobile device is obtained.

[0043] Specifically, in the embodiments of the present invention, using a sweeping robot as an example, they are generally categorized as non-planning and planning-capable sweeping robots. A non-planning sweeping robot relies entirely on random movement to cover an area, cannot construct an environmental map, and does not record the area it has cleaned. It only uses collision sensors and infrared sensors to determine whether it has encountered an obstacle, making it prone to entering narrow blind spots such as corners or behind furniture. While a planning-capable sweeping robot can achieve "pre-planning" or "real-time planning" through sensors and algorithms, dynamically adjusting its path based on the environment, it may still enter a narrow blind spot due to changes in the position of furniture such as chairs or insufficient positioning accuracy. If a sweeping robot enters a narrow blind spot and detects that it is persistently unable to move forward, it determines that it may be surrounded by obstacles and trapped. In this case, the sweeping robot's current heading is obtained and used as a reference to construct a dynamic obstacle avoidance process with a variable rectangular search area.

[0044] Step S102: determine the candidate area range based on the width of the mobile device and the preset forward distance, and use the current forward direction as the starting point of the rotation direction to perform a rotation search for a target forward area according to the candidate area range. The target forward area is an area without obstacles.

[0045] Specifically, in the embodiment of the present invention, Figure 2As shown, the width of the sweeping robot 4 is used as the width, the preset forward distance is used as the length, for example, 1.5 meters, and the center point of the bottom of the sweeping robot is used as the lower boundary center point of the rectangular candidate area range, and a rectangular area is constructed as the first candidate area range 1. With the above center point as the central rotation point and the current forward direction as the starting point of the rotation direction, a rotation search is performed within the 360° angle adjustment range of the sweeping robot using a fan-shaped alternating offset method (0°→+Δ→-Δ→…), or a continuous offset is performed in a certain direction to find an area without obstacles as the target forward area. Taking the fan-shaped alternating offset method as an example, as shown in FIG. Figure 2 As shown, the embodiment of the present invention can rotate the rectangle to the left or right in a fan-shaped alternating order with a step length of 1° to obtain candidate area ranges with different orientations, such as rotating from the first candidate area range 1 to the second candidate area range 2 or the third candidate area range 3, and continuously judging whether the point cloud of the detected obstacle falls within the candidate area range. If there is a point cloud within the candidate area range currently being searched, it proves that the corresponding direction of this candidate area range is blocked, so the search is performed in a fan-shaped alternating order with a step length of 1°. If there is no point cloud within the candidate area range currently being searched, it proves that there is no obstacle within 1.5 meters in the corresponding direction of this candidate area range, and moving forward in this direction can ensure smooth passage within 1.5 meters, so this area is used as the target forward area. The embodiment of the present invention can dynamically adjust the forward direction of the search for no obstacles by performing a rotation search with the sweeping robot as the center, and efficiently screen out the best direction, providing a safe and passable motion path for the sweeping robot, which can not only quickly escape from trouble, but also ensure that the risk of collision is reduced in the forward area.

[0046] Step S103: determining the target advancing direction corresponding to the target advancing area.

[0047] Step S104: Control the mobile device to turn to the target direction and move forward in the target direction.

[0048] Specifically, in an embodiment of the present invention, if no obstacles are detected within a rectangle at a certain angle, it is confirmed that the direction is clear. The area corresponding to this rectangle is used as the target forward area, the angle corresponding to the target forward area is the target forward direction, and the length corresponding to the target forward area is the target forward distance. The sweeping robot then directly rotates to align with the target forward direction and moves forward in this direction the target forward distance, exiting the blind spot and completing the obstacle avoidance process. By continuously rotating slightly around the bottom center point at the same position with the same length and width, the sweeping robot can efficiently screen multiple candidate directions and quickly find and enter an open passage.

[0049] The path planning method provided by the present invention determines the range of candidate areas based on the mobile device's current forward direction and a preset forward distance after the mobile device becomes unable to move forward. A rotational search for a target forward area is performed using the current forward direction as the starting point for the rotation direction. The target forward area is determined to be an area free of obstacles, and the mobile device is controlled to steer toward the target forward direction corresponding to the target forward area and move forward. The present invention can proactively construct detection areas in different directions and within different ranges around the mobile device, assessing the trafficability in each direction, and quickly determining and selecting the optimal forward direction, enabling the mobile device to quickly enter an open area for operation. This significantly enhances the mobile device's ability to escape obstacles, its intelligence, and its operational efficiency.

