Path planning method and apparatus for robot, and electronic device and medium

Abstract

Provided in the present application are a path planning method and apparatus for a robot, and an electronic device and a medium. The method comprises: constructing a plan of an area to be subjected to working, partitioning the plan by using a preset partitioning algorithm, so as to obtain a plurality of working partitions, and determining working order of the robot regarding the working partitions; when the robot travels to a first working partition among the plurality of working partitions according to the working order, determining a zigzag path parameter and a path baseline of the first working partition; on the basis of the zigzag path parameter and the path baseline, controlling the robot to travel in the first working partition; when the robot travels to a working partition next to the first working partition, determining the zigzag path parameter and path baseline of the first working partition to be a zigzag path parameter and a path baseline of the next working partition; determining a start route of the next working partition on the basis of the path baseline, the zigzag path parameter, and boundary information of the next working partition; and on the basis of the start route and the zigzag path parameter, controlling the robot to travel.

Description

Robot path planning method, device, electronic equipment and medium

[0001] This application claims priority to the following patent applications, the entire contents of which are incorporated herein by reference: Chinese patent application filed with the State Intellectual Property Office of China on July 19, 2023, application number 2023108877881, and invention name “Robot bow path planning method, device, electronic equipment and medium”. Technical Field

[0002] The present application relates to the field of robot control technology, and in particular to a robot path planning method, device, electronic equipment and medium. Background Art

[0003] With the advancement of technology, more and more tasks can be completed by robots. Path planning is a crucial aspect of robot control, especially for mobile robots. Currently, due to the complex nature of lawn mowing robots, large working areas need to be divided into smaller zones. Typically, path planning is performed each time a zone is entered. However, during operation, mowing robots leave mowing marks on the grass. During zone path planning, these mowing marks can become disorganized between different zones, resulting in uneven grass surfaces and disorganized mowing marks. Summary of the Invention

[0004] The purpose of the present disclosure is to provide an improved robot path planning method, device, electronic device and medium that solves at least one of the above problems.

[0005] According to one aspect of the present disclosure, this object is achieved at least in part by a robot path planning method. The path planning method comprises:

[0006] Construct a plan of the area to be worked, and partition the plan using a preset partitioning algorithm to obtain a plurality of work partitions, and determine the working order of the robot in each work partition; when moving to a first work partition among the plurality of work partitions according to the work order, determine the bow path parameters and the path baseline in the first work partition; control the robot to move in the first work partition according to the bow path parameters and the path baseline; when moving to a work partition next to the first work partition, determine the bow path parameters and the path baseline of the first work partition as the bow path parameters and path baseline of the next work partition; determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition; and control the robot to move in the next work partition based on the starting route and the bow path parameters.

[0007] Therefore, the robot path planning method with the above characteristics constructs a plan of the area to be worked, and partitions the plan using a preset partitioning algorithm to obtain multiple work partitions, and determines the working order of the robot in each work partition; when moving to the first work partition among the multiple work partitions according to the work order, determines the bow path parameters and path baseline in the first work partition; controls the robot to move in the first work partition according to the bow path parameters and the path baseline; when moving to the next work partition after the first work partition, determines the bow path parameters and the path baseline of the first work partition as the bow path parameters and path baseline of the next work partition; determines the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition; and controls the robot to move in the next work partition based on the starting route and the bow path parameters. Based on this, when moving to the next work partition of the first work partition, the path baseline and path parameters can be used to plan the bow path within the next work partition. Since the path baseline and path parameters are the path baseline and path parameters within the first work partition, planning based on the path baseline and path parameters can avoid confusion between the next work partition and the bow path planned in the first work partition, thereby avoiding confusion of mowing marks and uneven grass surface on the grass.

[0008] According to a second aspect of the present disclosure, the object is achieved at least in part by a robot path planning device. The device comprises:

[0009] A construction module is used to construct a plan of the area to be worked, and to partition the plan using a preset partitioning algorithm to obtain multiple work partitions, and to determine the working order of the robot in each work partition; a first determination module is used to determine the bow path parameters and the path baseline in the first work partition when the robot moves to the first work partition among the multiple work partitions according to the work order; a first control module is used to control the robot to move in the first work partition according to the bow path parameters and the path baseline; a second determination module is used to determine the bow path parameters and the path baseline of the first work partition as the bow path parameters and path baseline of the next work partition when the robot moves to the next work partition of the first work partition; a third determination module is used to determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition; a second control module is used to control the robot to move in the next work partition based on the starting route and the bow path parameters.

