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

Patent metadata

Field	Value
Publication number	US-2022390953-A1
Application number	US-202017764138-A
Country	US
Kind code	A1
Filing date	Sep 25, 2020
Priority date	Sep 27, 2019
Publication date	Dec 8, 2022
Grant date	—

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

1 - 13 . (canceled)

14 . A moving path planning method for an autonomous robot, comprising:
determining whether a slope exists at a current position point; and adjusting, if there is a slope, when the next moving path corresponding to the current position point is planned, a width value between a path segment where the current position point is located and the next path segment according to the slope, to keep a work overlap value between the adjacent path segments within a specified range.

15 . The moving path planning method for an autonomous robot according to claim 14 , 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.

16 . The moving path planning method for an autonomous robot according to claim 14 , wherein the adjusting, a width value between a path segment where the current position point is located and the next path segment according to the slope comprises: adjusting, according to the slope, the width value between the path segment at which 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 value of a width between adjacent path segments in a flat area and a cosine of a slope angle.

17 . The moving path planning method for an autonomous robot according to claim 14 , wherein the determining whether a slope exists at a current position point comprises:
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 adjusting, if there is a slope, when the next moving path corresponding to the current position point is planned, a width value between a path segment where the current position point is located and the next path segment according to the slope comprises: adjusting, 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.

18 . The moving path planning method for an autonomous robot according to claim 17 , wherein the terrain distribution information comprises at least one of the following: slope distribution information, absolute height distribution information, relative height difference distribution information, or height change rate distribution information.

19 . The moving path planning method for an autonomous robot according to claim 17 , wherein the determining, according to the terrain distribution information, whether a slope area exists in the target working area comprises:
determining, according to whether a slope angle value of the target working area reaches a first slope angle value, whether a slope area exists in the target working area.

20 . The moving path planning method for an autonomous robot according to claim 19 , wherein the adjusting a width value between adjacent path segments according to the slope distribution information 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.

21 . The moving path planning method for an autonomous robot according to claim 19 , wherein the method further comprises:
when a slope area exists in the target working area, determining a gradient direction of the slope area; determining whether 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 if the slope angle value corresponding to the gradient direction exceeds the second slope angle value, keeping an angle between a moving direction of the moving path and the gradient direction within a specified angle range during planning of the moving path in the slope area.

22 . The moving path planning method for an autonomous robot according to claim 21 , wherein the keeping an angle between a moving direction of the moving path and the gradient direction within a specified angle range comprises:
making the angle between the moving direction of the moving path and the gradient direction be a specified value.

23 . The moving path planning method for an autonomous robot according to claim 21 , wherein the method further comprises:
if the slope angle value corresponding to the gradient direction does not exceed the second slope angle value, using a default moving direction as the moving direction of the moving path during planning of the moving path in the slope area.

24 . The moving path planning method for an autonomous robot according to claim 17 , wherein the obtaining terrain distribution information of a 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.

25 . The moving path planning method for an autonomous robot according to claim 17 , wherein the terrain distribution information of the target working area comprises:
a uniform slope distribution map of the target working area.

26 . A moving path planning apparatus for an autonomous robot, wherein comprising:
a terrain information obtaining module, configured to obtain terrain distribution information of a target working area; a slope area determining module, configured to determine, according to the terrain distribution information, whether a slope area exists in the target working area; and a moving path planning module, configured to determine, 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.

27 . An autonomous robot, wherein the autonomous robot is configured to:
determine whether a slope exists at a current position point; and adjust, if there is a slope, when the next moving path corresponding to the current position point is planned, a width value between a path segment where the current position point is located and the next path segment according to the slope, to keep a work overlap value between the adjacent path segments within a specified range.

Assignees

• Positec Power Tools Suzhou Co Ltd

Inventors

• He Mingming

Classifications

• G05D1/0088

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

• G05D1/0219 Primary

  ensuring the processing of the whole working surface · CPC title

• 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

• G05D1/0212 Primary

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title