Autonomous robot, moving path planning method and apparatus therefor, and storage medium

Patent metadata

Field	Value
Publication number	US-12235649-B2
Application number	US-202017764138-A
Country	US
Kind code	B2
Filing date	Sep 25, 2020
Priority date	Sep 27, 2019
Publication date	Feb 25, 2025
Grant date	Feb 25, 2025

Abstract

Embodiments of this specification provide an autonomous robot, a moving path planning method and apparatus therefor, and a storage medium. The method includes: obtaining terrain distribution information of a target working area; determining, according to the terrain distribution information, whether a slope area exists in the target working area; and determining, if a slope area exists in the target working area, a width value between adjacent path segments according to the terrain distribution information during planning of a moving path in the slope area, to keep a work overlap value between the adjacent path segments within a specified range.

First claim

What is claimed is:

1. A moving path planning method for an autonomous robot comprising:
determining that a slope exists at a current position point;
adjusting a width value between a path segment where the current position point is located and a next path segment according to the slope, to keep a work overlap value between adjacent path segments within a specified range, the adjusting including:
adjusting, according to the slope, the width value between the path segment where the current position point is located and the next path segment, to enable an adjusted width value to be less than or equal to a ratio of a width between the adjacent path segments in a flat area to a cosine of a slope angle of the slope; and

controlling the autonomous robot to move along the next path segment.

2. The moving path planning method for the autonomous robot according to claim 1 , wherein when the slope is greater than or equal to 10°, the work overlap value between the adjacent path segments is greater than or equal to 1 cm and less than or equal to 5 cm.

3. A moving path planning method for an autonomous robot comprising:
obtaining terrain distribution information of a target working area;
determining, according to the terrain distribution information that a slope area exists in the target working area;
adjusting a width value between adjacent path segments according to the terrain distribution information during planning of a moving path in the slope area, to keep a work overlap value between the adjacent path segments within a specified range, the adjusting including:
adjusting, according to a slope of the slope area, the width value between the adjacent path segments, to enable an adjusted width value to be less than or equal to a ratio of a width between the adjacent path segments in a flat area to a cosine of a slope angle of the slope; and

controlling the autonomous robot to move along the slope area.

4. The moving path planning method for the autonomous robot according to claim 3 , wherein the terrain distribution information comprises at least one of: slope distribution information, absolute height distribution information, relative height difference distribution information, or height change rate distribution information.

5. The moving path planning method for the autonomous robot according to claim 3 , wherein the determining, according to the terrain distribution information, that the slope area exists in the target working area comprises:
determining that a slope angle value of the target working area reaches a first slope angle value; and
determining that the slope area exists in the target working area.

6. The moving path planning method for the autonomous robot according to claim 5 , wherein the adjusting the width value between the adjacent path segments comprises:
adjusting the width value between the adjacent path segments according to a slope angle value of each location point on the adjacent path segments and a working width of the autonomous robot.

7. The moving path planning method for the autonomous robot according to claim 5 , wherein the moving path planning method further comprises:
determining a gradient direction of the slope area;
determining that a slope angle value corresponding to the gradient direction exceeds a second slope angle value, wherein the second slope angle value is greater than the first slope angle value; and
keeping an angle between a moving direction of a moving path and the gradient direction within a specified angle range during planning of the moving path in the slope area.

8. The moving path planning method for the autonomous robot according to claim 7 , wherein the keeping the angle between the moving direction of the moving path and the gradient direction within the specified angle range comprises:
making the angle between the moving direction of the moving path and the gradient direction be a specified value.

9. The moving path planning method for the autonomous robot according to claim 7 , wherein the moving path planning method further comprises:
determining that the slope angle value corresponding to the gradient direction does not exceed the second slope angle value; and
using a default moving direction as the moving direction of the moving path during planning of the moving path in the slope area.

10. The moving path planning method for the autonomous robot according to claim 3 , wherein the obtaining the terrain distribution information of the target working area comprises:
acquiring the terrain distribution information of the target working area in a process of making the autonomous robot traverse the target working area.

11. The moving path planning method for the autonomous robot according to claim 3 , wherein the terrain distribution information of the target working area comprises:
a uniform slope distribution map of the target working area.

12. An autonomous robot comprising:
one or more processors; and
one or more memories storing thereon computer program instructions that, when executed by the one or more processors, cause the one or more processors to perform acts comprising:
determining that a slope exists at a current position point;
adjusting a width value between a path segment where the current position point is located and a next path segment according to the slope, to keep a work overlap value between adjacent path segments within a specified range, the adjusting including:
adjusting, according to the slope, the width value between the path segment where the current position point is located and the next path segment, to enable an adjusted width value to be less than or equal to a ratio of a width between the adjacent path segments in a flat area to a cosine of a slope angle of the slope; and

controlling the autonomous robot to move along the next path segment.

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming

Classifications

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• G05D1/227

  Handing over between remote control and on-board control; Handing over between remote control arrangements · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• G05D1/0219 Primary

  ensuring the processing of the whole working surface · CPC title