[0010] According to a third aspect of the present disclosure, the object is achieved at least in part by a robot path planning method. The method comprises:

[0011] Path planning is performed according to the method provided in any embodiment of the present application so that the intervals between target paths in different work partitions are the same, and the target paths in the target areas in adjacent work partitions are aligned in sequence; the target path is the first path in the planned bow path, and the target area is the area in the adjacent work partitions where the projections overlap along the direction of the target path.

[0012] According to a fourth aspect of the present disclosure, the object is at least partially achieved by an electronic device. The electronic device comprises:

[0013] One or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, so that the one or more processors implement the robot path planning method provided in any embodiment of the present application.

[0014] According to a fifth aspect of the present disclosure, the object is achieved at least in part by a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the robot path planning method provided in any embodiment of the present application.

[0015] The details of at least one embodiment are set forth in the accompanying drawings and the description below. Other features, objects, and advantages will be apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a flow chart of a robot path planning method provided in Example 1 of the present application;

[0017] FIG2 is a schematic diagram of the shape of the bow path provided in Example 1 of the present application;

[0018] FIG3 is a schematic diagram of a bow path in the presence of an obstacle provided by Example 1 of the present application;

[0019] FIG4 is a schematic structural diagram of a robot path planning device provided in Example 2 of the present application;

[0020] FIG5 is a schematic structural diagram of an electronic device provided in Example 3 of the present application. DETAILED DESCRIPTION

[0021] The present application will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present application, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are included within the scope of protection of the present application. Example

[0022] Please refer to Figure 1, which is a flow chart of a robot path planning method provided in Example 1 of the present application. This embodiment can be applied to the control process of a lawn mowing robot. As shown in Figure 1, the robot path planning method provided in this embodiment includes the following steps:

[0023] Step 101: Construct a plan of the area to be worked, and partition the plan using a preset partitioning algorithm to obtain multiple work partitions, and determine the working order of the robot in each work partition.

[0024] In this step, the area to be worked refers to the area where the robot needs to work. When constructing a plan view of the area to be worked, the robot can be used to scan along the edge of the area to be worked to obtain a plan view of the area to be worked, or manual scanning can be used to obtain a plan view.

[0025] In addition, due to the complex conditions of the grassland and the limited control accuracy, the robot cannot maintain a straight line for a long distance. Therefore, this step will also partition the plane map to obtain multiple working partitions. For example, the plane map can be partitioned in the form of the largest rectangular area. For example, the largest rectangle is determined according to the parameter characteristics of the robot to ensure that the robot can ensure straight line walking within the largest rectangle. Starting from the starting position of the robot, the largest rectangular area in the plane map is determined, and then based on the largest rectangular area, all rectangular areas adjacent to the largest rectangular area in the plane map except the largest rectangular area are determined. The next rectangular area is determined in these adjacent rectangular areas. This step is repeated until all the plane maps are divided. The resulting rectangular areas are the working partitions.

[0026] It should be noted that the above partitioning method can be applied to the waiting area with a relatively regular floor plan. For the waiting area with a complex floor plan, other preset partitioning algorithms can be used for partitioning. For details, please refer to relevant technologies and will not be repeated here.

[0027] In this step, the work order can be determined based on the adjacent situation of each work partition. For example, the work partition adjacent to the robot's starting position can be determined as a work partition with an order of 1, and the work partition adjacent to the work partition with an order of 1 can be determined as a work partition with an order of 2, and so on.

[0028] In addition, if a work partition is adjacent to multiple work partitions, the adjacent work partitions can be sorted in a clockwise or counterclockwise direction. It should be noted that there are many ways to sort, and the specific methods can be referred to related technologies, which will not be described here.

[0029] Step 102: When the process proceeds to a first working partition among the plurality of working partitions according to the working order, determine the bow path parameters and the path baseline in the first working partition.

[0030] In this step, the first work partition can be any work partition among all the work partitions, and can be the first work partition, that is, the work partition with the order of 1, or can be other work partitions, that is, the work partition with the order of others. In addition, the bow path parameters in this step can include path spacing and a preset minimum boundary distance. The path spacing is the distance between two adjacent first paths in the bow path. Taking the lawn mowing robot as an example, the path spacing is determined by the diameter of the robot's cutter disc and the overlap of the cutting ranges of the two adjacent first paths. The preset minimum boundary distance is the minimum distance allowed from the center of the cutter disc to the boundary. It should be noted that the bow path refers to a path shaped like a "bow".

