CN114564006A - Walking operation planning method, device, equipment and medium for mobile robot - Google Patents

Abstract

The invention relates to the field of artificial intelligence, and discloses a walking operation planning method of a mobile robot. coordinates to identify the current environmental parameters of the mobile robot to determine whether the mobile robot is in the expansion area in the walking operation map; if the mobile robot is not in the expansion area in the walking operation map, according to the walking path set in the mobile robot in advance, Execute the walking operation of the mobile robot; if the mobile robot is in the expansion area in the walking operation map, extract the coordinates of the obstacle in the expansion area, and update the walking path set in the mobile robot in advance according to the coordinates of the obstacle to execute the walking of the mobile robot. Operation. The invention can improve the safety of the mobile robot during walking operation.

Description

A walking operation planning method, device, equipment and medium of a mobile robot

technical field

The present invention relates to the field of artificial intelligence, and in particular, to a walking operation planning method, device, electronic device and computer-readable storage medium of a mobile robot.

Background technique

Autonomous navigation and getting out of trouble are the core algorithms in the field of mobile robots in recent years. Its research purpose is to enable mobile robots to autonomously plan an optimal path from the current position to the task target point in unknown or known environments, and at the same time. Let the mobile robot avoid dynamic obstacles during operation to ensure the safety of the robot.

At present, when a mobile robot performs a walking operation, it is usually implemented according to a pre-planned path navigation program. However, due to the error and complexity of the actual business scenario, the environment of the mobile robot during the walking operation may change, resulting in the path navigation program. An error occurs, which in turn affects the walking safety of the mobile robot.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present invention provides a walking operation planning method, device, electronic device and computer-readable storage medium of a mobile robot, which can improve the safety of the mobile robot during walking operation.

In a first aspect, the present invention provides a walking operation planning method for a mobile robot, including:

Locating the current position of the mobile robot in real time in the pre-built walking operation map, and extracting the position coordinates of the current position in the walking operation map;

Identify the current environmental parameters of the mobile robot according to the position coordinates;

According to the current environmental parameters, determine whether the mobile robot is in the expansion area in the walking operation map;

If the mobile robot is not in the expansion area in the walking operation map, perform the walking operation of the mobile robot according to the walking path set in the mobile robot in advance;

If the mobile robot is in the expansion area in the walking operation map, extract the coordinates of the obstacle in the expansion area, and update the walking path set in the mobile robot in advance according to the coordinates of the obstacle, so as to execute the Describe the walking operation of the mobile robot.

In a possible implementation manner of the first aspect, the real-time positioning of the current position of the mobile robot in the pre-built walking operation map includes:

Detecting the current visible area of the mobile robot in real time;

Identifying the area information of the current visible area in the walking operation map;

According to the area information, the current position of the mobile robot in the walking operation map is located.

In a possible implementation manner of the first aspect, the locating the current position of the mobile robot in the walking operation map according to the area information includes:

Mark the vertex position and the center position of the mobile robot in the walking operation map according to the area information;

According to the vertex position and the center position, the current position of the mobile robot in the traveling work map is generated.

In a possible implementation manner of the first aspect, the extracting the position coordinates of the current position in the traveling operation map includes:

Obtain the vertex position and the center position of the current position, calculate the coordinates of the vertex position and the center position according to the coordinate system constructed in the walking operation map in advance, and obtain the vertex coordinates and the center coordinate respectively;

According to the vertex coordinates and the center coordinates, the position coordinates of the current position in the traveling work map are generated.

In a possible implementation manner of the first aspect, the identifying the current environmental parameters of the mobile robot according to the position coordinates includes:

According to the vertex coordinates and the center coordinates in the position coordinates, the coordinates of the current visible area of the mobile robot are divided to obtain a plurality of divided areas;

The environmental information of each of the split areas is detected, and each of the environmental information is integrated to obtain the current environmental parameters of the mobile robot.

In a possible implementation manner of the first aspect, the judging whether the mobile robot is in the expansion area in the walking operation map according to the current environment parameter includes:

Identifying the current obstacle of the mobile robot according to the current environment parameter;

judging whether the current obstacle is in the walking operation map;

If the current obstacle is in the travel work map, the mobile robot is not in the expansion area in the travel work map;

If the current obstacle is not in the travel work map, the mobile robot is in the expansion area in the travel work map.