[0050] In this embodiment, a path planning method is provided, which can be used for the above-mentioned sweeping robot. Figure 3 is a flow chart of a path planning method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0051] Step S301: When it is detected that the mobile device cannot move forward, the current moving direction of the mobile device is obtained. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0052] Step S302: determine the candidate area range based on the width of the mobile device and the preset forward distance, and use the current forward direction as the starting point of the rotation direction to perform a rotation search for a target forward area according to the candidate area range. The target forward area is an area without obstacles.

[0053] Specifically, the above step S302 includes:

[0054] Step S3021 : constructing a current candidate area range of a rectangle with the width of the mobile device as the width and the preset forward distance as the length.

[0055] Specifically, in the embodiment of the present invention, Figure 2 As shown, the candidate area range 1 in front of the sweeping robot is used as the current candidate area range.

[0056] Step S3022: determine whether there is an obstacle within the current candidate area. If not, use the current candidate area as the target forward area.

[0057] Specifically, the above step S3022 includes:

[0058] Step a1: Obtain a point cloud set of obstacles.

[0059] Step a2: determine whether there is a point cloud in the point cloud set within the current candidate area. If so, determine that there is an obstacle within the current candidate area; otherwise, determine that there is no obstacle.

[0060] Specifically, in an embodiment of the present invention, a laser radar is deployed on the sweeping robot, which can obtain a point cloud collection of surrounding obstacles during driving. When searching for a passable path in a trapped state, the optimal direction of travel is determined based on the point cloud collection. Because the scanning range of the laser radar is relatively wide, and when in a trapped state, it is necessary to quickly and easily find a passable route, the current candidate area is used as a reference to determine whether the point cloud of an obstacle falls within the current candidate area. If there is a point cloud within the current candidate area, it is determined that there is an obstacle within the current candidate area, and moving in this direction will still be blocked. If there is no point cloud within the current candidate area, it is determined that there is no obstacle within the current candidate area, and it can pass smoothly. Under normal circumstances, because the sweeping robot is in a trapped state at this time, there must be an obstacle within a certain range in front of it. Therefore, it is necessary to scan and search a certain range in a fan-shaped alternating manner with a step size of 1° to avoid the obstacle currently blocking the front.

[0061] Step S3023: If there is an obstacle, determine the angle adjustment range according to the obstacle, and within the angle adjustment range, rotate the current candidate area range according to the preset center rotation point and the preset angle with the current forward direction as the starting point to obtain the next candidate area range.

[0062] Specifically, in the embodiment of the present invention, under normal circumstances, the sweeping robot takes the current forward direction as the starting point of the rotation direction, and scans and searches alternately in a sector shape with a step length of 1°. For example: Figure 2 As shown, the current candidate area is first rotated 1° to the left to construct a new rectangle. The second candidate area range 2 is used as the next candidate area range, and the detection is performed to see if there is a point cloud inside it. If there is still a point, the robot returns to the center and rotates 1° to the right to construct a new rectangle. The third candidate area range 3 is used as the next candidate area range and the detection is repeated. Next, the robot attempts to rotate 2° to the left, 2° to the right, 3° to the left, 3° to the right, and so on, until a certain angle is found where no point cloud exists within the corresponding rectangle. This rectangle is then determined to be the target forward area with no obstacles, and the rotation scan is terminated. However, because the robot is currently trapped by an obstacle, the initial rotation search is invalid. Therefore, to improve search efficiency, the angle adjustment range is determined based on the relative position of the obstacle and the robot vacuum. The 360° angle adjustment range is narrowed to an angle adjustment range that does not include the current obstacle. However, other obstacles may still exist in other directions.

[0063] In some optional implementations, step S3023 includes:

[0064] Step b1: determine the left edge point cloud closest to the left boundary of the current candidate area and the right edge point cloud closest to the right boundary of the current candidate area based on the point cloud within the current candidate area.