[0031] For an example, please refer to Figure 2, which is a schematic diagram of the shape of the bow-shaped path provided in Example 1 of the present application, illustrating a first working area 201, a second working area 202, a third working area 203, and a non-working area 204 between the second and third working areas. In the bow-shaped path shown in Figure 2, the first path and the second path are alternately connected end to end to form the bow-shaped path. As shown in Figure 2, the first path is a path parallel to each other and extending along the x-axis. The length of the first path is generally longer than the length of the second path, and its length varies with the shape of the working area, and sometimes it is shorter than the second path. As shown in Figure 2, the second path is a path extending along the x-axis, and the second path connects two adjacent first paths.

[0032] When determining the bow path parameters and path baseline in the first working partition, if the first working partition is the first working partition, there are two determination methods.

[0033] First, user operation information can be obtained and, based on the operation information, the bow path parameters and path baseline can be determined. Exemplarily, this method involves user input to determine the bow path parameters and path baseline. Typically, a plane coordinate system is set up in a planar diagram. For example, see Figure 2 above. A plane coordinate system has two horizontal and vertical coordinate axes, namely, the x-axis and the y-axis.

[0034] Secondly, bow path planning can also be performed in the first working partition; any path along the target axis in the planned bow path is determined as the path baseline in the first working partition, and path parameters are extracted from the planned bow path as bow path parameters in the first working partition.

[0035] Exemplarily, the second method is usually used when the first working partition is the first partition. Since a plan view has been constructed for the working area in the aforementioned process, after partitioning, the edge parameters in the first working partition are all known. The edge parameters may include the coordinate value of any point on the edge, the maximum length along the y-axis, and the maximum length along the x-axis.

[0036] The bow path parameters are determined based on these two maximum lengths and the robot's working width. For example, in the case of a lawn mower robot, the working width is the cutting width of the blade. For example, the difference between the maximum length along the y-axis and the maximum length along the x-axis can be determined, and the larger of the two can be used as the extension direction of the first path. This setting can reduce the number of turns the robot must make, speeding up its work and reducing energy consumption per operation.

[0037] Finally, the path spacing, the preset minimum boundary distance, and the first path extension direction are determined as the bow path parameters. Using this path spacing, the preset minimum boundary distance, the first path extension direction, and the coordinates of any edge point (optimally, the point on the edge with the shortest straight-line distance from the robot's current coordinates), a bow path is planned, using any first path as the path baseline.

[0038] Step 103: Control the robot to move in the first working area according to the bow path parameters and the path baseline.

[0039] In this step, the walking is performed according to the bow-shaped path in the previous steps. However, obstacles may be encountered during the specific walking process. For this situation, this embodiment also provides a corresponding planning solution.

[0040] Exemplarily, when the robot is moving in any work partition, if an obstacle is detected, the obstacle point where the planned bow path first encounters the obstacle is recorded; with the obstacle point as the starting point, the robot is controlled to move along the edge of the obstacle to obtain the edge path of the obstacle; the intersection of the edge path and all paths along the target axis in the planned bow path is determined, and the bow path is divided according to the intersection; the bow path is replanned according to the divided bow path and the edge path of the obstacle to obtain at least one bow sub-path; and the robot is controlled to move in any work partition according to the bow sub-path in sequence.

[0041] It should be noted that when the robot moves along the bow-shaped path, it may encounter obstacles at any time. In this case, the obstacle point where the robot first encounters the obstacle is determined as the obstacle point. For example, see Figure 3, which is a schematic diagram of the bow-shaped path in the presence of an obstacle, provided in Example 1 of the present application. Figure 3 shows an obstacle 301, a first new bow-shaped path 302, and a second new bow-shaped path 303.

[0042] Then, after obtaining the edge path by moving along the edge of the obstacle, the idea of ​​fusing the original bow path with the edge path is adopted to remove the part of the path covered by the obstacle from the original bow path, which can retain the moving path of the original bow path to the greatest extent.

[0043] In addition, when the bow-shaped path is re-planned based on the segmented bow-shaped path and the edge path of the obstacle, it means that the bow-shaped path and the edge path of the obstacle are merged to obtain a new bow-shaped path. The number of the new bow-shaped path can be at least one, as shown in Figure 3, that is, there are 2 new bow-shaped paths: the first new bow-shaped path 302 and the second new bow-shaped path 303.