In a possible implementation manner of the first aspect, before executing the walking operation of the mobile robot according to the walking path preset in the mobile robot, the method further includes:

configure the walking rules in the mobile robot;

Create a walking navigation program of the mobile robot according to the walking rule;

The walking route is generated according to the walking navigation program.

In a second aspect, the present invention provides a walking operation planning device for a mobile robot, the device comprising:

a position coordinate extraction module, used for locating the current position of the mobile robot in real time in the pre-built walking operation map, and extracting the position coordinates of the current position in the walking operation map;

an environmental parameter identification module, configured to identify the current environmental parameters of the mobile robot according to the position coordinates;

an expansion area judgment module, configured to judge whether the mobile robot is in an expansion area in the walking operation map according to the current environmental parameter;

a walking operation execution module, configured to execute the walking operation of the mobile robot according to the walking path preset in the mobile robot when the mobile robot is not in the expansion area in the walking operation map;

The walking operation execution module is further configured to extract the coordinates of obstacles in the expansion area when the mobile robot is in the expansion area in the walking operation map, and update the coordinates of the obstacles in the expansion area in advance according to the coordinates of the obstacles. The walking path set in the mobile robot is used to execute the walking operation of the mobile robot.

In a third aspect, the present invention provides an electronic device, comprising:

at least one processor; and a memory communicatively coupled to the at least one processor;

Wherein, the memory stores a computer program executable by the at least one processor, so that the at least one processor can execute the method for planning a walking operation of a mobile robot according to any one of the above first aspects.

In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for planning a walking operation of a mobile robot according to any one of the above-mentioned first aspects.

Compared with the prior art, the technical principle and beneficial effects of this scheme are:

In this solution, by locating the current position of the mobile robot in the pre-built walking operation map in real time, and extracting the position coordinates of the current position in the walking operation map, it is possible to identify in real time whether the current environment of the mobile robot has changed, and ensure the movement of the robot. The premise of the safety of the robot's movement; according to the position coordinates, the current environmental parameters of the mobile robot are identified to determine whether the mobile robot is in the expansion area in the walking operation map, and different walking paths can be selected to perform the walking operation of the mobile robot to ensure The walking operation safety of the mobile robot; secondly, in the embodiment of the present invention, when the mobile robot is not in the expansion area in the walking operation map, the walking operation of the mobile robot is performed according to the walking path set in the mobile robot in advance, so as to realize all The walking operation of the mobile robot ensures the walking safety of the mobile robot, and when the mobile robot is in the expansion area in the walking operation map, the coordinates of the obstacles in the expansion area are extracted, and the coordinates of the obstacles in the mobile robot are updated in advance according to the coordinates of the obstacles. The walking path set in the mobile robot is used to perform the walking operation of the mobile robot, which can realize the autonomous avoidance of obstacles of the mobile robot and ensure the walking safety of the mobile robot. Therefore, the walking operation planning method, device, electronic device and storage medium of a mobile robot proposed by the embodiments of the present invention can improve the safety of the mobile robot during walking operation.

Description of drawings

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

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. In other words, on the premise of no creative labor, other drawings can also be obtained from these drawings.

1 is a schematic flowchart of a method for planning a walking operation of a mobile robot according to an embodiment of the present invention;

2 is a schematic flowchart of one step of a method for planning a walking operation of a mobile robot provided in FIG. 1 according to an embodiment of the present invention;

3 is a schematic flowchart of another step of a method for planning a walking operation of a mobile robot provided in FIG. 1 according to an embodiment of the present invention;

4 is a schematic block diagram of a walking operation planning device for a mobile robot according to an embodiment of the present invention;

5 is a schematic diagram of an internal structure of an electronic device for implementing a method for planning a walking operation of a mobile robot according to an embodiment of the present invention.