[0065] In step b2, the obstacle angle range is determined based on the left edge point cloud, the right edge point cloud, and the origin, with the preset center rotation point as the origin.

[0066] Step b3: Use the area outside the obstacle angle range as the angle adjustment range.

[0067] Specifically, in an embodiment of the present invention, if a point cloud is detected within the rectangular frame corresponding to the current candidate area range, the edge point cloud closest to the long side of the rectangle is found in the point cloud contained in the rectangle, and the edge point cloud and its corresponding rectangular edge direction are used as a reference for the next search. For example, when a rectangular frame is constructed at a certain angle offset to the left and a point cloud is found, the minimum distance from all point clouds falling in this rectangle to the left long side of the rectangle is immediately calculated, and the corresponding left edge point cloud closest to the left long side is marked. Then, the center rotation point is used as the origin, and the connecting line between the center rotation point and the left edge point cloud is used as the left search boundary. Similarly, the minimum distance from all point clouds falling in this rectangle to the right long side of the rectangle is calculated, and the corresponding right edge point cloud closest to the right boundary is marked. Then, the center rotation point is used as the origin, and the connecting line between the center rotation point and the right edge point cloud is used as the right search boundary. The area between the left search boundary and the right search boundary is considered to be the obstacle angle range, and the area outside this range is the angle adjustment range. When searching leftward, the system no longer rotates slightly leftward from the original angle sequence. Instead, it directly uses the left search boundary as the reference point, rotates 1° to the left, and constructs a new candidate rectangle. When searching rightward, it uses the right search boundary as the reference point, rotating 1° to the right. This angle adjustment allows the new rectangle to be constructed closely to the actual obstacle edge, eliminating the need to repeatedly try angles that are clearly blocked, significantly improving search efficiency.

[0068] Step S3024, determine whether all directions have been traversed within the angle adjustment range after rotation. If not, use the next candidate area range as the current candidate area range, and return to the step of determining whether there are obstacles within the candidate area range until the target forward area is determined.

[0069] Specifically, in the embodiment of the present invention, when trapped, there is an obstacle in the initial forward direction, the size of the obstacle is unclear, and there may be obstacles in other directions. Therefore, a rotation search is performed at the trapped position to determine whether there is an obstacle within the preset forward range (for example, 1.5 meters) corresponding to each direction. If there is an obstacle, the rotation search is continued until all directions within the angle adjustment range are traversed. Therefore, if Figure 4 As shown, when traversing to a certain direction, if it is determined that not all directions have been traversed at this time, the next candidate area range obtained by replanning will be used as the current candidate area range, and whether there is an obstacle in the current candidate area range will be checked again. If not, it will be determined as the target forward area. If so, the rotation search will continue.

[0070] Step S3025: If all directions have been traversed, the preset forward distance is reduced, and the process returns to the step of constructing a rectangular current candidate area range using the width of the mobile device and the preset forward distance, until the target forward area is determined.

[0071] Specifically, in an embodiment of the present invention, if a certain direction is traversed and it is detected that all directions have been traversed, if no "pointless" rectangle is found after trying all angles in the order of ±1° to ±180°, it proves that there are obstacles within the preset forward range around the sweeping robot, and it is impossible to traverse any direction with the current corresponding preset forward distance. However, because the preset forward range of the current search is relatively wide, and obstacles in a certain angle direction may be within this range, but relatively far away from the sweeping robot, in this case there is still hope of escaping. Therefore, if Figure 4 As shown, the embodiment of the present invention reduces the preset forward distance, for example, from 1.5 meters to 1 meter, and then replans the rectangular frame in the original current forward direction according to the width of the sweeping robot and the preset forward distance of 1 meter, and searches according to the above-mentioned rotation search process until the target forward area without obstacles is found. By adjusting the length of the candidate area range, the embodiment of the present invention can search for a short-distance path when a relatively smooth path cannot be found, so as to ensure that a passable path can be found. Moreover, searching from far to near can minimize the robot's repeated retreat or turning attempts, so that the sweeping robot can escape after multiple accurate adjustments.

