Path planning method and apparatus, and electronic device and storage medium

Abstract

The embodiments of the present application belong to the technical field of robots. Provided are a path planning method and apparatus, and an electronic device and a storage medium. The method comprises: controlling a mobile robot to move along a preset path, and when it is determined that the mobile robot cannot move along the preset path, acquiring the current position of the mobile robot, wherein the preset path is used for guiding the mobile robot to move from a first region to a second region disconnected from the first region, and the preset path comprises a first connecting path connecting the first region and the second region; on the basis of the current position of the mobile robot, determining whether it is necessary to close the first connecting path; and if the determination result indicates that it is necessary to close the first connecting path, closing the first connecting path, and re-planning a movement path of the mobile robot, in order to guide the mobile robot to move from the current position to the second region, or to guide the mobile robot to return to the first region from the current position. The embodiments of the present application can realize dynamic path planning for mobile robots and improve the path planning efficiency.

Description

Path planning method and device, electronic device, and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and particularly relates to a path planning method and device, an electronic device, and a storage medium. BACKGROUND

[0002] A self-moving robot is an intelligent robot capable of autonomous movement, and can plan a path to avoid obstacles and perform work (such as mowing work). At present, the path planned by the self-moving robot is prone to failure, that is, the self-moving robot cannot move according to the planned path. For example, the self-moving robot encounters an obstacle on the planned path or deviates from the planned path. The existing self-moving robot may need to plan a path multiple times, resulting in low path planning efficiency and being unable to effectively cope with complex environments in actual applications. SUMMARY

[0003] The main purpose of the embodiments of the present application is to provide a path planning method and device, an electronic device, and a storage medium, which can realize dynamic path planning for a mobile robot and improve path planning efficiency.

[0004] To achieve the above purpose, a first aspect of the embodiments of the present application provides a path planning method, comprising:

[0005] controlling a mobile robot to move along a preset path, and when it is determined that the mobile robot cannot move along the preset path, acquiring a current position of the mobile robot, wherein the preset path is used to guide the mobile robot to move from a first region to a second region which is not in communication with the first region, and the preset path comprises a first communication path which communicates the first region and the second region;

[0006] determining whether the first communication path needs to be closed according to the current position of the mobile robot;

[0007] if the determination result is that the first communication path needs to be closed, closing the first communication path, and re-planning a moving path of the mobile robot to guide the mobile robot to move from the current position to the second region, or to guide the mobile robot to return from the current position to the first region.

[0008] To achieve the above purpose, a second aspect of the embodiments of the present application provides a path planning device, comprising:

[0009] The robot movement control module is configured to control the mobile robot to move along a preset path, and when it is determined that the mobile robot cannot move along the preset path, obtain a current position of the mobile robot, wherein the preset path is used to guide the mobile robot to move from a first area to a second area which is not in communication with the first area, and the preset path comprises a first communication path which communicates the first area and the second area.

[0010] The path closing judgment module is configured to judge whether the first communication path needs to be closed according to the current position of the mobile robot.

[0011] The path planning module is configured to, if the judgment result is that the first communication path needs to be closed, close the first communication path, and re-plan a movement path of the mobile robot to guide the mobile robot to move from the current position to the second area, or guide the mobile robot to return from the current position to the first area.

[0012] To achieve the above object, a third aspect of embodiments of the present application provides an electronic device, comprising a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements the method of the first aspect when executing the computer program.

[0013] To achieve the above object, a fourth aspect of embodiments of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method of the first aspect.

[0014] The path planning method and device, electronic device and storage medium provided by the present application can prevent the mobile robot from entering an unsafe area or an area where the user does not want the mobile robot to enter, effectively manage the moving path of the mobile robot, and then re-plan the moving path of the mobile robot to guide the mobile robot to move from the current position to the second area or guide the mobile robot to return from the current position to the first area, so that the mobile robot can safely reach the target area (such as the second area) along the re-planned path. Through the path planning method, the mobile robot can safely re-plan the path according to the current position of the mobile robot when encountering an obstacle or being unable to continue moving along the preset path, avoid entering an unsuitable area, improve the path planning efficiency, improve the work efficiency and safety, and enable the mobile robot to flexibly cope with various complex environments. BRIEF DESCRIPTION OF DRAWINGS

[0015] FIG. 1 is a flowchart of a path planning method according to an embodiment of the present application;

[0016] FIG. 2 is a schematic diagram of a moving path of a mobile robot according to an embodiment of the present application;

[0017] FIG. 3 is a flowchart of step 103 in FIG. 1;

[0018] FIG. 4 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0019] FIG. 5 is a flowchart of step 202 in FIG. 3;

[0020] FIG. 6 is a flowchart of a path planning method according to another embodiment of the present application;

[0021] FIG. 7 is a flowchart of step 402 in FIG. 6;

[0022] FIG. 8 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0023] FIG. 9 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0024] FIG. 10 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0025] FIG. 11 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0026] FIG. 12 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0027] FIG. 13 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0028] FIG. 14 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0029] FIG. 15 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0030] FIG. 16 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0031] FIG. 17 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0032] FIG. 18 is a schematic diagram of a moving path of a mobile robot according to another embodiment of the present application;

[0033] FIG. 19 is a flowchart of an application example according to an embodiment of the present application;

[0034] FIG. 20 is a block diagram of a path planning device according to an embodiment of the present application;

[0035] FIG. 21 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0037] It should be noted that although the functional modules are divided in the schematic diagram of the device, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the order in the flowchart. The terms "first", "second", and the like in the specification and claims and the above-described drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification herein is for describing the embodiments of the present application only and not intended to limit the present application.

[0039] Firstly, some terms involved in the present application are analyzed:

[0040] Self-moving robot: also known as Autonomous Mobile Robots (AMR), is an intelligent robot capable of autonomous movement, is a mobile equipment or tool with environment perception, dynamic decision-making and autonomous execution capability, which can understand the surrounding environment and plan a path to avoid obstacles.

[0041] Artificial intelligence (AI): is a new technical science of studying, developing theories, methods, technologies and application systems for simulating, extending and expanding human intelligence; artificial intelligence is a branch of computer science, and artificial intelligence tries to understand the essence of intelligence and produce a new intelligent machine that can react in a similar way to human intelligence. The research in this field includes robots, language recognition, image recognition, natural language processing and expert systems. Artificial intelligence can simulate the information process of human consciousness and thinking. Artificial intelligence is also the theory, method, technology and application system of using digital computers or digital computer controlled machines to simulate, extend and expand human intelligence, to perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0042] The path planning method and device, electronic equipment and storage medium provided by the embodiments of the present application are specifically explained by the following embodiments. First, the path planning method in the embodiments of the present application is described.

[0043] The embodiments of the present application can acquire and process related data based on artificial intelligence technology. Among them, artificial intelligence (AI) is a theory, method, technology and application system of using digital computers or digital computer controlled machines to simulate, extend and expand human intelligence, to perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0044] The basic technology of artificial intelligence generally includes technologies such as sensors, special artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction system, mechatronics, etc. The software technology of artificial intelligence mainly includes computer vision technology, robot technology, biometric technology, speech processing technology, natural language processing technology and machine learning / deep learning, etc.

[0045] The path planning method provided by the embodiments of the present application can be applied to a terminal, can be applied to a server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc.; the server side can be configured as a stand-alone physical server, can be configured as a server cluster or a distributed system composed of multiple physical servers, can also be configured as a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, and big data and artificial intelligence platform; and the software can be an application program implementing the path planning method, but is not limited to the above forms.

[0046] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment, in which tasks are performed by remote processing devices connected by a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0047] FIG. 1 is an optional flowchart of the path planning method provided by the embodiments of the present application. The method in FIG. 1 can include, but is not limited to, steps 101 to 103.

[0048] In step 101, the mobile robot is controlled to move along a preset path, and when it is determined that the mobile robot cannot move along the preset path, the current position of the mobile robot is acquired. The preset path is used to guide the mobile robot to move from a first area to a second area that is not in communication with the first area, and the preset path includes a first communication path that communicates the first area and the second area.

[0049] Specifically, the mobile robot refers to a self-moving robot with autonomous moving capability. The mobile robot can include at least one of the following types: an automatic lawn mower, an automatic sweeper, an automatic mop, a monitoring robot, and the like. It should be noted that the above-mentioned mobile robots are only illustrative, and in specific implementation, according to specific application scenarios and processing requirements, the above-mentioned mobile robots can also include a patrol robot, a nanny robot, and other types of self-moving robots, and the embodiments of the present application do not limit this.

[0050] It can be understood that the first area can be an area where the current position of the mobile robot is located, and the second area can be an area where the target position of the mobile robot is located. The first area and the second area both belong to the working area of the mobile robot. The working area refers to an area in which the mobile robot can autonomously perform a work task, that is, the mobile robot can work in the working area. For example, when the mobile robot is an automatic lawn mower, it can perform a mowing task in the working area (such as a lawn); when the mobile robot is an automatic sweeper, it can perform a cleaning task in the working area (such as a room), and the like. The type of work of the mobile robot corresponds to the category of the mobile robot, which is not limited here.