Detailed ways

It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

An embodiment of the present invention provides a method for planning a walking operation of a mobile robot. The execution subject of the method for planning a walking operation of a mobile robot includes, but is not limited to, a server, a terminal, and the like that can be configured to execute the method provided by the embodiment of the present invention. At least one of electronic devices. In other words, the method for planning the walking operation of the mobile robot may be executed by software or hardware installed in a terminal device or a server device, and the software may be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like. The server can be an independent server, or can provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery network (Content Delivery Network) , CDN), and cloud servers for basic cloud computing services such as big data and artificial intelligence platforms.

Referring to FIG. 1 , it is a schematic flowchart of a method for planning a walking operation of a mobile robot according to an embodiment of the present invention. Wherein, the walking operation planning method of the mobile robot described in FIG. 1 includes:

S1. Locating the current position of the mobile robot in real time in the pre-built walking operation map, and extracting the position coordinates of the current position in the walking operation map.

In this embodiment of the present invention, the pre-built walking operation map refers to an environment map that is pre-built by the mobile robot during the walking operation, which is generated based on different business scenarios. For example, for a sweeping scenario, the walking operation map may be A map of the area to be cleaned. For material transmission scenarios, the walking operation map can be a material transmission area map. The mobile robot refers to a machine device that can automatically perform work, such as a vegetable delivery robot, a sweeping robot, and a material conveying robot. It should be understood that However, due to the error and complexity of the actual business scenario, the environment of the walking operation will change, resulting in errors in the path navigation program. , which will affect the walking safety of the mobile robot. Therefore, in the embodiment of the present invention, by locating the current position of the mobile robot in real time, it is possible to identify in real time whether the current environment of the mobile robot has changed, so as to ensure the safety of the mobile robot. Safety prerequisites.

As an embodiment of the present invention, referring to FIG. 2 , the real-time positioning of the current position of the mobile robot in the pre-built walking operation map includes:

S201. Detect the current visible area of the mobile robot in real time;

S202, identifying the area information of the current visible area in the walking operation map;

S203. According to the area information, locate the current position of the mobile robot in the walking operation map.

Wherein, the current visible area refers to the field of view of the mobile robot, such as a front-view area, a rear-view area, etc., and the area information refers to the description information contained in the current visible area, such as area type , area attribute, area range, etc., the area location refers to the location information of the mobile robot in the walking operation map.

Further, in an optional embodiment of the present invention, the current visible area is detected by a depth camera sensor, so as to realize the collection of the area depth information of the mobile robot, and ensure the environmental recognition accuracy of the subsequent mobile robot.

Further, in an optional embodiment of the present invention, the identifying the area information of the current visible area in the walking operation map includes: comparing the current visible area with the walking operation map in the walking operation map. The area is matched, and the area information corresponding to the successfully matched walking area is used as the area information of the current visible area. Optionally, the current visible area and the walking area in the walking operation map are implemented by a similarity matching algorithm, such as a cosine similarity algorithm, a distance similarity algorithm, and the like.

Further, in an optional embodiment of the present invention, the locating the current position of the mobile robot in the walking operation map according to the area information includes: marking the location of the mobile robot according to the area information. The vertex position and the center position in the traveling work map are generated, and the current position of the mobile robot in the traveling work map is generated according to the vertex position and the center position. The vertex positions include an upper left position, a lower left position, an upper right position and a lower right position.

Further, in the embodiment of the present invention, the coordinate system of the mobile robot in the walking operation map is determined by extracting the position coordinates of the current position in the walking operation map, so as to facilitate the subsequent planning of the walking path of the mobile robot.

As an embodiment of the present invention, the extracting the position coordinates of the current position in the travel work map includes: acquiring the vertex position and the center position of the current position, according to the pre-construction in the travel work map coordinate system, calculate the coordinates of the vertex position and the center position, respectively obtain the vertex coordinates and the center coordinates; according to the vertex coordinates and the center coordinates, generate the position of the current position in the walking operation map coordinate.

Wherein, the coordinate system includes a two-dimensional coordinate system, which can be set to be obtained by constructing the horizontal and vertical axes of the walking operation map with the center position of the walking operation map as the origin, or can be set according to actual business scenarios.

S2. Identify the current environmental parameters of the mobile robot according to the position coordinates.