[0072] In some optional embodiments, if a target forward area without obstacles cannot be found after rotating and searching within different ranges, in order to escape as much as possible, an embodiment of the present invention sets a backup escape strategy for the sweeping robot, and the corresponding steps include:

[0073] Step c1, determining whether the preset forward distance reaches a minimum length threshold.

[0074] Step c2: If the condition is met, then when determining whether there is an obstacle within the current candidate area, the actual feasible width corresponding to the current candidate area is obtained.

[0075] Step c3: If the target forward area cannot be determined after traversing all directions, the maximum feasible width is determined based on the actual feasible widths in each direction.

[0076] Step c4: determining the target moving direction according to the maximum feasible width, controlling the mobile device to turn to the target moving direction, and moving forward in the target moving direction.

[0077] Specifically, in embodiments of the present invention, a minimum length threshold is set, for example, the length of the robot vacuum cleaner, as the minimum length threshold. This is for example only and not limiting. During the cyclic rotation search process, each time the preset forward distance is reduced, a determination is made as to whether the preset forward distance has been reduced to the minimum length. If it has, it indicates that the robot vacuum cleaner is unlikely to escape directly in a certain direction and needs to repeatedly adjust its forward direction until it escapes. Therefore, a final rotation search is performed based on the minimum length, and during this final rotation search, the actual feasible width corresponding to the current candidate area is simultaneously obtained. After one round of search, if a target forward area free of obstacles can be determined, the robot advances in accordance with the target forward area. If a target forward area free of obstacles still cannot be determined, the robot advances in accordance with the target forward area. A maximum feasible width is then determined based on the actual feasible widths in each direction. The direction corresponding to the maximum feasible width is then used as the target forward direction, and the robot is controlled to steer in the target forward direction and move forward in the target forward direction. At this point, the distance to be moved is relatively short. If movement is no longer possible, planning and rotation search are repeated, and the process is repeated until the robot escapes. Although repeated searches for the forward direction are required, each search uses the maximum feasible width as the optimal forward direction, thus avoiding ineffective repeated attempts to a certain extent. However, if escape is still not possible after multiple adjustments, the user will be directly called for assistance. When a clear path cannot be found, the embodiment of the present invention advances in the direction corresponding to the maximum feasible width of the surrounding area. This can help the mobile device find the most likely direction to escape, ensuring that the mobile device can escape to the minimum extent possible and avoiding ineffective repeated attempts to retreat or turn.

[0078] Step S303: Determine the target moving direction corresponding to the target moving area. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0079] Step S304: Control the mobile device to turn to the target direction and move forward in the target direction. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0080] The path planning method provided by the present invention determines the range of candidate areas based on the mobile device's current forward direction and a preset forward distance after the mobile device becomes unable to move forward. A rotational search for a target forward area is performed using the current forward direction as the starting point for the rotation direction. The target forward area is determined to be an area free of obstacles, and the mobile device is controlled to steer toward the target forward direction corresponding to the target forward area and move forward. The present invention can proactively construct detection areas in different directions and within different ranges around the mobile device, assessing the trafficability in each direction, and quickly determining and selecting the optimal forward direction, enabling the mobile device to quickly enter an open area for operation. This significantly enhances the mobile device's ability to escape obstacles, its intelligence, and its operational efficiency.

[0081] In this embodiment, a path planning method is provided, which can be used for the above-mentioned sweeping robot. Figure 5 is a flow chart of a path planning method according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0082] Step S501: When it is detected that the mobile device cannot move forward, the current moving direction of the mobile device is obtained. Figure 3 Step S301 of the illustrated embodiment will not be described in detail here.

[0083] Step S502: Determine the candidate area range based on the width of the mobile device and the preset forward distance, and use the current forward direction as the starting point of the rotation direction to perform a rotation search for the target forward area according to the candidate area range. The target forward area is an area without obstacles. Figure 3 Step S302 of the illustrated embodiment will not be described in detail here.

[0084] Step S503: Determine the target moving direction corresponding to the target moving area. Figure 3 Step S303 of the illustrated embodiment will not be described in detail here.

[0085] Step S504: Control the mobile device to turn to the target direction and move forward in the target direction.