[0051] The mobile robot can transfer positions in the same working area, or transfer positions between different working areas. The working area can be one or more, and when the area is multiple, each working area needs to be connected to at least one other working area through a connected path, so that the mobile robot can transfer from one working area to another working area. Therefore, before controlling the mobile robot to move along the preset path, the mobile robot needs to be controlled or remotely controlled to travel around the outer boundary of each working area that is not connected to each other in turn, record the position coordinates in the travel process, and establish a map corresponding to each working area according to the recorded position coordinates. In response to the connected area mapping instruction, the mobile robot is controlled to travel from the current position to the target position, a connected path coordinate sequence is constructed according to the position coordinates of the mobile robot recorded in the travel process, and the connected path coordinate sequence is fitted to form a connected path.

[0052] In the embodiments of the present application, the working area of the mobile robot includes at least two first and second regions which are not connected to each other. The map of each working area and the connection path between them are all mapped to the same canvas to obtain a total map of the working area, i.e., the working map of the mobile robot. When the mobile robot needs to move from the first region to the second region, a path (i.e., a preset path) for guiding the mobile robot to move from the first region to the second region is planned according to the working map. For example, as shown in FIG. 2, region A represents the first region and region D represents the second region. If the current position of the mobile robot is point a, the target position of the mobile robot is point d, the end point of the first connection path on the first region is point b, and the end point of the first connection path on the second region is point c, then the preset path includes the path from point a to point b, the first connection path, and the path from point c to point d. It can be understood that the black arrow in FIG. 2 represents the preset path, and the arrow is used to indicate the moving direction.

[0053] It can be understood that the second region and the first region are not connected to each other, which means that there is no overlapping part between the first region and the second region, and the boundaries of the first region and the second region do not coincide. The first region and the second region are connected through the first connection path. The first connection path is a path connecting the boundary of the first region and the boundary of the second region, i.e., the end points of the first connection path are points on the boundaries of the first region and the second region. The first connection path is a historical path or a path automatically planned according to the current needs. The historical path can be a path established by user remote control or a path automatically planned before.

[0054] In some embodiments, during the movement along the preset path, the mobile robot may encounter various obstacles, causing the mobile robot to be unable to move along the preset path. These obstacles include but are not limited to:

[0055] ① The existence of physical obstacles, where static obstacles can include trees, fences and other fixed structures. These obstacles can appear due to building layout or environmental arrangement, which can challenge the normal travel of the mobile robot. Dynamic obstacles can involve pedestrians, other mobile robots or temporarily placed objects. The appearance of these obstacles is uncertain and can change the travel route of the mobile robot at any time.

[0056] ② Path blocking or closing situations, such as the closing of security doors or the blocking of fences. These situations are usually set due to safety or management needs, requiring the mobile robot to be able to recognize and make corresponding adjustments.

[0057] ③ Environmental changes affecting the path, such as changes in terrain causing slippery, potholes, steps, etc., which may be caused by weather conditions or human factors, pose higher requirements for the stability and navigation system of the mobile robot; and changes in lighting conditions affecting sensor function, such as insufficient light which may cause sensor performance to decline, affecting the perception ability of the mobile robot;

[0058] ④ Path planning errors, which may be caused by errors in the initial path planning algorithm or failures in the path data storage device, these errors may cause the mobile robot to fail to travel along the expected path, and even cause the task to fail;

[0059] ⑤ Communication interruption, such as interruption of wireless communication with the control center causing failure to receive instructions or path updates, such interruption may be caused by signal interference or device failure, requiring the mobile robot to have certain autonomous processing capabilities. And safety limits, such as triggering of emergency stop mechanism or safety limits for the mobile robot entering unauthorized areas, these safety measures are to ensure the safety of the operation of the mobile robot, to prevent possible accidents or damage.

[0060] In some embodiments, the mobile robot cannot move along the preset path, which can specifically mean that the mobile robot deviates from the preset path, or there is an obstacle in front of the mobile robot that blocks its movement. In some embodiments, the way to determine whether the mobile robot deviates from the preset path includes: recording the position coordinates of each movement of the mobile robot to obtain a historical coordinate sequence; checking whether the current position coordinate of the mobile robot matches a position coordinate in the historical coordinate sequence; if the match is successful, it means that the current position coordinate is in the historical coordinate sequence, the mobile robot successfully tracks the path, i.e. is on the preset path. If the match fails, it means that the current coordinate is not in the historical coordinate sequence, the mobile robot fails to track the path.

[0061] In some embodiments, the mobile robot is provided with a binocular camera and an RTK device (Real-Time Kinematic device), when positioning with the binocular camera and the RTK device, the current position of the mobile robot can be obtained by the following method: first, use binocular camera visual positioning, capture different perspective images of the same scene through two cameras, and calculate the three-dimensional position and attitude of the mobile robot relative to the environment using the principle of stereo vision; at the same time, use RTK for positioning, obtain the position of the mobile robot through differential positioning method; finally, in order to improve the accuracy and reliability of positioning, fuse the data of binocular vision positioning and RTK positioning to obtain the current position of the mobile robot.

[0062] Step 102, according to the current position of the mobile robot, determine whether the first connected path needs to be closed;

[0063] It can be understood that the current position of the mobile robot can be located in the first region or the first region boundary, or in the second region or the second region boundary, or on the first communication path.

[0064] In some embodiments, whether the first communication path needs to be closed can be determined according to the positional relationship between the current position of the mobile robot and the first communication path. For example, when the mobile robot is located in the first region or the second region, the first communication path is not closed; when the mobile robot is located at the first region boundary or the second region boundary, it is determined whether the current position of the mobile robot is an end point of the first communication path, if the current position of the mobile robot is the end point of the first communication path, the first communication path is closed, if the current position of the mobile robot is not the end point of the first communication path, the first communication path is not closed; when the mobile robot is located on the first communication path, the first communication path is closed.

[0065] It should be noted that the state of the first communication path includes any one of the unclosed state and the closed state, the unclosed state is used to represent that the path is passable, and the closed state is used to represent that the path is impassable. Closing the communication path (such as the first communication path) means determining the state of the communication path as the closed state. Opening the communication path means determining the state of the communication path as the unclosed state. Specifically, the method of opening or closing the communication path includes: (1) opening or closing one end point of the communication path. When one end point of the communication path is in the unclosed state and the other end point is in the closed state, the mobile robot can enter or exit the communication path from the working area connected to the unclosed end point, but cannot pass through the closed end point of the communication path to enter the working area connected thereto. (2) Opening or closing both end points of the communication path, that is, opening or closing the entire communication path.

[0066] If the result of the determination is that the first communication path needs to be closed, the first communication path is closed in step 103, and the movement path of the mobile robot is re-planned to guide the mobile robot to move from the current position to the second region, or to guide the mobile robot to return from the current position to the first region.

[0067] It should be noted that when the mobile robot cannot move along the preset path, the purpose of closing the first communication path is to avoid the mobile robot moving through the first communication path, thereby effectively managing the path and preventing the mobile robot from entering an unsafe region or a region that the user does not want the mobile robot to enter. It can be understood that the movement path of the mobile robot is re-planned according to the unclosed path, that is, the closed path is not used in the path planning process.

[0068] In some embodiments, the re-planned path intersects with the first communication path, that is, the re-planned path passes through at least one path node on the first communication path.

[0069] It can be understood that when only the first area and the second area exist and there is no other connecting path between the areas, it is necessary to control the mobile robot to return to the first area from the current position at this time, when only the first area and the second area exist and there is still other connecting path, or there is still a third area and there is a connecting path passing through the third area, it is necessary to re-plan the path to guide the mobile robot to move from the current position to the second area.

[0070] The embodiment of the present application detects whether the mobile robot can move along the preset path, and when it is determined that the mobile robot cannot move along the preset path, the current position of the mobile robot is acquired, and it is judged according to the current position whether the first connecting path connecting the first area and the second area needs to be closed; if the judgment result is that it needs to be closed, the first connecting path is closed to avoid the mobile robot entering the first connecting path; by closing the connecting path for entering and exiting a specific area to prevent the mobile robot or other mobile robots from moving through the connecting path, the mobile robot can be prevented from entering an unsafe area or an area where the user does not want the mobile robot to enter, and the movement path of the mobile robot is effectively managed. Then, the movement path of the mobile robot is re-planned to guide the mobile robot to move from the current position to the second area, or to guide the mobile robot to return to the first area from the current position, so that the mobile robot can safely reach the target area (such as the second area) along the re-planned path. Through the path planning method, when the mobile robot encounters an obstacle or cannot continue to move along the preset path, the path can be safely re-planned according to the current position of the mobile robot, the mobile robot can be prevented from entering an unsuitable area, the path planning efficiency is improved, the work efficiency and safety are improved, and the mobile robot can flexibly cope with various complex environments.

[0071] Referring to FIG. 3, in some embodiments, the step of re-planning the movement path of the mobile robot in step 103 can include but is not limited to steps 201 to 202:

[0072] Step 201: judging whether a second connecting path connecting the first area and the second area exists;

[0073] It should be noted that the second connecting path is a different path from the first connecting path, and the state of the second connecting path is an unclosed state. The first area and the second area can be connected to find the connecting path to determine whether the second connecting path exists according to the work map. Whether the second connecting path exists can also be determined by other methods, which are not limited thereto.