In the embodiment of the present invention, the current environment parameters of the mobile robot are identified according to the position coordinates, so as to ensure the precondition for identifying whether the mobile robot is in the expansion area.

As an embodiment of the present invention, referring to FIG. 3 , the identification of the current environmental parameters of the mobile robot according to the position coordinates includes:

S301. According to the vertex coordinates and the center coordinates in the position coordinates, the coordinates of the current visible area of the mobile robot are split to obtain a plurality of split areas;

S302. Detect the environmental information of each of the split areas, and integrate each of the environmental information to obtain the current environmental parameters of the mobile robot.

Wherein, the coordinate splitting of the current visible area is generated based on different business requirements. If there is a current visible area of a rectangular frame, the rectangular frame can be split according to the vertex coordinates and center coordinates in the position coordinates. There are four triangle areas, namely the first triangle area connected with the upper left, lower left and the center, the second triangle area connected by the upper left, upper right and the center, the third triangle area connected by the upper right, lower right and the center, the lower left, lower right and The fourth triangular area connected by the center; the environmental information refers to the walking position information where each of the split areas is located, such as obstacle information, noise information, and the like.

Further, in an optional embodiment of the present invention, the environmental information of the split area is realized by a laser detector, so as to ensure the comprehensiveness of the detection of the environmental information.

Further, in an optional embodiment of the present invention, the integrating each of the environmental information to obtain the current environmental parameters of the mobile robot includes: extracting environmental characteristics of each of the environmental information, The environmental characteristics are summarized to obtain the current environmental parameters of the mobile robot. The environmental feature refers to attribute information used to characterize the environmental information. By extracting the environmental feature, some useless information in the environmental information can be filtered out, thereby improving the processing efficiency of subsequent data.

S3. According to the current environment parameter, determine whether the mobile robot is in the expansion area in the walking operation map.

In the embodiment of the present invention, the expansion area refers to an area where there are obstacles that are not marked on the pre-built walking operation map in advance, and the obstacles refer to objects that affect the planning of the walking operation path of the mobile robot. Therefore, In the embodiment of the present invention, according to the current environmental parameters, it is determined whether the mobile robot is in the expansion area in the walking operation map, so as to select different walking paths to execute the walking operation of the mobile robot, so as to ensure the safety of the mobile robot. Safety of walking operations.

As an embodiment of the present invention, determining whether the mobile robot is in an expansion area in the walking operation map according to the current environmental parameters includes: identifying the current environmental parameters of the mobile robot according to the current environmental parameters. obstacle, to determine whether the current obstacle is in the walking operation map, if the current obstacle is in the walking operation map, the mobile robot is not in the expansion area in the walking operation map, if If the current obstacle is not in the travel work map, the mobile robot is in the expansion area in the travel work map.

S4. If the mobile robot is not in the expansion area in the walking operation map, perform the walking operation of the mobile robot according to the walking path set in the mobile robot in advance.

It should be understood that, when the mobile robot is not in the expansion area in the walking operation map, the information indicating the current position of the mobile robot has been marked in the walking operation map in advance. Therefore, in the embodiment of the present invention, the The walking operation of the mobile robot is performed according to the walking path set in the mobile robot in advance, so as to realize the walking operation of the mobile robot and ensure the walking safety of the mobile robot.

Further, in the embodiment of the present invention, before executing the walking operation of the mobile robot according to the walking path preset in the mobile robot, the method further includes: configuring a walking rule in the mobile robot, according to the A walking rule is used to create a walking navigation program of the mobile robot, and the walking path is generated according to the walking navigation program.

Wherein, the walking rule refers to the walking strategy adopted by the mobile robot in the walking process, such as the walking path size, walking direction, and walking distance, etc., and the walking navigation program refers to the automatic execution of the mobile robot. A walking tool, which can be compiled from a programming language, such as Python.

S5. If the mobile robot is in the expansion area in the walking operation map, extract the coordinates of the obstacle in the expansion area, and update the walking path set in the mobile robot in advance according to the coordinates of the obstacle, so as to A walking operation of the mobile robot is performed.