[0086] Specifically, the above step S504 includes:

[0087] Step S5041: Determine a preset advancing distance corresponding to the target advancing area.

[0088] Step S5042: Control the mobile device to turn to the target forward direction and move forward according to the target forward direction and the preset forward distance.

[0089] Step S5043: During the movement, detect whether there are obstacles. If so, use the target forward direction as the current forward direction, and return to the step of determining the candidate area range based on the width of the mobile device and the preset forward distance, and use the current forward direction as the starting point of the rotation direction to perform a rotation search for the target forward area according to the candidate area range until no obstacles are detected within the preset driving time or the preset driving distance.

[0090] Specifically, in an embodiment of the present invention, after finding the target forward direction, the sweeping robot immediately rotates its body to that angle so that the front of the vehicle is aligned with the long side of the rectangle, and then moves forward at a constant speed along this direction for the length of the rectangle. In order to ensure that the sweeping robot can escape quickly and smoothly, during the forward process, the sweeping robot continuously monitors the point cloud in front. If it detects that a sudden obstacle enters the rectangular range corresponding to the target forward area, it immediately stops moving, updates the current position and heading, and restarts planning from the current forward direction, and performs a rotation search. If it successfully moves forward to a predetermined distance or a predetermined time without encountering an obstacle, it is considered to have escaped and the obstacle avoidance process ends. By moving according to the target forward area and detecting obstacles during movement, the embodiment of the present invention can plan the path in advance during the forward process, ensure that the remote channel is unobstructed, avoid frequent pauses, turns, and repeated coverage within a short distance due to the presence of other obstacles when the mobile device is escaping from a narrow blind spot, and achieve efficient escape and path optimization in blind spots and complex obstacle environments.

[0091] The path planning method provided by the present invention determines the range of candidate areas based on the mobile device's current forward direction and a preset forward distance after the mobile device becomes unable to move forward. A rotational search for a target forward area is performed using the current forward direction as the starting point for the rotation direction. The target forward area is determined to be an area free of obstacles, and the mobile device is controlled to steer toward the target forward direction corresponding to the target forward area and move forward. The present invention can proactively construct detection areas in different directions and within different ranges around the mobile device, assessing the trafficability in each direction, and quickly determining and selecting the optimal forward direction, enabling the mobile device to quickly enter an open area for operation. This significantly enhances the mobile device's ability to escape obstacles, its intelligence, and its operational efficiency.

[0092] In this embodiment, a path planning device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments. Details that have already been described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0093] This embodiment provides a path planning device, such as Figure 6 Shown, including:

[0094] The current direction determining module 601 is configured to obtain the current moving direction of the mobile device when it is detected that the mobile device cannot move forward.

[0095] The target area search module 602 is used to determine the range of the candidate area based on the width of the mobile device and the preset forward distance, and use the current forward direction as the starting point of the rotation direction to perform a rotation search for the target forward area according to the candidate area range. The target forward area is an area without obstacles.

[0096] The target direction determination module 603 is used to determine the target moving direction corresponding to the target moving area.

[0097] The movement control module 604 is used to control the mobile device to turn to the target moving direction and move forward in the target moving direction.

[0098] In some optional implementations, the target area search module 602 includes:

[0099] The region construction unit is used to construct a current candidate region range of a rectangle with a width of the mobile device as the width and a preset forward distance as the length.

[0100] The obstacle detection unit is used to determine whether there are obstacles within the current candidate area. If not, the current candidate area is used as the target forward area.

[0101] The angle adjustment unit is used to determine the angle adjustment range according to the obstacle if it exists, and rotate the current candidate area range within the angle adjustment range according to the preset center rotation point and preset angle with the current forward direction as the starting point to obtain the next candidate area range.

[0102] The loop detection unit is used to determine whether all directions have been traversed within the angle adjustment range after rotation. If not, the next candidate area range is used as the current candidate area range, and the process returns to the step of determining whether there are obstacles within the candidate area range until the target forward area is determined.