[0074] In some embodiments, the method for determining whether the second communication path connecting the first region and the second region exists comprises: obtaining a movement path of the mobile robot; and determining, based on the movement path, whether there is another movement path that is not closed between the first region and the second region, and if there is, determining that the second communication path connecting the first region and the second region exists. Specifically, the remote control movement path of the robot can be obtained, and based on the remote control movement path, it is determined whether there is a remote control movement path between the first region and the second region, and if there is, it is determined that the second communication path (remote control movement path) connecting the first region and the second region exists.

[0075] In step 202, if the second communication path connecting the first region and the second region exists, the movement path passing through the second communication path is re-planned.

[0076] If the second communication path connecting the first region and the second region exists, the movement path of the mobile robot needs to be planned in combination with the current position of the mobile robot, the target position of the mobile robot, and the second communication path.

[0077] For example, as shown in FIG. 4, region A represents the first region, and region D represents the second region. If the current position of the mobile robot is point a, the target position of the mobile robot is point d, the endpoint of the second communication path on the first region is point b', and the endpoint of the second communication path on the second region is point c', the path passing through points a, b', the second communication path, c', and d is re-planned. It can be understood that the black dotted line in FIG. 4 represents the other communication path except the second communication path, such as the first communication path; the black dot on the boundary of the working region represents the endpoint of the communication path; and the black arrow represents the preset path, and the arrow is used to indicate the movement direction.

[0078] The embodiments of the present application provide a method for determining whether the second communication path exists, and re-planning the movement path passing through the path when the path exists. The method can quickly plan a new path for the robot when there is an alternative path of the first communication path; by determining whether the second communication path exists and using the second communication path, it can be ensured that the mobile robot can quickly find an alternative path when encountering a blockade (such as closing the first communication path), thereby improving the path planning efficiency and further improving the work efficiency of the mobile robot.

[0079] In some embodiments, after step 201, the path planning method further comprises:

[0080] If there is no second communication path connecting the first region and the second region, and there is no other region, the mobile robot is controlled to send a message or a voice prompt, and the message or the voice prompt is used to prompt the user to remotely control the mobile robot to move from the first region to the second region.

[0081] It can be understood that the absence of the second communication path connecting the first region and the second region means that no other communication path is available for the mobile robot to pass through in addition to the first communication path. This embodiment illustrates that when there is no second communication path and no other region, the robot is controlled to issue a message or a voice prompt to prompt the user to remotely control the robot, and when there is no alternative path and a new path cannot be automatically planned, the user is notified to intervene. In the embodiments of the present application, through user intervention, it can be ensured that the mobile robot can timely handle problems encountered when the problem cannot be automatically solved, thereby improving the overall reliability of the path planning method.

[0082] It should be noted that the mobile robot can issue a preset voice prompt, and the user can set or update the voice prompt according to needs. The mobile robot can also send a text or other format message to the user's mobile terminal, such as a mobile phone, a notebook computer, etc., to prompt the user to remotely control the mobile robot to move from the first region to the second region.

[0083] Referring to FIG. 5, in some embodiments, the step 202 of re-planning the moving path of the mobile robot via the second communication path can include, but is not limited to, steps 301 to 302:

[0084] Step 301: obtaining the current position, a first end point on the second communication path located at the boundary of the first region, a second end point on the second communication path located at the boundary of the second region, and a target position;

[0085] It should be noted that the target position is located in the second region. In an embodiment, the current position is on the first communication path, i.e., the mobile robot is located on the first communication path and cannot move along the preset path. In another embodiment, the current position is in the first region, i.e., the mobile robot is located in the first region and cannot move along the preset path.

[0086] Step 302: planning a moving path that sequentially passes through the current position, the first end point, the second communication path, the second end point, and the target position.

[0087] It can be understood that the moving path can include a sub-path from the current position to the first end point, a sub-path from the first end point to the second end point along the second communication path, and a sub-path from the second end point to the target position.

[0088] This embodiment can plan a moving path from the current position to the target position in detail by planning a moving path that sequentially passes through the current position, the first end point, the second end path, the second end point, and the target position, so as to ensure that the mobile robot can efficiently and accurately move along the moving path, improve the navigation accuracy of the mobile robot, ensure that the mobile robot can move according to the optimal path, and improve the work efficiency.

[0089] Please refer to FIG. 6, in some embodiments, after step 201, the path planning method can further include, but is not limited to, steps 401-402:

[0090] In step 401, if there is no second connected path connecting the first region and the second region, it is determined whether there is a third region, wherein the third region has a third connected path connected to the first region and has a fourth connected path connected to the second region.

[0091] It should be noted that the third region also belongs to the working region, and the third region is a region not connected to the first region and the second region, has a third connected path connected to the first region, and has a fourth connected path connected to the second region. Specifically, the third region can be a working region where the target robot has already worked, or a working region where the target robot has not worked, and the third region can also be a region where a charging station is located, which is not limited here.

[0092] In step 402, if there is a third region, a moving path passing through the third connected path and the fourth connected path is re-planned.

[0093] Specifically, a moving path along the third connected path from the current position to the third region can be planned, and then a moving path along the fourth connected path from the third region to the second region can be planned. In an embodiment, the current position is on the first connected path. In another embodiment, the current position is in the first region.

[0094] This embodiment determines whether there is a third region having a third connected path and a fourth connected path when there is no second connected path, and re-plans a moving path passing through the third connected path and the fourth connected path, so that when there is no direct alternative path (such as the second connected path), the moving robot can plan a new path through an indirect path; by using the third connected path of the third region connected to the first region and the fourth connected path connected to the second region, the moving robot can reach the target region through an indirect path when encountering a blockade, such as reaching the second region through the re-planned moving path after the first connected path is closed, which can improve the flexibility of path planning.

[0095] Please refer to FIG. 7, in some embodiments, step 402 can include, but is not limited to, steps 501-502:

[0096] In step 501, the current position, a third endpoint of the third connected path located on the boundary of the first region, the third connected path, a fourth endpoint of the third connected path located on the boundary of the third region, a fifth endpoint of the fourth connected path located on the boundary of the third region, the fourth connected path, a sixth endpoint of the fourth connected path located on the boundary of the second region, and the target position are obtained.

[0097] It can be understood that each path has two end points, and each end point intersects with the boundary of a region. For example, the third end point of the third connected path is located at the boundary of the first region, and the fourth end point of the third connected path is located at the boundary of the third region. In the embodiment of the present application, the current position of the mobile robot can be located in the first region or the first connected path. For example, as shown in FIG. 8, there is an obstacle in the region A (i.e., the first region). The mobile robot collides with the obstacle, and thus cannot move along the preset path. At this time, the current position of the mobile robot is located in the region A. For another example, as shown in FIG. 9, there is an obstacle on the connected path (i.e., the first connected path) between the region A and the region D. The mobile robot collides with the obstacle, and thus cannot move along the preset path. At this time, the current position of the mobile robot is located on the first connected path.

[0098] It should be noted that in FIGS. 8 and 9, the working map includes four working regions, which are region A, region B, region C and region D. The region A is the starting region, that is, the first region described above; and the region D is the target region, that is, the second region described above. Among them, any two working regions are connected by a connected path. The black dotted line represents the connected path; the black dot located on the boundary of the working region represents the end point of the connected path; the black triangle represents the obstacle; the black arrow represents a part of the preset path, and the mobile robot can move along the part of the path; the red dotted line represents a part of the preset path, and the mobile robot cannot move along the part of the path; the red arrow represents the re-planned moving path; the arrow is used to indicate the moving direction. The s point (starting point) represents the starting position of the mobile robot, and the e point (ending point) represents the target position of the mobile robot. In an embodiment, the region A can have a charging device such as a charging station or a charging pile, which is not limited. It can be understood that the above explanation is also applicable to other drawings (such as FIGS. 10 to 18) of the present application, which will not be described hereinafter.

[0099] Step 502, a moving path is planned in sequence from the current position, the third end point, the third connected path, the fourth end point, the fifth end point, the fourth connected path, the sixth end point and the target position.

[0100] Specifically, the robot can be planned to move from its current position through the first region to the third endpoint, then through the third connecting path, from the fourth endpoint through the third region to the fifth endpoint, then through the fourth connecting path, and finally from the sixth endpoint into the second region, moving to its target position within the second region. For example, as shown in Figures 8 and 9, region C is selected as the aforementioned third region, which is also the transit region from region A to region D. The connecting path between region C and region A is the third connecting path, the intersection of the third connecting path and the boundary of region A is the third endpoint, and the intersection of the third connecting path and the boundary of region C is the fourth endpoint; the connecting path between region C and region D is the fourth connecting path, the intersection of the fourth connecting path and the boundary of region C is the fifth endpoint, and the intersection of the fourth connecting path and the boundary of region D is the sixth endpoint. The initial position of the mobile robot is point s, the target position is point e, the current position is point a1, the third endpoint is point a2, the fourth endpoint is point c1, the fifth endpoint is point c2, and the sixth endpoint is point d1. After the mobile robot is unable to move along the preset path, it replans its movement path to reach the target location in area D. Specifically, it plans a movement path that passes through points a1, a2, the third connecting path, c1, c2, the fourth connecting path, d1, and e in sequence.