[0044] Step 104: When moving to the next working partition of the first working partition, determine the bow path parameters and path baseline of the first working partition as the bow path parameters and path baseline of the next working partition.

[0045] In this step, in order to ensure that if the planned bow paths in the two working partitions are confused, the next working partition can still use the bow path parameters and path baseline of the previous working partition. Of course, there may be a non-working area between the two working partitions, and this embodiment has also made corresponding improvements to address this situation.

[0046] Exemplarily, when moving to the next working partition of the first working partition, determine whether there is a non-working area between the first working partition and the next working partition; if there is a non-working area, determine the bow path parameters and path baseline of the next working partition according to the width of the non-working area in the direction perpendicular to the target axis; if there is no non-working area, determine the bow path parameters and path baseline of the first working partition as the bow path parameters and path baseline of the next working partition.

[0047] It should be noted that the non-operating area refers to a pre-set area where no work is required, such as a hardened area in a lawn. The mower does not need to work in this area and therefore needs to be ignored. In this case, the width of the non-operating area (perpendicular to the target axis) can be used to determine the bow path parameters and path baseline.

[0048] Exemplarily, if the width of the non-working area in the direction perpendicular to the target axis is less than a preset width, the bow path parameters and path baseline of the first working partition are determined as the bow path parameters and path baseline of the next working partition; if the width of the non-working area in the direction perpendicular to the target axis is greater than or equal to the preset width, the bow path parameters and path baseline of the next working partition are determined according to the baseline determination algorithm of the first working partition.

[0049] For example, the preset width can be the difference between the aforementioned path spacing and twice the minimum boundary distance. If the width of the non-working area perpendicular to the target axis is less than the preset width, it indicates that the non-working area is narrow and can be ignored. In this case, the bow path of the first working partition can be continued, that is, the first working partition and the next working partition can be considered as one working partition, and a complete bow path can be planned.

[0050] Of course, when there is no non-working area, the planning can also be continued along the bow path of the first working partition, that is, the first working partition and the next working partition are regarded as one working partition, and a complete bow path is planned.

[0051] If the width of the non-working area in the direction perpendicular to the target axis is greater than the preset width, it means that the non-working area is wider. At this time, it is necessary to re-plan the bow path, determine the path baseline according to the baseline determination algorithm of the first working partition, and continue to use the bow path parameters of the first working partition.

[0052] Step 105: Determine the starting route of the next work partition according to the path baseline, the bow path parameters and the boundary information of the next work partition.

[0053] In this step, when determining the starting route of the next work partition, you can first determine the overlapping area of ​​the next work partition and the first work partition projected along the target axis direction based on the boundary information of the next work partition, and determine the first path in the overlapping area of ​​the first work partition along the vertical direction of the target axis as the starting position. The starting route of the next work partition can be determined according to the starting position.

[0054] 2, illustratively, the path baseline of the first working partition 201 is determined as , the first first path of the second working partition is the fifth first path in the first working partition. The fifth first path is four path intervals away from the first first path of the first working partition. Then the position of the first first path is ,in, is the path spacing. Then That is the starting position of the starting route of the next work zone 202.

[0055] In addition, in some embodiments, each time the robot reaches a new work partition, the path baseline is re-determined. The starting route of the work partition is collinear with the path baseline, but the path spacing adopts the path spacing of the previous work partition, and the spacing between the path baseline and the first work partition is an integer multiple of the path spacing.

[0056] Step 106: Control the robot to move in the next work area based on the starting route and the bow path parameters.

[0057] In this step, the robot is controlled to move in the next work area based on the starting route and the bow path parameters. For example, please refer to the aforementioned step 103, which will not be repeated here.

[0058] In addition, path planning is performed according to the method of this embodiment so that the intervals between target paths in different work partitions are the same, and the target paths in the target areas in adjacent work partitions are aligned in sequence; the target path is the first path in the planned bow path, and the target area is the area in the adjacent work partitions where the projections overlap along the direction of the target path.

