Robot recharging path planning method, apparatus and device, and storage medium

Abstract

A robot recharging path planning method, apparatus and device, and a storage medium. The robot recharging path planning method comprises: acquiring travel information on the basis of a received path planning instruction; performing path planning on the basis of the travel information to obtain path planning simulation results; and performing selection on the path planning simulation results on the basis of a preset path selection strategy to obtain a target planned path, and executing traveling work on the basis of the target planned path.

Description

A robot recharging path planning method, device, equipment and storage medium Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device, equipment and storage medium for planning a recharging path of a robot. Background Art

[0002] With technological advancements, intelligent robots are increasingly being used in industry and everyday life. Examples include cleaning robots like smart sweepers and vacuum cleaners, and garden robots like smart lawn mowers. These robots typically consist of a body, a mobile device for locomotion, an operating mechanism for completing tasks, and a battery pack to power the mobile and operating mechanisms.

[0003] To accommodate large operating areas, a matching charging station is typically installed within the robot's operating area. The robot can charge and remain on standby at the charging station. When work is required, the robot automatically leaves the charging station and returns to the operating area, powered by the battery pack. For example, a smart lawn mower requires recharging when the battery pack energy level drops below a preset threshold. Existing methods for returning a smart lawn mower to recharge include:

[0004] One method is to arrange one or more charging guide wires to guide the smart lawn mower back to the charging station. When charging is needed, the smart lawn mower returns to the charging station under the guidance of the charging guide wires. This method requires additional guide wires, which increases production costs and increases the number of user operation steps.

[0005] Another method involves randomly searching for the nearest signal line and then following it back to the charging station. This method requires a longer return path for the mower, requiring a larger battery reserve to ensure sufficient power for the return trip. This reduces the actual power consumption of the mower, shortening its operating time, increasing the number of recharges, and reducing efficiency.

[0006] However, the above methods all have problems such as low work efficiency and the path needs to pass through the working area. Therefore, there is an urgent need for a recharging path planning method for a lawn mowing robot to solve the path planning problems of the robot's recharging process and initial working process.

[0007] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art.

[0008] Summary of the Invention

[0009] The main purpose of the present invention is to provide a robot recharging path planning method, device, equipment and storage medium, aiming to solve the technical problem of how to perform path planning during the robot recharging process and initial working process in the prior art.

[0010] To achieve the above objectives, the present invention provides a method for planning a recharging path for a robot, the method comprising the following steps:

[0011] Obtaining travel information based on the received path planning instructions;

[0012] Performing path planning according to the travel information to obtain a path planning simulation result;

[0013] The path planning simulation results are screened according to a preset path screening strategy to obtain a target planned path, and the moving work is performed according to the target planned path.

[0014] Optionally, before receiving the route planning instruction and obtaining the travel information, the process further includes:

[0015] Obtain environmental information of the area to be worked on;

[0016] Identifying the environmental information of the area to be worked on and obtaining an environmental identification result;

[0017] When the environment recognition result is a known environment, reading a known environment map corresponding to the area to be worked;

[0018] When the environment recognition result is an unknown environment, a map building instruction is received and executed to obtain an unknown environment map of the area to be worked on.

[0019] Optionally, when the environment recognition result is an unknown environment, a map building instruction is received and executed to obtain an unknown environment map of the area to be worked on. The specific steps include:

[0020] When the environment recognition result is an unknown environment, obtaining a map building instruction;

[0021] Parsing the map building instruction to obtain a map building strategy;

[0022] Map construction is performed according to the map construction strategy to obtain the unknown environment map.

[0023] Optionally, receiving a route planning instruction and obtaining travel information includes the following specific steps:

[0024] Receive the path planning instruction and obtain the robot travel target information;

[0025] Determine the current position information of the robot through the environment scanning module;

[0026] Map information of the area to be worked is obtained, and the map information is integrated with the robot travel target information and the robot current position information to obtain the travel information.

[0027] Optionally, performing route planning based on the travel information to obtain a route planning simulation result includes the following specific steps:

[0028] Reading boundary information of the area to be worked in the map information of the area to be worked;

[0029] Generate an initial planned path based on the robot travel target information and the robot current position information;

[0030] The initial planned path is optimized based on the boundary information of the area to be worked on to obtain the path planning simulation result.