It should be understood that when the mobile robot is in the expansion area in the walking operation map, the information indicating the current position of the mobile robot is not marked in the walking operation map in advance. The coordinates of the obstacles in the expansion area are used to update the walking path set in the mobile robot in advance, so as to realize the autonomous avoidance of the obstacles of the mobile robot and ensure the walking safety of the mobile robot.

It should be noted that, in this embodiment of the present invention, the method for extracting the coordinates of the obstacle is the same as the method for extracting the position coordinates, which will not be further described here.

Further, as an embodiment of the present invention, the updating of the walking path preset in the mobile robot according to the coordinates of the obstacles includes: acquiring the obstacles of the mobile robot according to the coordinates of the obstacles information, and update the walking rules in the walking path according to the obstacle information.

Further, the embodiment of the present invention executes the walking operation of the mobile robot according to the updated walking path.

It can be seen that, in the embodiment of the present invention, by locating the current position of the mobile robot in real time in the pre-built walking operation map, and extracting the position coordinates of the current position in the walking operation map, it is possible to identify in real time whether the current environment of the mobile robot is not. Changes are generated to ensure the safety of the mobile robot's behavior; according to the position coordinates, the current environmental parameters of the mobile robot are identified to determine whether the mobile robot is in the expansion area in the walking operation map, and different walking paths can be selected to execute the described The walking operation of the mobile robot ensures the safety of the walking operation of the mobile robot; secondly, in the embodiment of the present invention, when the mobile robot is not in the expansion area in the walking operation map, the mobile robot is executed according to the walking path set in advance in the mobile robot. In order to realize the walking operation of the mobile robot, ensure the walking safety of the mobile robot, and when the mobile robot is in the expansion area in the walking operation map, extract the coordinates of the obstacles in the expansion area, according to the obstacles Coordinates, update the walking path pre-set in the mobile robot, so as to execute the walking operation of the mobile robot, can realize the autonomous avoidance of obstacles of the mobile robot, and ensure the walking safety of the mobile robot. Therefore, the walking operation planning method for a mobile robot proposed in the embodiment of the present invention can improve the safety of the mobile robot during walking operation.

As shown in FIG. 4 , it is a functional block diagram of the traveling operation planning device of the mobile robot according to the present invention.

The walking operation planning device 400 of the mobile robot according to the present invention can be installed in an electronic device. According to the realized functions, the walking operation planning device of the mobile robot may include a position coordinate extraction module 401 , an environmental parameter identification module 402 , an expansion area determination module 403 and a walking operation execution module 404 . The modules in the present invention can also be called units, which refer to a series of computer program segments that can be executed by the electronic device processor and can perform fixed functions, and are stored in the memory of the electronic device.

In this embodiment of the present invention, the functions of each module/unit are as follows:

The position coordinate extraction module 401 is used to locate the current position of the mobile robot in real time in the pre-built walking operation map, and extract the position coordinates of the current position in the walking operation map;

The environmental parameter identification module 402 is configured to identify the current environmental parameters of the mobile robot according to the position coordinates;

The expansion area judgment module 403 is configured to judge whether the mobile robot is in the expansion area in the walking operation map according to the current environmental parameters;

The walking operation execution module 404 is configured to execute the walking operation of the mobile robot according to the walking path preset in the mobile robot when the mobile robot is not in the expansion area in the walking operation map;

The walking operation execution module 404 is further configured to extract the coordinates of obstacles in the expansion area when the mobile robot is in the expansion area in the walking operation map, and update the coordinates of the obstacles in the expansion area in advance according to the coordinates of the obstacles. The walking path set in the mobile robot is used to execute the walking operation of the mobile robot.

In detail, the modules in the mobile robot walking operation planning device 400 in the embodiment of the present invention use the same technology as the mobile robot walking operation planning method described in FIG. 1 to FIG. 3 above. means, and can produce the same technical effect, which will not be repeated here.

As shown in FIG. 5 , it is a schematic structural diagram of an electronic device for implementing a method for planning a walking operation of a mobile robot according to the present invention.

The electronic device may include a processor 50, a memory 51, a communication bus 52, and a communication interface 53, and may also include a computer program stored in the memory 51 and executable on the processor 50, such as the walking of a mobile robot. Job planner.