[0103] In some optional implementations, the target area search module 602 further includes:

[0104] The range adjustment unit is used to reduce the preset forward distance if all directions have been traversed, and return to the step of constructing a rectangular current candidate area range with the width of the mobile device and the preset forward distance until the target forward area is determined.

[0105] In some optional embodiments, the obstacle detection unit includes:

[0106] The point cloud acquisition subunit is used to obtain the point cloud collection of obstacles.

[0107] The point cloud judgment subunit is used to judge whether there is a point cloud in the point cloud set within the current candidate area. If so, it is determined that there is an obstacle within the current candidate area; otherwise, it is determined that there is no obstacle.

[0108] In some optional embodiments, the angle adjustment unit includes:

[0109] The edge point cloud determination subunit is used to determine the left edge point cloud closest to the left boundary of the current candidate area range and the right edge point cloud closest to the right boundary of the current candidate area range based on the point cloud within the current candidate area range.

[0110] The obstacle range determination subunit is used to determine the obstacle angle range based on the left edge point cloud, the right edge point cloud and the origin with the preset central rotation point as the origin.

[0111] The adjustment range determination subunit is used to set the area outside the obstacle angle range as the angle adjustment range.

[0112] In some optional implementations, the movement control module 604 includes:

[0113] The distance determination unit is used to determine a preset forward distance corresponding to the target forward area.

[0114] The forward control unit is used to control the mobile device to turn to the target forward direction and move forward according to the target forward direction and the preset forward distance.

[0115] The real-time adjustment unit is used to detect whether there is an obstacle during the movement. If so, the target forward direction is used as the current forward direction, and the process of returning to the step of determining the candidate area range based on the width of the mobile device and the preset forward distance, and using the current forward direction as the starting point of the rotation direction, performing a rotation search for the target forward area according to the candidate area range until no obstacle is detected within the preset driving time or the preset driving distance.

[0116] In some optional embodiments, the device further comprises: a backup escape module, the backup escape module comprising:

[0117] The distance judgment unit is used to judge whether the preset forward distance reaches a minimum length threshold.

[0118] The feasible width obtaining unit is used to obtain the actual feasible width corresponding to the current candidate area range when judging whether there is an obstacle within the current candidate area range.

[0119] The feasible width determining unit is used to determine the maximum feasible width according to the actual feasible widths in each direction if the target forward area cannot be determined after traversing all directions.

[0120] The direction determining unit is used to determine the target forward direction according to the maximum feasible width, control the mobile device to turn to the target forward direction, and move forward according to the target forward direction.

[0121] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0122] The path planning device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0123] The embodiment of the present invention also provides a mobile device, such as a sweeping robot, having the above Figure 6 The path planning device shown.

[0124] See also Figure 7 , Figure 7 is a structural diagram of a controller of a mobile device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0125] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0126] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0127] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0128] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0129] The controller further includes a communication interface 30 for the controller to communicate with other devices or a communication network.

[0130] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A path planning method, applied to a mobile device, characterized in that: The method comprises: When it is detected that the mobile device cannot move forward, obtaining the current moving direction of the mobile device; The candidate area range is determined based on the width and preset forward distance of the mobile device, and the current forward direction is used as the starting point of the rotation direction to perform a rotation search for the target forward area according to the candidate area range, and the target forward area is an area where there are no obstacles; the candidate area range is determined based on the width and preset forward distance of the mobile device, and the current forward direction is used as the starting point of the rotation direction to perform a rotation search for the target forward area according to the candidate area range, including: constructing a current candidate area range of a rectangle with the width of the mobile device as the width and the preset forward distance as the length; judging whether there is an obstacle within the current candidate area range, and if not, using the current candidate area range as the target forward area; if so, determining the angle according to the obstacle and determining a degree adjustment range, and rotating the current candidate area range within the angle adjustment range with the current forward direction as the starting point according to a preset center rotation point and a preset angle to obtain a next candidate area range; determining whether all directions within the angle adjustment range have been traversed after the rotation; if not, taking the next candidate area range as the current candidate area range, and returning to the step of determining whether there are obstacles within the candidate area range until the target forward area is determined; if all directions have been traversed and there are obstacles within the current candidate area range, reducing the preset forward distance, and returning to the step of constructing a rectangular current candidate area range with the width of the mobile device and the preset forward distance, until the target forward area is determined; Determining a target advancing direction corresponding to the target advancing area; The mobile device is controlled to turn to the target direction and move forward in the target direction.