[0031] Optionally, the initial planned path is optimized based on the boundary information of the area to be worked to obtain the path planning simulation result, and the specific steps include:

[0032] Dividing the initial planned path according to the map information of the area to be worked on to obtain a first planned path and a path to be optimized;

[0033] Optimizing the path to be optimized based on the boundary information of the area to be worked on to obtain a plurality of second planned paths;

[0034] The first planned path is combined with the plurality of second planned paths respectively to obtain a plurality of path planning simulation results.

[0035] Optionally, the path planning simulation results are screened according to a preset path screening strategy to obtain a target planned path, and the moving work is performed according to the target planned path. The specific steps include:

[0036] Evaluate the path planning simulation results one by one according to the preset path screening strategy and output corresponding evaluation results;

[0037] The evaluation results are compared to obtain the target planning path, and the travel work is performed according to the target planning path.

[0038] In addition, to achieve the above-mentioned purpose, the present invention further proposes a robot recharging path planning device, the robot recharging path planning device comprising:

[0039] Instruction receiving module: receives path planning instructions and obtains travel information;

[0040] Path planning module: performs path planning according to the travel information and obtains path planning simulation results;

[0041] Path screening module: Filters the path planning simulation results according to a preset path screening strategy to obtain a target planned path, and executes the travel work according to the target planned path.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also proposes a robot recharging path planning device, which includes: a memory, a processor, and a robot recharging path planning program stored in the memory and runnable on the processor, and the robot recharging path planning program is configured to implement the steps of the robot recharging path planning method as described above.

[0043] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium storing a computer program, wherein the storage medium stores a robot's recharging path planning program, and when the robot's recharging path planning program is executed by the processor, the steps of the robot's recharging path planning method as described above are implemented.

[0044] The present invention obtains travel information based on received path planning instructions; performs path planning based on the travel information to obtain a path planning simulation result; filters the path planning simulation result according to a preset path screening strategy to obtain a target planned path, and executes travel work according to the target planned path. The present invention first plans a work path for the robot based on the robot's work travel information, and then filters each path planning result using a preset path screening strategy to determine the robot's optimal recharging path plan, avoiding damage to the work area and improving the robot's recharging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a schematic structural diagram of a robot recharging path planning device in a hardware operating environment according to an embodiment of the present invention;

[0046] FIG2 is a flow chart of a first embodiment of a method for planning a recharging path for a robot according to the present invention;

[0047] FIG3 is a flow chart of a second embodiment of a method for planning a recharging path for a robot according to the present invention;

[0048] FIG4 is a schematic flow chart of a third embodiment of a method for planning a recharging path for a robot according to the present invention;

[0049] FIG5 is a schematic flow chart of a fourth embodiment of a method for planning a recharging path for a robot according to the present invention;

[0050] FIG6 is a structural block diagram of a first embodiment of a recharging path planning device for a robot according to the present invention.

[0051] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] 1 , which is a schematic diagram of the structure of a robot recharging path planning device in a hardware operating environment according to an embodiment of the present invention.

[0054] As shown in Figure 1, the robot's recharge path planning device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and optionally the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that the structure shown in FIG1 does not constitute a limitation on the recharging path planning device of the robot, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0056] As shown in FIG1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a recharge path planning program of the robot.

[0057] In the recharging path planning device of the robot shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the recharging path planning device of the robot of the present invention can be set in the recharging path planning device of the robot, and the recharging path planning device of the robot calls the recharging path planning program of the robot stored in the memory 1005 through the processor 1001, and executes the recharging path planning method of the robot provided by the embodiment of the present invention.

[0058] An embodiment of the present invention provides a method for planning a recharging path for a robot. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of a method for planning a recharging path for a robot according to the present invention.

[0059] In this embodiment, the robot recharging path planning method includes the following steps:

[0060] Step S10: Acquire travel information based on the received route planning instruction;

[0061] It should be noted that, in the specific implementation, the path planning instruction includes the destination information of the robot's current path planning task; after receiving the path planning instruction, the robot will collect the relevant information of this path planning task and integrate it into itinerary information, that is, the itinerary information specifically includes the robot's current location information, work destination information, and relevant information of the area to be worked, etc.