[0101] In the embodiment shown in Figure 8, the mobile robot can plan a movement path from point c1 to point c2, i.e., from the fourth endpoint to the fifth endpoint, based on the boundary line of region C, thereby planning the shortest movement path (such as a straight path) within the working area. In the embodiment shown in Figure 9, the mobile robot can also plan a path from its current position to the third endpoint based on the boundary line of region A. The above embodiments can plan the shortest movement path within the constraints of the mobile robot's movable area (including connected paths and the working area), reducing the time cost of the mobile robot's movement.

[0102] This embodiment improves the flexibility of path planning by replanning the movement path through the third and fourth connected paths when the second connected path does not exist, thereby planning a new path for the mobile robot through indirect paths when there is no direct alternative path.

[0103] In some embodiments, after step 201, the path planning method further includes:

[0104] If there is no second connected path connecting the first region and the second region, determine whether there are a third region and a fourth region, wherein the third region has a third connected path connecting to the first region, the fourth region has a fifth connected path connecting to the second region, and the third connected path and the fifth connected path have an intersection point.

[0105] It is understood that the third and fourth regions are working areas accessible to the mobile robot, excluding the first and second regions. The third region has a third connecting path to the first region, and the fourth region has a fifth connecting path to the second region. In some embodiments, there is also a connecting path between the third and fourth regions. The intersection of the third and fifth connecting paths can be located at any point on either path. For example, as shown in Figures 10 and 11, if the center point of the third connecting path coincides with the center point of the fifth connecting path, the intersection can be the center point of either path.

[0106] If a third and fourth region exist, replan the movement paths of the third and fifth connected paths.

[0107] It is understandable that a partial third connected path refers to a path within the third connected path that connects the first region and the intersection point. A partial fifth connected path refers to a path within the fifth connected path that connects the intersection point and the second region.

[0108] This embodiment determines the existence of a third and fourth region when a second connecting path does not exist, and replans the movement path through these regions. In the absence of a direct alternative path (such as a second connecting path), it plans a new path for the mobile robot through indirect paths through the third and fourth regions, ensuring that the mobile robot can reach the second region through indirect paths when encountering a blockade, thus improving the flexibility of path planning.

[0109] In some embodiments, replanning the movement paths of the third connecting path and the fifth connecting path includes:

[0110] Get the current position, the third endpoint on the third connected path located on the boundary of the first region, part of the third connected path, the intersection, part of the fifth connected path, the seventh endpoint on the fifth connected path located on the boundary of the second region, and the target position;

[0111] It should be noted that in the embodiments of this application, the current position of the mobile robot can be located in the first region or the first connecting path. For example, as shown in Figure 10, there is an obstacle in region A. The mobile robot collides with the obstacle and therefore cannot move along the preset path. In this case, the current position of the mobile robot is located in region A. As another example, as shown in Figure 11, in some embodiments, there is an obstacle on the connecting path (i.e., the first connecting path) between region A and region D. The mobile robot collides with the obstacle and therefore cannot move along the preset path. In this case, the current position of the mobile robot is located on the first connecting path.

[0112] The plan outlines a movement path that sequentially passes through the current location, the third endpoint, part of the third connected path, the intersection, part of the fifth connected path, the seventh endpoint, and the target location.

[0113] For example, as shown in Figures 10 and 11, region C is selected as the third region mentioned above, and region B is selected as the fourth region mentioned above. The connecting path between region C and region A is the third connecting path, and the connecting path between region B and region D is the fifth connecting path. The third and fifth connecting paths intersect. The initial position of the mobile robot is point s, the target position is point e, the current position is point a1, the third endpoint is point a2, the intersection is point x, and the seventh endpoint is point d2. After the mobile robot cannot move along the preset path, it replans its movement path to reach the target position in region D. Specifically, it plans a movement path that passes through point a1, point a2, part of the third connecting path, point x, part of the fifth connecting path, point d2, and point e in sequence. In this embodiment, when the first connecting path is impassable, the shortest path is planned based on the two intersecting connecting paths. It does not need to pass through the intermediate work area, but instead reaches the second region through the intersection of the connecting paths. This greatly shortens the distance of the planned path, reduces the time cost of the mobile robot moving between different work areas, and thus improves the efficiency of the mobile robot in its work.

[0114] This embodiment plans a movement path that sequentially passes through the current position, the third endpoint, part of the third connected path, the intersection, part of the fifth connected path, the seventh endpoint, and the target position. This ensures that the robot can move efficiently and accurately, improves the robot's navigation accuracy, ensures that the robot can move along the optimal path, and improves work efficiency.

[0115] In some embodiments, after replanning the movement path of the mobile robot, the method further includes:

[0116] Determine whether the movement path within each area is the boundary line of that area;

[0117] In some embodiments, a geometric method can be used to determine whether a movement path within a region is a boundary line of that region. For example, if the work area is considered a polygon, the boundary line is the edge of the polygon. All points on the path are obtained, and it is checked whether these points lie on the edges of the polygon. If these points lie on the edges of the polygon, then the path is determined to be the boundary line of the region. As another example, if the work area is considered a polygon, the distances from points on the path to the edges of the polygon can also be calculated. If the distances from all points on the path to one or more edges are very small (close to zero), then the path is determined to be the boundary line of the region.

[0118] In other embodiments, image processing methods can also be used to determine whether a movement path within a region is a boundary line of the region. For example, image processing techniques (such as the Canny edge detection algorithm) can be used to extract the boundary lines of the region, the path can be represented as lines in the image, and these lines can be checked to see if they coincide with the detected edges. If they coincide, the movement path within the region is determined to be a boundary line of the region.

[0119] If the movement path within each area is not the boundary line of the area, adjust the movement path so that the mobile robot moves along the boundary line when moving within each area.

[0120] Understandably, when the movement path within each region is not the boundary line of that region, the two endpoints of the movement path within the region (the endpoints being located on the boundary line) are obtained, and the shortest path connecting the two endpoints and passing through the boundary line is determined as the movement path. For example, as shown in Figure 9, when the mobile robot is obstructed at position a1, a movement path passing through the third region and / or the fourth region is planned based on the current position (a1) and the target position (e), i.e., the path shown in Figure 9 as a1->a->a2->c1->c2->d1->e. If the path from a to a2 is the path shown by the red dashed line in Figure 9, since a to a2 is not the boundary line of the first region, the movement path needs to be adjusted, i.e., the path from a to a2 is adjusted to the path shown by the red solid line, so that the mobile robot moves along the boundary line when moving within each region.

[0121] This embodiment, after replanning the mobile robot's movement path, first determines whether the movement path within the area is the boundary line of the area. If the path is not the boundary line, the movement path is adjusted to ensure that the mobile robot moves along the boundary line within the area. Moving along the boundary line aims to reduce the probability of movement deviation due to environmental uncertainties, as the environmental information of the boundary line is known. This embodiment improves the accuracy of path planning for mobile robots in complex environments and enhances the navigation efficiency and safety of mobile robots.

[0122] In some embodiments, after replanning the movement path of the mobile robot, the method further includes:

[0123] Control the mobile robot to move from the first area to the second area according to the movement path;

[0124] During the process of controlling the mobile robot to move from the first area to the second area along a designated path, the robot travels at a first speed when moving along the boundary lines of the areas, and at a second speed (lower than the first speed) when moving along the connecting paths between areas. When the robot is traveling along the boundary lines, which are pre-defined safe paths, a higher speed is used to minimize risk. When traveling along the connecting paths between areas, a lower speed is used to better handle unknown obstacles and dynamic environments, thus improving overall safety. By controlling the speed, the mobile robot can use different speeds on different paths, ensuring both safety and improving overall movement efficiency.

[0125] After the mobile robot moves to the second area, the first connecting path is reopened so that the mobile robot can enter the first area via the first connecting path after completing its work in the second area.

[0126] In some embodiments, reopening the first connecting path means reopening the entire first connecting path, that is, opening all path points on the first connecting path. In this case, all path points on the first connecting path are in a passable state, and the mobile robot can directly enter the first area via the first connecting path after completing its task in the second area. For example, as shown in Figure 12, after the mobile robot completes its task in the second area (area D), it is at point e in the second area. The endpoints of the first connecting path include points a1 and d1, where point a1 is located in the first area (area A) and point d1 is located in the second area. All path points on the first connecting path are set to a passable state, and then the mobile robot is controlled to move to the first area along the path shown in e->d1->a1->s.