2. The method according to claim 1, characterized in that The determining whether there is an obstacle within the current candidate area includes: Obtaining a point cloud set of the obstacle; It is determined whether there is a point cloud in the point cloud set within the current candidate area. If so, it is determined that the obstacle exists within the current candidate area; otherwise, it is determined that the obstacle does not exist.

3. The method according to claim 2, characterized in that The determining of the angle adjustment range according to the obstacle includes: Determine, based on the point cloud within the current candidate area, a left edge point cloud closest to the left boundary of the current candidate area and a right edge point cloud closest to the right boundary of the current candidate area; Taking the preset central rotation point as the origin, determining the obstacle angle range according to the left edge point cloud, the right edge point cloud, and the origin; The area outside the obstacle angle range is used as the angle adjustment range.

4. The method according to claim 1, wherein The controlling the mobile device to turn to the target forward direction and move forward in the target forward direction includes: Determine a preset forward distance corresponding to the target forward area; Controlling the mobile device to turn to the target forward direction and move forward according to the target forward direction and the preset forward distance; During the movement, it is detected whether there is an obstacle. If so, the target forward direction is used as the current forward direction, and the process returns to the step of determining the candidate area range based on the width of the mobile device and the preset forward distance, and using the current forward direction as the starting point of the rotation direction, performing a rotation search for the target forward area according to the candidate area range until no obstacle is detected within the preset driving time or the preset driving distance.

5. The method according to claim 1, wherein After reducing the preset forward distance, the method further includes: Determining whether the preset forward distance reaches a minimum length threshold; If it is reached, then when determining whether there is an obstacle within the current candidate area, obtaining the actual feasible width corresponding to the current candidate area; If the target forward area cannot be determined after traversing all directions, the maximum feasible width is determined based on the actual feasible widths in each direction; The target forward direction is determined according to the maximum feasible width, the mobile device is controlled to turn to the target forward direction, and the mobile device moves forward according to the target forward direction.

6. A path planning device, characterized in that: Applied to a mobile device, the device comprises: A current direction determination module, configured to obtain the current direction of the mobile device when detecting that the mobile device cannot move forward; The target area search module is used to determine the candidate area range based on the width and preset forward distance of the mobile device, and use the current forward direction as the starting point of the rotation direction to perform a rotation search for the target forward area according to the candidate area range, wherein the target forward area is an area without obstacles; the candidate area range is determined based on the width and preset forward distance of the mobile device, and the current forward direction is used as the starting point of the rotation direction to perform a rotation search for the target forward area according to the candidate area range, including: constructing a current candidate area range of a rectangle with the width of the mobile device as the width and the preset forward distance as the length; judging whether there is an obstacle within the current candidate area range, and if not, using the current candidate area range as the target forward area; if so, judging whether there is an obstacle within the current candidate area range, and if not, using the current candidate area range as the target forward area; and judging whether there is an obstacle within the current candidate area range. and determining an angle adjustment range based on an obstacle, and rotating the current candidate area range within the angle adjustment range with the current forward direction as the starting point according to a preset center rotation point and a preset angle to obtain a next candidate area range; determining whether all directions have been traversed within the angle adjustment range after the rotation; if not, taking the next candidate area range as the current candidate area range, and returning to the step of determining whether there is an obstacle within the candidate area range until the target forward area is determined; if all directions have been traversed and there is an obstacle within the current candidate area range, reducing the preset forward distance, and returning to the step of constructing a rectangular current candidate area range with the width of the mobile device and the preset forward distance, until the target forward area is determined; A target direction determination module, configured to determine a target advancing direction corresponding to the target advancing area; The movement control module is used to control the mobile device to turn to the target moving direction and move forward according to the target moving direction.

7. A mobile device, characterized in that: include: Controller; The controller includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the path planning method according to any one of claims 1 to 5 by executing the computer instructions.

8. The mobile device according to claim 7, wherein: The mobile device is a sweeping robot.

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