[0062] Step S20: performing route planning based on the travel information to obtain a route planning simulation result;

[0063] It can be understood that the path planning simulation result refers to all possible travel path plans that the robot may adopt to perform this work task. The specific number of planned paths it contains will vary accordingly depending on the travel information, but the number of planned paths in any path planning simulation result is no less than two.

[0064] Step S30: Filter the path planning simulation results according to a preset path screening strategy to obtain a target planned path, and execute the travel work according to the target planned path.

[0065] It should be noted that the preset path screening strategy is a path planning screening condition set according to the user's wishes. For example, when the preset path screening strategy is the shortest path length, all planned paths in the path planning simulation results will be screened by length comparison, and the target planned path obtained will be the shortest planned path; when the preset path screening strategy is clockwise, all planned paths in the path planning simulation results will be screened by travel direction based on the robot's current position information and current orientation information, and the target planned path obtained will be the clockwise planned path.

[0066] This embodiment obtains travel information based on received path planning instructions; performs path planning based on this travel information to obtain a path planning simulation result; filters this path planning simulation result according to a preset path screening strategy to obtain a target planned path; and executes travel operations according to this target planned path. This embodiment first plans a work path for the robot based on its travel information, then filters each path planning result using a preset path screening strategy to determine the optimal recharging path plan for the robot, avoiding damage to the work area and improving the robot's recharging efficiency.

[0067] Refer to FIG3 , which is a flow chart of a second embodiment of a method for planning a recharging path for a robot according to the present invention.

[0068] Based on the first embodiment above, in this embodiment, before step S10, the following steps are further included:

[0069] Step S00: Obtaining environmental information of the area to be worked;

[0070] It should be noted that, in the specific implementation, the acquisition of environmental information of the working area is achieved through the robot's environmental scanning module. The environmental scanning module specifically refers to a robot functional component with the ability to detect the external environment, which can be a lidar component, a visual recognition component, etc.

[0071] Step S01: Identify the environmental information of the work area to obtain an environmental identification result;

[0072] It should be noted that the specific purpose of identifying the environmental information of the work area is to identify and judge whether the work area belongs to a historical work area. When the work area is a historical work area, the environmental identification result obtained is a known environment; when the work area does not belong to a historical work area, the environmental identification result obtained is an unknown environment.

[0073] Step S02: When the environment recognition result is a known environment, read the known environment map corresponding to the area to be worked;

[0074] It can be understood that when the environment recognition result is a known environment, the current robot's working area is a working area that has been worked on historically. Therefore, the robot stores the environmental information of the area to be worked on internally, and the known environment map of the area to be worked on can be read from the robot's internal storage.

[0075] Step S03: When the environment recognition result is an unknown environment, a map building instruction is received and executed to obtain an unknown environment map of the area to be worked on.

[0076] It should be noted that when the environment recognition result is an unknown environment, the current robot's working area is a newly added working area, and there is no corresponding environment information in the robot's internal storage. Therefore, it is necessary to construct a working map for the current robot's working area.

[0077] It should also be noted that, in the specific implementation, the map construction instructions are specifically composed of a series of robot movement instructions, information acquisition instructions and other related work instructions; when the robot map construction task is specifically executed, the robot will read and execute a series of related work instructions contained in the map construction instructions. For example, according to the movement instructions, it will circle the area to be worked for one week to complete the scope of the unknown environment map; according to the environment scanning instructions, in the process of circling the area to be worked for one week, the environment of the area to be worked is scanned to collect specific environmental information of the area to be worked.

[0078] This embodiment first obtains environmental information of the area to be worked by an environmental scanning module, then identifies and determines the type of the area to be worked and adopts a corresponding map acquisition method according to the identification and determination result, thereby improving the adaptability of the robot to the working environment.

[0079] Furthermore, when the environment recognition result is an unknown environment, a map construction instruction is received and executed to obtain an unknown environment map of the area to be worked on. The specific steps include: when the environment recognition result is an unknown environment, obtaining a map construction instruction; parsing the map construction instruction to obtain a map construction strategy; and constructing a map according to the map construction strategy to obtain an unknown environment map.

[0080] It should be noted that the map construction strategy refers to the specific map construction method used to construct the unknown environment map of the working area, such as the surround scanning construction method, the point cloud map construction method, etc.

[0081] Refer to FIG4 , which is a flow chart of a third embodiment of a method for planning a recharging path for a robot according to the present invention.