[0127] Understandably, in Figure 12, if the mobile robot can reach the first area along the aforementioned path, it indicates that there are no obstacles on the first connected path, and therefore the state of the first connected path is determined to be open. If the mobile robot can reach point d1 but cannot reach point a1 in the first area along the first connected path, it indicates that there are obstacles on the first connected path, and therefore the state of the first connected path is determined to be closed. Before closing the first connected path, it is also necessary to control the mobile robot to retreat back to the first area along the already traversed first connected path to ensure that the mobile robot will not be trapped in the closed path, thereby improving the safety of the method. In one embodiment, if the mobile robot cannot completely traverse a certain connected path (such as the first connected path, the second connected path, etc.) N times consecutively (N is a preset threshold number, such as 3 to 5 times), the state of the connected path can be determined to be permanently closed, or the connected path can be directly deleted to eliminate impassable paths and improve the efficiency of subsequent path planning. Here, completely traversing a connected path means starting from one end of the connected path, passing through all path points of the connected path, and reaching the other end of the connected path. In addition, the number of times threshold can be set and updated as needed, and is not limited here.

[0128] In some embodiments, reopening the first connecting path refers to opening some path points on the first connecting path. In this case, some path points on the first connecting path are in a passable state, and the mobile robot only passes through some path points on the first connecting path after completing the task in the second area. For example, as shown in Figure 13, in addition to the first connecting path (refer to the explanation in Figure 12 above, which will not be repeated here), there is also a second connecting path between the first and second areas. The endpoints of the second connecting path include points a2 and d2, where point a2 is located in the first area and point d2 is located in the second area. The first and second connecting paths intersect at point x1. The second connecting path is in an open state by default. Points d1 and x1 on the first connecting path, as well as the path points from point d1 to x1, are set to be in a passable state, and then the mobile robot is controlled to move to the first area along the path shown as e->d1->x1->a2->s.

[0129] This embodiment improves the overall efficiency of path planning by controlling the mobile robot to move from the first area to the second area according to the new path after replanning the movement path, and opening the first connecting path after arrival. This allows the connectivity between the various areas to be restored in a timely manner after the mobile robot successfully moves to the target area (such as the second area), thereby improving the overall efficiency of path planning.

[0130] In some embodiments, after reopening the first connected path, the method further includes:

[0131] If the mobile robot needs to return to the first area, control the mobile robot to enter the first area via the first connecting path;

[0132] Understandably, during the process of controlling the mobile robot to traverse the first connected path, it is necessary to obtain environmental information in real time and determine whether the first connected path is passable based on the environmental information.

[0133] Determine whether the mobile robot has successfully traversed the first connected path;

[0134] Understandably, if the mobile robot is detected to be in the first area, it is confirmed that the mobile robot has successfully entered the first area through the first connecting path. If the mobile robot cannot reach the first area, for example, if there are still obstacles on the first connecting path preventing the mobile robot from reaching the first area, it is confirmed that the mobile robot has not successfully passed through the first connecting path.

[0135] If the first connected path is not successfully traversed, then the first connected path is marked as an impassable path.

[0136] It is understandable that marking the first connected path as an impassable path can be done by defining both ports of the first connected path as closed, removing the first connected path from the working map, or setting the area containing the first connected path as a restricted area; no specific limitation is made here.

[0137] This embodiment marks the first connected path as an impassable path when the mobile robot fails to pass through it, thereby updating the path information in a timely manner. By marking impassable paths, the path planning efficiency of the mobile robot can be improved, avoiding repeated attempts on failed paths in future path planning and improving operational efficiency.

[0138] In some embodiments, determining whether to close the first connectivity path based on the current position of the mobile robot includes:

[0139] If the mobile robot is located in the first or second area, there is no need to close the first connectivity path;

[0140] It is understood that the mobile robot being located in the first or second region includes the following situations: ① The mobile robot is located within the first or second region; ② The mobile robot is located at the boundary of the first or second region, and its position is not located at one of the endpoints of the first connected path. Since the mobile robot is not on the first connected path when it is located in the first or second region, only the movement path within the first region needs to be adjusted; there is no need to adjust the first connected path between the first and second regions (i.e., there is no need to close the first connected path). Then, the mobile robot is controlled to reach the second region via the adjusted intra-regional path and the first connected path.

[0141] If the mobile robot is located outside the first and second areas, the first connection path needs to be closed.

[0142] It is understandable that the mobile robot being located outside the first and second areas means that the mobile robot is located on the first connecting path.

[0143] It is understandable that closing a specific connected path (such as the first connected path) can be achieved by marking that connected path as a fixed impassable path. By marking a connected path as a fixed impassable path, it is possible to prevent the mobile robot from repeatedly trying invalid paths in future operations, thereby improving the operational efficiency of the mobile robot.

[0144] In some embodiments, closing the first connecting path means closing the entire first connecting path. Before closing the entire first connecting path, it is necessary to determine whether the mobile robot has retreated to the first area along the already traveled first connecting path. The first connecting path is only closed after the mobile robot has moved to the first area along the already traveled first connecting path. Before closing the first connecting path, the system first confirms whether the mobile robot has retreated to the first area along the already traveled first connecting path. This step ensures that the mobile robot will not be trapped in the closed path, avoiding potential safety hazards.

[0145] In other embodiments, closing the first connecting path means closing a portion of the first connecting path. Specifically, a portion of the first connecting path between the mobile robot's current position and the second area can be closed, while the portion of the first connecting path between the mobile robot's current position and the first area remains passable. In this case, the mobile robot is controlled to move directly to the first area along the portion of the first connecting path between its current position and the first area. On the one hand, even if a portion of the path is closed, the mobile robot can still safely return to the first area via the remaining path, ensuring that the mobile robot will not be trapped due to a completely closed path, thus guaranteeing the mobile robot's safety. On the other hand, after a portion of the path is closed, other mobile robots can use the remaining passable paths more quickly, reducing waiting time and improving task execution efficiency.

[0146] This embodiment determines whether the mobile robot is located in a specific area based on its current position, and decides whether to close the connecting path to or from that area. For example, if the mobile robot is outside the first and second areas, the first connecting path needs to be closed. This embodiment can more precisely control the mobile robot's path, ensuring that connecting paths are closed when necessary (such as closing the first connecting path), preventing the mobile robot from accidentally entering or leaving a specific area, thereby improving the flexibility and safety of path planning.

[0147] In some embodiments, the method of closing the first connectivity path includes:

[0148] Set restricted areas on the working map of the mobile robot, wherein the restricted areas contain the first connected path;

[0149] Alternatively, delete the first connected path;

[0150] Alternatively, obstacles can be placed on the first connecting path.

[0151] In some embodiments, the step of closing the first connecting path includes: obtaining a working map of the mobile robot, displaying the working map containing the first connecting path on an application of the mobile terminal, and closing the first connecting path by the user performing one of the following actions: including a restricted area, deleting the first connecting path, or setting an obstacle on the first connecting path.

[0152] This embodiment can intuitively limit the movement range of the mobile robot by setting restricted areas or deleting paths on the mobile robot's work map, ensuring that the robot does not enter dangerous or unsuitable areas, thereby improving the safety of the operation.

[0153] In some embodiments, after closing the first connectivity path, the method further includes:

[0154] The information about closing the first connection path is shared with other mobile robots to prevent other mobile robots from using the first connection path.

[0155] Specifically, the mobile robot can directly send the information about closing the first connecting path to other mobile robots; alternatively, it can send the information to a central control device, such as a server connected to all mobile robots, which then forwards the message to each of the other mobile robots. Upon receiving the message about closing the first connecting path, other mobile robots will avoid traversing part or all of the first connecting path when moving between the first and second areas.

[0156] This embodiment shares this information with other autonomous mobile robots after detecting that a mobile robot cannot move along a preset path and closing the first connecting path. Through this information-sharing mechanism, other autonomous mobile robots can understand the status of each connecting path in real time, thereby preventing them from attempting to traverse closed paths, which could lead to congestion or collisions. In summary, this embodiment prevents other mobile robots from attempting to traverse closed connecting paths, thus avoiding repeated erroneous paths that reduce operational efficiency and minimize unnecessary movement and resource waste. Furthermore, the information-sharing mechanism improves the collaborative operation capability of the entire robot system, enhances the coordination and safety of path planning for multiple mobile robots, ensures that each mobile robot can efficiently complete its tasks, improves operational efficiency, and enhances the applicability of the path planning method.

[0157] In some embodiments, determining that a mobile robot cannot move along a preset path includes:

[0158] During the process of controlling the movement of the mobile robot, if there is an obstacle in front of the mobile robot, determine whether the obstacle hinders the movement of the mobile robot;

[0159] If it is determined that an obstacle is preventing the mobile robot from moving, then the mobile robot cannot move along the preset path.

[0160] In some embodiments, if an obstacle exists in front of the mobile robot, it is necessary to further determine whether the obstacle is dynamic or static. If the obstacle is dynamic, it is determined that the obstacle does not impede the movement of the mobile robot. In this case, the robot needs to be controlled to stop moving and emit a sound to drive away the obstacle until it leaves before continuing to work. If the obstacle is static, it is determined that the obstacle obstructs the movement of the mobile robot, thus determining that the mobile robot cannot move along the preset path. By promptly driving away dynamic obstacles, the robot can quickly resume work, reducing downtime caused by obstacles and improving overall work efficiency. Furthermore, the robot can quickly identify and bypass static obstacles, avoiding prolonged stays in one position and ensuring timely task completion.