[0059] In an embodiment of the present application, a plan view of an area to be worked is constructed, and the plan view is partitioned using a preset partitioning algorithm to obtain a plurality of work partitions, and the working order of the robot in each work partition is determined; when the robot moves to a first work partition among the plurality of work partitions according to the work order, the bow path parameters and the path baseline in the first work partition are determined; the robot is controlled to move in the first work partition according to the bow path parameters and the path baseline; when the robot moves to a work partition next to the first work partition, the bow path parameters and the path baseline of the first work partition are determined as the bow path parameters and the path baseline of the next work partition; the starting route of the next work partition is determined according to the path baseline, the bow path parameters and the boundary information of the next work partition; and the robot is controlled to move in the next work partition based on the starting route and the bow path parameters. Based on this, the present application can plan the bow-shaped path within the next working partition using the path baseline and path parameters when moving to the next working partition of the first working partition. Since the path baseline and path parameters are the path baseline and path parameters within the first working partition, planning based on the path baseline and path parameters can avoid confusion between the next working partition and the bow-shaped path planned in the first working partition, thereby avoiding confusion of mowing marks and uneven grass surface on the grass. Example

[0060] Please refer to FIG4 , which is a schematic structural diagram of a robot path planning device provided in Example 2 of the present application.

[0061] As shown in FIG4 , the robot path planning device provided in the second embodiment of the present application exemplarily includes:

[0062] A construction module 401 is used to construct a plan of the area to be worked, partition the plan using a preset partitioning algorithm to obtain multiple work partitions, and determine the working order of the robots in each work partition;

[0063] A first determining module 402 is configured to determine a bow path parameter and a path baseline in a first working partition among the plurality of working partitions when the process proceeds to the first working partition in accordance with the working order;

[0064] A first control module 403 is used to control the robot to move in the first working area according to the bow path parameters and the path baseline;

[0065] A second determining module 404 is configured to determine, when the process moves to a next working partition of the first working partition, the bow path parameters and path baseline of the first working partition as the bow path parameters and path baseline of the next working partition;

[0066] The third determining module 405 is used to determine the starting route of the next work partition according to the path baseline, the bow path parameter and the boundary information of the next work partition;

[0067] The second control module 406 is used to control the robot to move in the next work area based on the starting route and the bow path parameters. Example

[0068] Please refer to FIG5 , which is a schematic structural diagram of an electronic device provided in Example 3 of the present application.

[0069] As shown in FIG5 , the electronic device provided by this embodiment includes: one or more processors; and a storage device for storing one or more programs.

[0070] When one or more programs are executed by one or more processors, the one or more processors implement the robot path planning method provided by the aforementioned embodiment, which mainly includes:

[0071] A plan view of the area to be worked is constructed, and the plan view is partitioned using a preset partitioning algorithm to obtain multiple work partitions, and the working order of the robot in each work partition is determined; when the robot moves to a first work partition among the multiple work partitions according to the work order, the bow path parameters and the path baseline in the first work partition are determined; the robot is controlled to move in the first work partition according to the bow path parameters and the path baseline; when the robot moves to the next work partition of the first work partition, the bow path parameters and the path baseline of the first work partition are determined as the bow path parameters and path baseline of the next work partition; the starting route of the next work partition is determined according to the path baseline, the bow path parameters and the boundary information of the next work partition; and the robot is controlled to move in the next work partition based on the starting route and the bow path parameters. Example

[0072] A fourth embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the robot path planning method provided in the aforementioned embodiment is implemented. The method mainly includes:

[0073] A plan view of the area to be worked is constructed, and the plan view is partitioned using a preset partitioning algorithm to obtain multiple work partitions, and the working order of the robot in each work partition is determined; when the robot moves to a first work partition among the multiple work partitions according to the work order, the bow path parameters and the path baseline in the first work partition are determined; the robot is controlled to move in the first work partition according to the bow path parameters and the path baseline; when the robot moves to the next work partition of the first work partition, the bow path parameters and the path baseline of the first work partition are determined as the bow path parameters and path baseline of the next work partition; the starting route of the next work partition is determined according to the path baseline, the bow path parameters and the boundary information of the next work partition; and the robot is controlled to move in the next work partition based on the starting route and the bow path parameters.

[0074] It should be understood that, in the description of the specific embodiments of this application, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features.

[0075] In the specific embodiments of this application, unless otherwise specified or limited, terms such as "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, movable connections, detachable connections, or integration; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0076] In the specific embodiments of the present application, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them.

[0077] In the detailed description of the present application, unless otherwise clearly specified and limited, the term "multiple" refers to two or more.

[0078] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0079] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of this application. They are not intended to limit the scope of protection of this application. Any equivalent implementation methods or changes that do not deviate from the technical spirit of this application should be included in the scope of protection of this application.