[0082] Based on the above first embodiment, in this embodiment, step S10 specifically includes:

[0083] Step S11: receiving path planning instructions and obtaining robot travel target information;

[0084] It is understandable that the robot travel target information specifically refers to the end point position information of this travel task. In a specific implementation, the user can set it through the control terminal.

[0085] Step S12: Determine the current location information of the robot through the environment scanning module;

[0086] It should be noted that the current position information of the robot specifically includes the current position coordinate information of the robot and the current working direction information of the robot.

[0087] Step S13: Obtain map information of the area to be worked, and integrate it with the robot's travel target information and the robot's current position information to obtain travel information.

[0088] It is understandable that the map information of the area to be worked on includes location information of the area to be worked on, range boundary information of the area to be worked on, and the like.

[0089] This embodiment first obtains the robot's travel target information and the robot's current position information, and then integrates the two with the map information of the area to be worked, thereby providing travel information for the robot's subsequent path planning and providing the reliability of the robot's overall path planning solution.

[0090] Refer to FIG5 , which is a flow chart of a fourth embodiment of a method for planning a recharging path for a robot according to the present invention.

[0091] Based on the above first embodiment, in this embodiment, step S20 specifically includes:

[0092] Step S21: reading boundary information of the area to be worked in the map information of the area to be worked;

[0093] It should be noted that the boundary information of the area to be worked on is used to define the specific scope of the area to be worked on, so that subsequent path planning can have an accurate reference.

[0094] Step S22: generating an initial planned path based on the robot's travel target information and the robot's current position information;

[0095] It should be noted that, in the specific implementation, the process of generating the initial planned path is to use a straight line to connect the current position of the robot and the travel target position, wherein the part of the planned path within the boundary of the area to be worked is the path to be optimized, and the part of the planned path outside the boundary of the area to be worked is the first planned path.

[0096] Step S23: Optimize the initial planned path based on the boundary information of the area to be worked on to obtain a path planning simulation result.

[0097] It is understandable that in the specific implementation, due to the requirement of aesthetic protection of the area after mowing, the robot cannot pass through the mowing area or the original working area when returning to the charging pile after completing the mowing task. Therefore, it is necessary to optimize the part of the initial planned path that exists in the mowing area or the original working area.

[0098] This embodiment optimizes the generated initial planned path by reading the boundary information of the area to be worked, thereby obtaining a path planning simulation result, providing options for subsequent planned path screening of the robot, and improving the path planning solution.

[0099] Furthermore, the initial planned path is optimized based on the boundary information of the area to be worked to obtain the path planning simulation result. The specific steps include: dividing the initial planned path according to the map information of the area to be worked to obtain a first planned path and a path to be optimized; optimizing the path to be optimized based on the boundary information of the area to be worked to obtain multiple second planned paths; and combining the first planned path with the multiple second planned paths respectively to obtain multiple path planning simulation results.

[0100] It should be noted that, in the specific implementation, the second planned path is a planned path along the boundary of the area to be worked that replaces the original path to be optimized. The specific generation method is: first determine the starting point A and the end point B of the path to be optimized, and then find the replacement points A1 and B1 closest to the two on the boundary of the area to be worked, and connect A1 and B1 along the boundary of the area to be worked to generate multiple second planned paths.

[0101] Furthermore, the path planning simulation results are screened according to a preset path screening strategy to obtain a target planning path, and the movement work is performed according to the target planning path. The specific steps include: evaluating the path planning simulation results one by one according to the preset path screening strategy and outputting corresponding evaluation results; comparing the evaluation results to obtain a target planning path, and performing the movement work according to the target planning path.

[0102] In addition, an embodiment of the present invention also proposes a computer-readable storage medium storing a computer program, wherein the storage medium stores a robot's recharging path planning program, and when the robot's recharging path planning program is executed by a processor, the steps of the robot's recharging path planning method as described above are implemented.

[0103] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described one by one here.

[0104] 6 , which is a structural block diagram of a first embodiment of a recharging path planning device for a robot according to the present invention.

[0105] As shown in FIG6 , the robot recharging path planning device proposed in an embodiment of the present invention includes:

[0106] Instruction receiving module 10: obtains travel information based on the received path planning instruction;

[0107] Path planning module 20: performs path planning based on the travel information and obtains path planning simulation results;

[0108] Path screening module 30: Filters the path planning simulation results according to a preset path screening strategy to obtain a target planned path, and executes the travel work according to the target planned path.