[0161] This embodiment determines whether an obstacle hinders the movement of the mobile robot if there is one in front of it. If the obstacle hinders the movement of the mobile robot, it determines that the mobile robot cannot move along the preset path and replans the movement path of the mobile robot. In this way, when the mobile robot encounters an obstacle during its movement, it can handle the situation safely and effectively, improve the mobile robot's response capability to sudden obstacles, ensure the safety of the mobile robot in complex environments, and improve the task completion rate of the mobile robot.

[0162] In some embodiments, it should be noted that the mobile robot is equipped with an obstacle sensing unit. During the movement of the mobile robot along a preset path, the obstacle sensing unit continuously detects whether there are obstacles in front of the mobile robot. If an obstacle is detected, it determines whether the obstacle hinders the movement of the mobile robot. For example, the mobile robot may reduce its speed and attempt to collide with the obstacle to determine whether it hinders its movement. In one embodiment, if it is determined that the obstacle hinders the movement of the mobile robot, the mobile robot is controlled to return to the first area along the preset path. In another embodiment, if it is determined that the obstacle does not hinder the movement of the mobile robot, the mobile robot is controlled to continue moving forward along the preset path to the second area.

[0163] In some embodiments, determining whether an obstacle hinders the movement of a mobile robot includes:

[0164] Control the mobile robot to slow down its movement and attempt to collide with obstacles;

[0165] Understandably, if a mobile robot slows down to attempt a collision with an obstacle but fails, it needs to increase its speed. Since the robot can quickly increase its speed after confirming there are no obstacles ahead, it reduces unnecessary low-speed travel time, improving efficiency, saving energy, and extending battery life.

[0166] If the mobile robot can continue to move along the preset path after colliding with an obstacle, it is determined that the obstacle does not hinder the movement of the mobile robot.

[0167] Specifically, after a mobile robot collides with an obstacle, it can continue moving along the preset path. This can occur in two ways: either the obstacle is still in front of the robot and can be pushed to move synchronously, or the obstacle is to the side of the robot and does not obstruct its movement. When the obstacle is still in front of the robot and can be pushed to move synchronously, the robot needs to be rotated during subsequent movement to push the obstacle to the side, preventing it from blocking the robot's movement. By controlling the robot's rotation to push the obstacle to the side, the robot can effectively overcome the obstruction of obstacles in front and continue moving along the preset path, improving the robot's ability to navigate complex environments.

[0168] If the mobile robot cannot continue moving along the preset path after colliding with an obstacle, it is determined that the obstacle is hindering the movement of the mobile robot.

[0169] Understandably, the fact that the mobile robot cannot continue moving along the preset path means that the obstacle has not been pushed and is still on the preset path.

[0170] This embodiment determines whether an obstacle hinders the mobile robot by reducing its movement speed and attempting to collide with it. If the mobile robot can continue moving after the collision, the obstacle is not an obstacle; if it cannot continue moving, the obstacle hinders the mobile robot, thus accurately determining whether an obstacle prevents the mobile robot from continuing to move along a preset path. Through collision testing, the impact of obstacles on the mobile robot can be quickly and effectively determined, allowing for appropriate actions such as controlling the mobile robot to reduce its movement speed or change its path to ensure that the mobile robot can continue to perform its task.

[0171] In some embodiments, after determining that an obstacle is hindering the movement of the mobile robot, the method further includes:

[0172] Control the rotation of the mobile robot to obtain first environmental information on the left side of the obstacle and / or second environmental information on the right side of the obstacle;

[0173] Specifically, the mobile robot is controlled to initially rotate at a small angle (e.g., 10°-20°) to gradually acquire information about its surrounding environment. During rotation, obstacle sensing units (such as LiDAR, cameras, etc.) are used to acquire environmental information to the left of the obstacle, including but not limited to distance, height, and shape. Similarly, environmental information to the right of the obstacle is acquired, ensuring that information from both sides is adequately collected. The rotational angular velocity gradually increases during rotation to accurately acquire environmental information near the obstacle.

[0174] Based on the first environmental information and / or the second environmental information, determine whether a detour is possible;

[0175] Specifically, assess the first environmental information to determine if there is sufficient space on the left for the robot to maneuver around. Factors considered include space size, ground conditions, and the presence of other obstacles. Assess the second environmental information to determine if there is sufficient space on the right for the robot to maneuver around. The same factors are considered. If the environmental information on one or both sides indicates sufficient space and ground conditions permit, it is determined that maneuvering is permissible.

[0176] If it cannot detour, then the robot is unable to move along the preset path.

[0177] In some embodiments, if environmental information on both sides indicates insufficient space or the presence of other obstacles, the robot cannot navigate around them. If it cannot navigate around, the robot will pause its current task and wait for further instructions. The system will record this situation and update the robot's status. The inability to navigate will be sent to the user or control system via a communication module (such as Wi-Fi, Bluetooth, etc.) so that further action can be taken. Additionally, the inability to navigate will be recorded in a log, including environmental information, time, and location, for subsequent analysis and improvement. In this embodiment, by pausing the task and providing timely notification, the robot is ensured not to continue moving forward when encountering unsolvable problems, reducing potential safety risks and protecting the safety of the robot and its surrounding environment.

[0178] This embodiment controls the mobile robot to rotate after determining that an obstacle is hindering its movement, thereby acquiring environmental information on both sides of the obstacle and determining whether it can bypass it. When an obstacle obstructs the mobile robot, by acquiring environmental information on both sides of the obstacle, it can determine whether the mobile robot can bypass the obstacle and continue moving along the preset path. This intelligent decision-making avoids the risks and time wastage that may result from blindly attempting to bypass the obstacle.

[0179] In some embodiments, determining whether a detour is permissible based on first environmental information and / or second environmental information includes:

[0180] Based on the first environmental information and / or the second environmental information, obtain the environmental attributes on both sides of the obstacle;

[0181] Specifically, image processing and machine learning algorithms are used to identify environmental properties on both sides of obstacles. Common environmental properties include grass, hard surfaces, water bodies, and buildings.

[0182] If the environmental property on one side of the obstacle is grass, then it can be bypassed.

[0183] If the environmental properties on both sides of the obstacle are not grassland, then it is determined that it is not possible to detour.

[0184] This embodiment determines whether a detour is possible based on the acquired environmental attributes on both sides of an obstacle. If one side of the obstacle is grass, it can be detoured; if neither side is grass, it cannot be detoured. By identifying the environmental attributes on both sides of an obstacle, especially grass, this embodiment can more accurately determine whether a detour is possible, avoiding attempts in unsuitable environments, thereby improving the safety of the mobile robot and maintaining task continuity and efficiency.

[0185] In some embodiments, it should be noted that the mobile robot can be a lawnmower robot, and the corresponding working area of ​​the lawnmower robot is an area where lawn mowing can be performed, such as a lawn, grass, or green area. Except for special cases such as user-controlled remote control of the mobile robot, the mobile robot typically only moves within the working area (e.g., grass) or along connecting paths. If the environmental attribute on one side of an obstacle is grass, it means that the mobile robot can replan its route to bypass the obstacle within the working area. If the environmental attribute on both sides of the obstacle is not grass, it means that the mobile robot cannot replan its route to bypass the obstacle within the working area, and therefore cannot bypass it.

[0186] In some embodiments, after determining that a detour is possible, the method further includes:

[0187] If it is determined that a detour is possible, control the mobile robot to detour around one side of the obstacle until the mobile robot moves back along the preset path.

[0188] For example, as shown in Figure 14, there is an obstacle in region A, and the mobile robot collides with the obstacle, preventing it from moving along the preset path. After determining that the obstacle can be bypassed, the mobile robot is controlled to bypass it from one side, for example, by bypassing the obstacle along the side with the shorter required bypass distance, thereby reducing the time cost of the mobile robot's movement. This can be done by bypassing along the edge of the obstacle, or by using other bypass methods, which are not limited here.

[0189] In some embodiments, controlling a mobile robot to circumvent an obstacle from one side includes: planning a shortest detour path to obtain the shortest detour path, and controlling the mobile robot to circumvent the shortest detour path. For example, as shown in Figure 15, after circumventing the obstacle along its edge, the robot reaches the endpoint of the first connected path at the boundary of region A along a straight path. Based on the principle that the sum of any two sides of a triangle is greater than the third side, the detour path shown in Figure 15 is shorter than the detour path shown in Figure 14. By planning the shortest detour path, the time cost of the mobile robot's movement can be further reduced, improving the efficiency of the mobile robot's operations.

[0190] This embodiment effectively guides the mobile robot to bypass obstacles and return to the preset path by controlling it to detour around one side of the obstacle when it is determined that detour is possible, until it moves back along the preset path. By detouring around the obstacle from one side, the mobile robot can flexibly cope with obstacles, maintain the continuity and efficiency of path planning, and avoid path planning interruptions or operation interruptions caused by obstacles.