The processor 50 may be composed of integrated circuits in some embodiments, for example, may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits packaged with the same function or different functions, including one or A combination of multiple central processing units (Central Processing Units, CPUs), microprocessors, digital processing chips, graphics processors, and various control chips, etc. The processor 50 is the control core (ControlUnit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and by running or executing programs or modules stored in the memory 51 (for example, executing mobile The walking operation planning program of the robot, etc.), and the data stored in the memory 51 is called to execute various functions of the electronic device and process the data.

The memory 51 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example: SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. . In some embodiments, the memory 51 may be an internal storage unit of an electronic device, such as a mobile hard disk of the electronic device. In other embodiments, the memory 51 may also be an external storage device of the electronic device, such as a pluggable mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the electronic device. ) card, flash card (Flash Card) and so on. Further, the memory 51 may also include both an internal storage unit of an electronic device and an external storage device. The memory 51 can not only be used to store application software installed in the electronic device and various data, such as the code of the mobile robot's walking operation planning program, etc., but also can be used to temporarily store data that has been output or will be output.

The communication bus 52 may be a peripheral component interconnect (PCI for short) bus or an extended industry standard architecture (EISA for short) bus or the like. The bus can be divided into address bus, data bus, control bus and so on. The bus is configured to implement connection communication between the memory 51 and at least one processor 50 and the like.

The communication interface 53 is used for communication between the above electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and/or a wireless interface (eg, a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)), and optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, and the like. The display may also be appropriately called a display screen or a display unit, which is used for displaying information processed in the electronic device and for displaying a visual user interface.

FIG. 5 only shows an electronic device with components. Those skilled in the art can understand that the structure shown in FIG. 5 does not constitute a limitation on the electronic device, and may include fewer or more components than those shown in the drawings. , or a combination of certain components, or a different arrangement of components.

For example, although not shown, the electronic device may also include a power source (such as a battery) for powering the various components, preferably, the power source may be logically connected to the at least one processor 50 through a power management device, so that the power source can be logically connected to the at least one processor 50 through a power management device. Implement functions such as charge management, discharge management, and power management. The power source may also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and any other components. The electronic device may further include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

It should be understood that the embodiments are only used for illustration, and are not limited by this structure in the scope of the patented invention.

The walking operation planning program of the mobile robot stored in the memory 51 in the electronic device is a combination of multiple computer programs. When running in the processor 50, it can realize:

Locating the current position of the mobile robot in real time in the pre-built walking operation map, and extracting the position coordinates of the current position in the walking operation map;

Identify the current environmental parameters of the mobile robot according to the position coordinates;

According to the current environmental parameters, determine whether the mobile robot is in the expansion area in the walking operation map;

If the mobile robot is not in the expansion area in the walking operation map, perform the walking operation of the mobile robot according to the walking path set in the mobile robot in advance;

If the mobile robot is in the expansion area in the walking operation map, extract the coordinates of the obstacle in the expansion area, and update the walking path set in the mobile robot in advance according to the coordinates of the obstacle, so as to execute the Describe the walking operation of the mobile robot.

Specifically, for the specific implementation method of the above-mentioned computer program by the processor 50, reference may be made to the description of the relevant steps in the corresponding embodiment of FIG. 1, and details are not described herein.

Further, if the modules/units integrated in the electronic device are implemented in the form of software functional units and sold or used as independent products, they may be stored in a non-volatile computer-readable storage medium. The computer-readable storage medium may be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM, Read-Only). Memory).

The present invention also provides a computer-readable storage medium, where the readable storage medium stores a computer program, and when executed by a processor of an electronic device, the computer program can realize:

Locating the current position of the mobile robot in real time in the pre-built walking operation map, and extracting the position coordinates of the current position in the walking operation map;

Identify the current environmental parameters of the mobile robot according to the position coordinates;

According to the current environmental parameters, determine whether the mobile robot is in the expansion area in the walking operation map;

If the mobile robot is not in the expansion area in the walking operation map, perform the walking operation of the mobile robot according to the walking path set in the mobile robot in advance;

If the mobile robot is in the expansion area in the walking operation map, extract the coordinates of the obstacle in the expansion area, and update the walking path set in the mobile robot in advance according to the coordinates of the obstacle, so as to execute the Describe the walking operation of the mobile robot.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and there may be other division manners in actual implementation.

The modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of hardware plus software function modules.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention.

Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

It should be noted that, in this document, relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The above descriptions are only specific embodiments of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method for planning a walking operation of a mobile robot, the method comprising:

positioning the current position of the mobile robot in real time in a pre-constructed walking operation map, and extracting the position coordinate of the current position in the walking operation map;

identifying the current environment parameters of the mobile robot according to the position coordinates;

judging whether the mobile robot is in an expansion area in the walking operation map or not according to the current environment parameters;

if the mobile robot is not in the expansion area in the walking operation map, executing the walking operation of the mobile robot according to a walking path preset in the mobile robot;

and if the mobile robot is in an expansion area in the walking operation map, extracting the coordinates of the obstacles in the expansion area, and updating a walking path preset in the mobile robot according to the coordinates of the obstacles so as to execute the walking operation of the mobile robot.

2. The method of claim 1, wherein locating the current position of the mobile robot in real time in the pre-constructed walking job map comprises:

detecting a current visible area of the mobile robot in real time;

identifying area information of the current visible area in the walking operation map;

and positioning the current position of the mobile robot in the walking operation map according to the area information.

3. The method of claim 2, wherein said locating the current position of the mobile robot in the walking job map based on the zone information comprises:

marking the vertex position and the central position of the mobile robot in the walking operation map according to the area information;

and generating the current position of the mobile robot in the walking operation map according to the vertex position and the central position.

4. The method according to claim 1, wherein the extracting the position coordinates of the current position in the walking job map comprises:

acquiring a vertex position and a central position of the current position, calculating coordinates of the vertex position and the central position according to a coordinate system constructed in the walking operation map in advance, and respectively obtaining a vertex coordinate and a central coordinate;

and generating the position coordinate of the current position in the walking operation map according to the vertex coordinate and the center coordinate.

5. The method of claim 1, wherein identifying current environmental parameters of the mobile robot based on the location coordinates comprises:

according to the vertex coordinates and the center coordinates in the position coordinates, carrying out coordinate splitting on the current visible area of the mobile robot to obtain a plurality of split areas;

and detecting the environmental information of each splitting area, and integrating each environmental information to obtain the current environmental parameters of the mobile robot.

6. The method according to any one of claims 1 to 5, wherein the determining whether the mobile robot is in an expansion area in the walking job map according to the current environmental parameters comprises:

identifying a current obstacle of the mobile robot according to the current environment parameter;

judging whether the current barrier is in the walking operation map or not;

if the current obstacle is in the walking operation map, the mobile robot is not in an expansion area in the walking operation map;

and if the current obstacle is not located in the walking operation map, the mobile robot is located in an expansion area in the walking operation map.

7. The method according to claim 1, wherein before the performing the walking operation of the mobile robot according to the walking path set in advance in the mobile robot, the method further comprises:

configuring a walking rule in the mobile robot;

according to the walking rule, a walking navigation program of the mobile robot is created;

and generating the walking path according to the walking navigation program.

8. A walking job planning apparatus for a mobile robot, the apparatus comprising:

the position coordinate extraction module is used for positioning the current position of the mobile robot in real time in a pre-constructed walking operation map and extracting the position coordinate of the current position in the walking operation map;

the environment parameter identification module is used for identifying the current environment parameters of the mobile robot according to the position coordinates;

the expansion area judging module is used for judging whether the mobile robot is in an expansion area in the walking operation map or not according to the current environment parameters;

a walking operation executing module, configured to execute a walking operation of the mobile robot according to a walking path preset in the mobile robot when the mobile robot is not in an expansion area in the walking operation map;

the walking operation executing module is further configured to, when the mobile robot is located in an expansion area in the walking operation map, extract coordinates of an obstacle in the expansion area, and update a walking path preset in the mobile robot according to the coordinates of the obstacle, so as to execute walking operation of the mobile robot.

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and (c) a second step of,

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of planning a walking task of a mobile robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements a method for planning a walking task for a mobile robot according to any one of claims 1 to 7.

Images