[0109] This embodiment obtains travel information based on received path planning instructions; performs path planning based on this travel information to obtain a path planning simulation result; filters this path planning simulation result according to a preset path screening strategy to obtain a target planned path; and executes travel operations according to this target planned path. This embodiment first plans a work path for the robot based on its travel information, then filters each path planning result using a preset path screening strategy to determine the optimal recharging path plan for the robot, avoiding damage to the work area and improving the robot's recharging efficiency.

[0110] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0111] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0112] In addition, for technical details not fully described in this embodiment, please refer to the robot recharging path planning method provided in any embodiment of the present invention, and will not be repeated here.

[0113] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0114] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0115] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0116] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for recharging path planning of a robot, characterized in that, Including: Based on the received path planning instruction, obtain travel information; Perform path planning according to the travel information to obtain a path planning simulation result; Filter the path planning simulation result according to a preset path filtering strategy to obtain a target planning path, and perform a traveling operation according to the target planning path.

2. The method for planning the charging path of the robot according to claim 1, wherein Before obtaining travel information based on the received path planning instruction, it further includes: Obtain the environmental information of the area to be worked; Identify the environmental information of the area to be worked to obtain an environmental identification result; When the environmental identification result is a known environment, read the known environment map corresponding to the area to be worked; When the environmental identification result is an unknown environment, receive and execute a map construction instruction to obtain an unknown environment map of the area to be worked.

3. The method for planning the recharge path of the robot according to claim 2, wherein, When the environmental identification result is an unknown environment, receive and execute a map construction instruction to obtain an unknown environment map of the area to be worked. The specific steps include: When the environmental identification result is an unknown environment, obtain a map construction instruction; Parse the map construction instruction to obtain a map construction strategy; Perform map construction according to the map construction strategy to obtain the unknown environment map.

4. The method for recharging path planning of the robot according to claim 1, wherein Based on the received path planning instruction, obtain travel information. The specific steps include: Receive the path planning instruction and obtain the robot travel target information; Determine the current position information of the robot through the environmental scanning module; Obtain the map information of the area to be worked, and integrate it with the robot travel target information and the robot current position information to obtain the travel information.

5. The method for recharging path planning of the robot according to any one of claims 1-4, characterized in that, Perform path planning according to the travel information to obtain a path planning simulation result. The specific steps include: Read the boundary information of the area to be worked in the map information of the area to be worked; Generate an initial planning path based on the robot travel target information and the robot current position information; Optimize the initial planning path based on the boundary information of the area to be worked to obtain the path planning simulation result.

6. The method for planning the recharge path of the robot according to claim 5, wherein, Optimize the initial planning path based on the boundary information of the area to be worked to obtain the path planning simulation result. The specific steps include: Divide the initial planning path according to the map information of the area to be worked to obtain a first planning path and a path to be optimized; Optimize the path to be optimized based on the boundary information of the area to be worked to obtain multiple second planning paths; Combine the first planning path with the multiple second planning paths respectively to obtain multiple path planning simulation results.

7. The method for planning the charging path of the robot according to claim 1, wherein Filter the path planning simulation result according to a preset path filtering strategy to obtain a target planning path, and perform a traveling operation according to the target planning path. The specific steps include: Evaluate each of the path planning simulation results according to the preset path filtering strategy and output the corresponding evaluation results; Compare the evaluation results to obtain the target planning path, and perform a traveling operation according to the target planning path.

8. A recharge path planning device for a robot, characterized in that, The recharge path planning device of the robot includes: Instruction receiving module: Based on the received path planning instruction, obtain travel information; Path planning module: perform path planning based on the travel information to obtain a path planning simulation result; Path screening module: screen the path planning simulation result to obtain a target planned path, and perform a traveling operation according to the target planned path.

9. A recharge path planning device for a robot, characterized in that, The recharge path planning device of the robot includes: a memory, a processor, and a recharge path planning program of the robot stored on the memory and executable on the processor. The recharge path planning program of the robot is configured to implement the recharge path planning method of the robot according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it can implement the steps in the recharge path planning method of the robot according to any one of claims 1 to 7.

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