[0191] In some embodiments, guiding the mobile robot back from its current location to a first area includes:

[0192] Control the mobile robot to retreat a first preset distance;

[0193] Understandably, since the mobile robot is close to the obstacle after a collision, and its rotation radius is greater than its width, it needs to be controlled to move backward a first preset distance to prevent it from colliding with the obstacle during its rotation. This first preset distance is greater than half the robot's body length.

[0194] Control the mobile robot to turn around. During the turning process, the body of the mobile robot must not exceed the preset area. The preset area is the area formed by laterally extending the first connecting path by a second preset distance.

[0195] In some embodiments, the mobile robot can be turned around with its center as the rotation center, which allows the mobile robot to rotate within a smaller range and improves its safety.

[0196] It is understandable that the width of the preset area is equal to twice the second preset distance. Setting the second preset distance to be greater than the rotation radius of the mobile robot can ensure that the mobile robot does not exceed the preset area during rotation, thus ensuring the safety of the mobile robot turning around.

[0197] Control the mobile robot to move along a preset path to the first area.

[0198] In some embodiments, during the process of controlling the mobile robot to move along a preset path to the first area, it is necessary to control the mobile robot to increase its moving speed in order to improve work efficiency.

[0199] This embodiment controls the mobile robot to retreat a first preset distance and then turn around when an obstacle obstructs its movement. During the turning process, it ensures that the mobile robot's body does not exceed the preset area after the first connecting path is laterally extended, and finally returns to the first area along the preset path. This embodiment ensures that the mobile robot can safely and orderly return to the first area when it encounters an insurmountable obstacle, avoiding potential dangers and chaos that may occur when the mobile robot encounters obstacles.

[0200] In some embodiments, the current position is located on a first connected path. For example, the current position could be the position of the mobile robot when it collides with an obstacle on the first connected path. The mobile robot returning to the first area from its current position specifically means that the mobile robot retreats a first preset distance along the first connected path, then turns around and returns to the first area along the first connected path, so that it can reach the second area from the first area via another replanned path.

[0201] In some embodiments, before controlling the mobile robot to move along a preset path, the method further includes:

[0202] When the mobile robot needs to move from the first area to the second area, obtain the current position of the mobile robot, the target position of the mobile robot, and the first connecting path between the first area and the second area;

[0203] Based on the current location, target location, and first connecting path, plan a preset path for the mobile robot to move from the first area to the second area.

[0204] This embodiment first obtains the starting position, target position, and a first connecting path between the first and second areas of the mobile robot before it begins to move along a preset path. Based on this information, a preset path from the first area to the second area is planned, thereby ensuring that the mobile robot has a clear and feasible path plan before departure, avoiding inefficiency or failure caused by blind movement. This embodiment improves the accuracy and efficiency of path planning, ensuring that the mobile robot can move efficiently from one area to another.

[0205] In some embodiments, after guiding the mobile robot to move from its current location to the second area, the method further includes:

[0206] Determine if the mobile robot is located at the target location;

[0207] If the mobile robot is not located at the target location, control the mobile robot to perform operations in the second area from its current location.

[0208] For example, as shown in Figure 16, after the mobile robot moves from point s (starting position) to the second area, it cannot move to point e (target position) within the second area. In this case, controlling the mobile robot to start working in the second area directly from point a1 (current position) ensures that the mobile robot can start working immediately, avoiding wasted time due to path planning errors and improving work efficiency. The yellow paths in Figures 16 and 18 represent the working paths of the mobile robot within the work area, where the working paths can be calculated for a specific work area (such as area D) using a full-coverage path planning algorithm.

[0209] In some embodiments, before controlling the mobile robot to work in the second area from its current position, it is necessary to determine whether the mobile robot's current position is located at a corner of the work area. Only if the mobile robot is located at a corner is the step of controlling it to work in the second area from its current position executed. This ensures that the mobile robot is not located at a corner before starting work; if it is not, its position can be readjusted, ensuring the selection of the shortest and optimal paths and improving work efficiency. For example, as shown in Figure 17, after guiding the mobile robot to move from its current position to the second area, its current position in the second area is point a1. If point a1 is not a second corner of the area, the mobile robot is controlled to move to the corner closest to its current position, such as point d1. After the mobile robot reaches point d1, its current position is updated to point d1 so that it can subsequently start working in the second area from its current position. This embodiment ensures that the mobile robot is located at a corner, allowing it to start working in the work area from a corner, making it easier for the target robot to traverse the work area and improving work efficiency.

[0210] This embodiment determines whether the mobile robot is at the target location after it successfully moves to the second area. If the mobile robot has not reached the target location, it controls the mobile robot to start working in the second area from the current location. This ensures that the mobile robot can correctly execute subsequent tasks after arriving in the new area, avoids work failures caused by inaccurate positioning, improves the accuracy and completeness of work execution, and ensures that the mobile robot can successfully complete the predetermined work tasks.

[0211] In some embodiments, the work area where the mobile robot has completed its work (such as mowing the lawn) is the "worked area," and the work area where it has not completed its work is the "unworked area." The second area is an unworked area. After determining that the mobile robot cannot move along the preset path, it is also necessary to determine whether there are other unworked areas besides the second area. If there are other unworked areas connected to the first area, the robot can first perform work in these other unworked areas, and after completing its work in these areas, it can then move to the second area to perform its work. For example, as shown in Figure 18, area B is also an unworked area. The mobile robot starts from point s, encounters an obstacle on the first connecting path, replans its path, and reaches area B. It then performs work in area B first, and then moves from area B along the connecting path between the two areas to area D to perform work in area D. This embodiment ensures that the mobile robot can prioritize performing work in other unworked areas connected to the work area where its starting position is located, and then enter the destination area to perform its work, thereby reducing path repetition and improving work efficiency and coverage.

[0212] In some embodiments, the first area may include a charging station. After determining that the mobile robot cannot move along the preset path, it can also be determined whether the first area is the area where the charging station is located; if the first area is the area where the charging station is located, a suitable work area can be selected for operation based on the mobile robot's battery level or charging needs.

[0213] For example, the distance between the third area and the first area is greater than the distance between the second area and the first area; when the mobile robot has sufficient power, the third area can be worked on first, and then the second area can be worked on.

[0214] The embodiments of this application can rationally plan the robot's work sequence when there is a charging demand, ensuring that the mobile robot can return to the charging station for charging in a timely manner while completing its work, thus ensuring the continuity of the work.

[0215] Please refer to Figure 19. In an application example, taking a lawnmower robot as an example, during the process of controlling the lawnmower robot to move from the first area to the second area, it is determined whether the lawnmower robot cannot move along the preset path, that is, whether the path tracking fails. If the lawnmower robot fails to track the path, the position of the lawnmower robot is determined. Based on the position of the lawnmower robot, the movement strategy of the lawnmower robot is determined, specifically including: (1) If the lawnmower robot fails to track the path when it is in the first area, the path from the lawnmower robot to the exit of the first area is replanned, and the robot is controlled to move along the new path to the exit of the first area. It should be noted that the exit of the first area refers to the port of the first connecting path located on the boundary of the first area. The first connecting path is used to connect the first area and the second area. (2) If the lawnmower robot fails to track the path when it is on the electronic bridge, the entrance to the second area is closed, and the lawnmower robot is controlled to pass through other areas to enter the second area; after the lawnmower robot reaches the second area, the entrance to the second area is opened so that the lawnmower robot can enter and exit from the entrance. It should be noted that the entrance to the second area refers to the port of the first connecting path located on the boundary of the second area. (3) If the lawnmower fails to track the path when it is in the second area, the lawnmower will start from the current location where the tracking path failed.

[0216] Referring to Figure 20, this application embodiment also provides a path planning device, including:

[0217] The robot movement control module 601 is used to control the mobile robot to move along a preset path. When it is determined that the mobile robot cannot move along the preset path, the current position of the mobile robot is obtained. The preset path is used to guide the mobile robot to move from a first area to a second area that is not connected to the first area. The preset path includes a first connecting path that connects the first area and the second area.

[0218] The path closure judgment module 602 is used to determine whether the first connected path needs to be closed based on the current position of the mobile robot.

[0219] The path planning module 603 is used to close the first connected path and replan the movement path of the mobile robot if the judgment result is that it needs to be closed, so as to guide the mobile robot to move from the current position to the second area, or guide the mobile robot to return from the current position to the first area.

[0220] The specific implementation of this path planning device is basically the same as the specific implementation of the path planning method described above, and will not be repeated here.

[0221] It should be noted that the software tools or components not belonging to our company that appear in the embodiments of this application are merely examples and do not represent actual use.

[0222] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described path planning method. This electronic device can include any smart terminal such as a tablet computer or an in-vehicle computer.

[0223] Please refer to Figure 21, which illustrates the hardware structure of an electronic device according to another embodiment. The electronic device includes:

[0224] The processor 701 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0225] The memory 702 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 702 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 702 and is called and executed by the processor 701 using the path planning method of the embodiments of this application.

[0226] The input / output interface 703 is used to implement information input and output;

[0227] The communication interface 704 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0228] Bus 705 transmits information between various components of the device (e.g., processor 701, memory 702, input / output interface 703, and communication interface 704);

[0229] The processor 701, memory 702, input / output interface 703, and communication interface 704 are connected to each other within the device via bus 705.