Claims

1. A robot path planning method, characterized in that: The method comprises: Constructing a plan view of the area to be worked, and partitioning the plan view using a preset partitioning algorithm to obtain a plurality of work partitions, and determining the working order of the robot in each work partition; In the case of advancing to a first working partition among the plurality of working partitions according to the working order, determining a bow path parameter and a path baseline in the first working partition; Controlling the robot to move in the first working partition according to the bow path parameter and the path baseline; In case of moving to the next working partition of the first working partition, determining the bow path parameter and the path baseline of the first working partition as the bow path parameter and the path baseline of the next working partition; Determining the starting route of the next working partition according to the path baseline, the bow path parameter and the boundary information of the next working partition; The robot is controlled to move in the next working area based on the starting route and the bow path parameters.

2. The method according to claim 1, characterized in that The determining of the bow path parameters and the path baseline in the first working partition comprises: If the first working partition is the first working partition, the user's operation information is obtained, and the bow path parameter and the path baseline are determined according to the operation information.

3. The method according to claim 1, characterized in that The determining of the bow path parameters and the path baseline in the first working partition comprises: If the first working partition is the first working partition, performing bow path planning in the first working partition; Any path in the planned "gong" path along the target axis direction is determined as the path baseline in the first working partition, and path parameters are extracted from the planned "gong" path as "gong" path parameters in the first working partition.

4. The method according to claim 3, characterized in that The bow path parameters include path spacing.

5. The method according to claim 1, characterized in that The method further comprises: In case of traveling to the next working partition of the first working partition, determining whether there is a non-working area between the first working partition and the next working partition; If the non-working area exists, determining the bow path parameter and path baseline of the next working partition according to the width of the non-working area in the direction perpendicular to the target axis; If there is no non-working area, the bow path parameters and the path baseline of the first working partition are determined as the bow path parameters and the path baseline of the next working partition.

6. The method according to claim 5, characterized in that Determining the bow path parameter and the path baseline of the next working partition according to the width of the non-working area in the direction perpendicular to the target axis includes: If the width of the non-working area in the direction perpendicular to the target axis is less than a preset width, the bow path parameters and the path baseline of the first working partition are determined as the bow path parameters and the path baseline of the next working partition; If the width of the non-working area in the direction perpendicular to the target axis is greater than or equal to the preset width, the bow path parameters and the path baseline of the next working partition are determined according to the baseline determination algorithm of the first working partition.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: When the robot is traveling in any working area, if an obstacle is detected, the obstacle point where the planned bow path first encounters the obstacle is recorded; Taking the obstacle point as a starting point, controlling the robot to move along the edge of the obstacle to obtain an edge path of the obstacle; Determine the intersection points between the edge path and all paths along the target axis in the planned bow path, and segment the bow path according to the intersection points; Replanning the bow-shaped path according to the segmented bow-shaped path and the edge path of the obstacle to obtain at least one bow-shaped sub-path; The robot is controlled to move in any of the work partitions according to the bow-shaped sub-paths in sequence.

8. A robot path planning device, characterized in that: include: A construction module, used to construct a plan view of the area to be worked, and partition the plan view using a preset partitioning algorithm to obtain a plurality of work partitions, and determine the working order of the robot in each work partition; A first determining module is used to determine the bow path parameter and the path baseline in the first working partition when the process proceeds to the first working partition in the plurality of working partitions according to the working order; A first control module, used for controlling the robot to move in the first working partition according to the bow path parameter and the path baseline; A second determining module is used for determining the bow path parameter and the path baseline of the first working partition as the bow path parameter and the path baseline of the next working partition when the process moves to the next working partition of the first working partition; A third determination module is used to determine the starting route of the next working partition according to the path baseline, the bow path parameter and the boundary information of the next working partition; The second control module is used to control the robot to move in the next working area based on the starting route and the bow path parameters.

9. A robot path planning method, characterized in that: The method comprises: Performing path planning according to the method of any one of claims 1 to 7, so that the intervals between target paths in different working partitions are the same, and the target paths in the target areas in adjacent working partitions are aligned in sequence; The target path is the first path in the planned bow-shaped path, and the target area is the area in adjacent working partitions where projections overlap along the extension direction of the target path.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the robot path planning method as described in any one of claims 1 to 7 and 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the robot path planning method as described in any one of claims 1 to 7 and 9 is implemented.

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