[0230] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described path planning method.

[0231] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0232] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0233] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0234] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0235] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0236] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0237] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0238] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The coupling or direct coupling or communication connection between the shown or discussed units may be through some communication ports, and the indirect coupling or communication connection between the apparatus or units may be electrical, mechanical, or other forms.

[0239] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0240] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0241] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0242] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A path planning method, characterized in that, include: The mobile robot is controlled to move along a preset path. When it is determined that the mobile robot cannot move along the preset path, the current position of the mobile robot is obtained. The preset path is used to guide the mobile robot to move from a first area to a second area that is not connected to the first area. The preset path includes a first connecting path that connects the first area and the second area. Based on the current position of the mobile robot, determine whether it is necessary to close the first connection path; If the determination result indicates that the connection needs to be closed, the first connection path is closed, and the movement path of the mobile robot is replanned to guide the mobile robot from the current position to the second area, or to guide the mobile robot from the current position back to the first area.

2. The path planning method according to claim 1, characterized in that, The replanning of the mobile robot's movement path includes: Determine whether a second connecting path exists between the first region and the second region; If a second connecting path exists between the first region and the second region, the movement path through the second connecting path is replanned.

3. The path planning method according to claim 2, characterized in that, After determining whether a second connected path exists between the first region and the second region, the method further includes: If there is no second connecting path between the first area and the second area, and there are no other areas, the mobile robot is controlled to issue a message or voice prompt, which is used to prompt the user to remotely control the mobile robot to move from the first area to the second area.

4. The path planning method according to claim 2, characterized in that, The replanning of the second connected path includes the following movement path: Obtain the current location, the first endpoint on the second connected path located at the boundary of the first region, the second endpoint on the second connected path located at the boundary of the second region, and the target location; Plan a movement path that sequentially passes through the current location, the first endpoint, the second connecting path, the second endpoint, and the target location.

5. The path planning method according to claim 2, characterized in that, After determining whether a second connected path exists between the first region and the second region, the method further includes: If there is no second connecting path between the first region and the second region, determine whether there is a third region, wherein the third region has a third connecting path connecting to the first region and a fourth connecting path connecting to the second region. If the third region exists, replan the movement path through the third connecting path and the fourth connecting path.

6. The path planning method according to claim 5, characterized in that, The replanning path includes the movement paths of the third and fourth connected paths, including: The current position, the third endpoint on the third connected path located at the boundary of the first region, the third connected path, the fourth endpoint on the third connected path located at the boundary of the third region, the fifth endpoint on the fourth connected path located at the boundary of the third region, the fourth connected path, the sixth endpoint on the fourth connected path located at the boundary of the second region, and the target position are obtained. Plan a movement path that sequentially passes through the current location, the third endpoint, the third connecting path, the fourth endpoint, the fifth endpoint, the fourth connecting path, the sixth endpoint, and the target location.

7. The path planning method according to claim 2, characterized in that, After determining whether a second connected path exists between the first region and the second region, the method further includes: If there is no second connecting path between the first region and the second region, determine whether there are a third region and a fourth region, wherein the third region has a third connecting path connecting to the first region, and the fourth region has a fifth connecting path connecting to the second region, and the third connecting path and the fifth connecting path have an intersection point; If a third region and a fourth region exist, replan the movement paths of the third connecting path and the fifth connecting path as described in the pathway section.

8. The path planning method according to claim 7, characterized in that, The replanning path includes the movement paths of the third connected path and the fifth connected path, including: Obtain the current position, the third endpoint on the third connected path located at the boundary of the first region, part of the third connected path, the intersection point, part of the fifth connected path, the seventh endpoint on the fifth connected path located at the boundary of the second region, and the target position; The plan is to take a movement path that sequentially passes through the current position, the third endpoint, part of the third connected path, the intersection, part of the fifth connected path, the seventh endpoint, and the target position.

9. The path planning method according to any one of claims 2 to 8, characterized in that, After replanning the movement path of the mobile robot, the method further includes: Determine whether the movement path within each area is the boundary line of that area; If the movement path in each area is not the boundary line of the area, the movement path is adjusted so that the mobile robot moves along the boundary line when moving in each area.

10. The path planning method according to any one of claims 2 to 8, characterized in that, After replanning the movement path of the mobile robot, the method further includes: Control the mobile robot to move from the first area to the second area according to the movement path; After the mobile robot moves to the second area, the first connecting path is reopened so that the mobile robot can enter the first area via the first connecting path after completing its work in the second area.

11. The path planning method according to claim 10, characterized in that, After reopening the first connectivity path, the method further includes: If the mobile robot needs to return to the first area, control the mobile robot to enter the first area via the first connecting path; Determine whether the mobile robot has successfully traversed the first connected path; If the first connected path is not successfully traversed, then the first connected path is marked as an impassable path.

12. The path planning method according to claim 1, characterized in that, The step of determining whether to close the first connectivity path based on the current position of the mobile robot includes: If the mobile robot is located in the first area or the second area, there is no need to close the first connection path; If the mobile robot is located outside the first area and the second area, the first connection path needs to be closed.

13. The path planning method according to claim 1, characterized in that, Closing the first connectivity path includes: A restricted area is set on the working map of the mobile robot, wherein the restricted area includes the first connecting path; Alternatively, delete the first connected path; Alternatively, obstacles may be placed on the first connecting path.

14. The path planning method according to claim 1, characterized in that, After closing the first connectivity path, the method further includes: The information about closing the first connection path is shared with other mobile robots to prevent those other mobile robots from using the first connection path.

15. The path planning method according to claim 1, characterized in that, The determination that the mobile robot cannot move along the preset path includes: During the process of controlling the movement of the mobile robot, if there is an obstacle in front of the mobile robot, it is determined whether the obstacle hinders the movement of the mobile robot; If it is determined that the obstacle is preventing the mobile robot from moving, it is determined that the mobile robot cannot move along the preset path.

16. The path planning method according to claim 15, characterized in that, The step of determining whether the obstacle hinders the movement of the mobile robot includes: Control the mobile robot to reduce its speed and attempt to collide with the obstacle; If the mobile robot can continue to move along the preset path after colliding with the obstacle, it is determined that the obstacle does not hinder the movement of the mobile robot. If the mobile robot cannot continue moving along the preset path after colliding with the obstacle, it is determined that the obstacle is hindering the movement of the mobile robot.

17. The path planning method according to claim 15, characterized in that, After determining that the obstacle is hindering the movement of the mobile robot, the method further includes: Control the mobile robot to rotate and acquire first environmental information on the left side of the obstacle and / or second environmental information on the right side of the obstacle; Based on the first environmental information and / or the second environmental information, determine whether a detour is possible; If it is not possible to detour, then it is determined that the mobile robot cannot move along the preset path.

18. The path planning method according to claim 17, characterized in that, The step of determining whether a detour is possible based on the first environmental information and / or the second environmental information includes: Based on the first environmental information and / or the second environmental information, the environmental attributes on both sides of the obstacle are obtained; If the environmental attribute on one side of the obstacle is grass, then it is determined that it can be bypassed; If the environmental properties on both sides of the obstacle are not grassland, then it is determined that detour is not possible.

19. The path planning method according to claim 17 or 18, characterized in that, After determining that a detour is possible, the method further includes: If it is determined that a detour is possible, the mobile robot is controlled to detour around one side of the obstacle until the mobile robot resumes its movement along the preset path.

20. The path planning method according to claim 1, characterized in that, Guiding the mobile robot to return from its current location to the first area includes: Control the mobile robot to retreat a first preset distance; Control the mobile robot to turn around. During the turning process, the body of the mobile robot must not exceed a preset area. The preset area is the area formed by laterally extending the first connecting path by a second preset distance. Control the mobile robot to move along the preset path to the first area.

21. The path planning method according to claim 1, characterized in that, Before controlling the mobile robot to move along a preset path, the method further includes: When the mobile robot needs to move from the first area to the second area, the current position of the mobile robot, the target position of the mobile robot, and the first connecting path connecting the first area and the second area are obtained. Based on the current location, the target location, and the first connecting path, a preset path is planned for the mobile robot to move from the first area to the second area.

22. The path planning method according to claim 1, characterized in that, After guiding the mobile robot to move from its current location to the second area, the method further includes: Determine whether the mobile robot is located at the target location; If the mobile robot is not located at the target location, control the mobile robot to perform operations in the second area from the current location.

23. A path planning device, characterized in that, include: A robot movement control module is used to control a mobile robot to move along a preset path. When it is determined that the mobile robot cannot move along the preset path, the module obtains the current position of the mobile robot. The preset path is used to guide the mobile robot to move from a first area to a second area that is not connected to the first area. The preset path includes a first connecting path that connects the first area and the second area. The path closure determination module is used to determine whether the first connected path needs to be closed based on the current position of the mobile robot. The path planning module is used to close the first connected path and replan the movement path of the mobile robot if the determination result is that it needs to be closed, so as to guide the mobile robot to move from the current position to the second area, or guide the mobile robot to return from the current position to the first area.

24. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the method described in any one of claims 1 to 22.

25. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 22.

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