CN111938512A - Inflection point selection method of robot navigation path, chip and robot - Google Patents
Inflection point selection method of robot navigation path, chip and robot Download PDFInfo
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- 238000010187 selection method Methods 0.000 title claims description 17
- 238000000034 method Methods 0.000 claims abstract description 18
- 230000006870 function Effects 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention discloses a method for selecting an inflection point of a robot navigation path, a chip and a robot, wherein the method for selecting the inflection point comprises the following steps: selecting a target inflection point from the navigation path, and then selecting a preset inflection point meeting a guidance condition by respectively judging whether the target inflection point and one or two inflection points which are sequentially arranged along the navigation advancing direction of the navigation path from the target inflection point exist the final navigation target point; wherein the navigation advancing direction of the navigation path is a robot navigation direction for guiding the robot to move to the final navigation target point; and the final navigation target point belongs to the end point of the navigation path. According to the technical scheme, representative inflection points capable of guiding the robot to move back to the navigation path are screened out by judging whether the three inflection points continuously arranged on the navigation path of the robot have the end point of the navigation path.
Description
Technical Field
The invention relates to the technical field of robot navigation, in particular to a method for selecting an inflection point of a robot navigation path, a chip and a robot.
Background
The navigation of the robot is controlled by controlling the robot to walk from one coordinate point to another coordinate point of the map, generally, a path is searched from the map, and then the robot walks according to the path until reaching a target point. However, in the existing visual floor sweeping robot, due to factors such as insufficient map precision, inaccurate map obstacle marking, inaccurate tracking path of the navigation robot, and the like, the robot is prone to deviating from an original navigation target direction in the navigation process, so that the following robot deviates from the navigation path more and more, and the navigation efficiency of the robot is affected.
Disclosure of Invention
In order to solve the technical problem, the invention discloses an inflection point selection method of a robot navigation path, a chip and a robot. The specific technical scheme is as follows:
a method of inflection point selection for a robot navigation path, comprising: selecting preset inflection points meeting guiding conditions on a preset navigation path, so that the preset inflection points meeting the guiding conditions are used for guiding a robot deviating from the navigation path to return to the navigation advancing direction of the navigation path; wherein, the robot is provided with a navigation path formed by connecting inflection points in advance. The robot is prevented from deviating too far from the final navigation target point, the efficient autonomous navigation function of the robot is realized, and the intelligent level of the robot is improved.
Further, the method for selecting a preset inflection point meeting the guidance condition on the preset navigation path specifically includes: selecting a target inflection point from the navigation path, and then selecting a preset inflection point meeting a guidance condition by respectively judging whether the target inflection point and one or two inflection points which are sequentially arranged along the navigation advancing direction of the navigation path from the target inflection point exist the final navigation target point; wherein the navigation advancing direction of the navigation path is a robot navigation direction for guiding the robot to move to the final navigation target point; and the final navigation target point belongs to the end point of the navigation path. According to the technical scheme, representative inflection points capable of guiding the robot to move to the navigation path are screened out by judging whether the three inflection points continuously arranged on the navigation path of the robot have the end point of the navigation path.
Further, a specific method for selecting a target inflection point on the navigation path includes: establishing an inflection point comparison area which is formed by grid coordinates and takes the current position of the robot as the center, and the maximum distance between the inflection point comparison area and the current position of the robot is a first preset distance threshold value, wherein the current position of the robot is not on the navigation path; when the inflection point comparison area has only one inflection point, selecting the inflection point as the target inflection point; when two or more inflection points exist in the inflection point comparison area, selecting an inflection point closest to the final navigation target point along the navigation advancing direction of the navigation path from the inflection points which are less than a first preset distance threshold value and located at the current position of the robot, and recording the inflection point as the target inflection point; when the inflection point comparison area does not have the inflection point, selecting an inflection point adjacent to the latest marked target inflection point of the robot on the navigation path along the navigation advancing direction of the navigation path to be marked as a new target inflection point. The target inflection point selected by the technical scheme has the function of guiding the robot to move from the current position outside the navigation path to the end point direction of the navigation path in the local navigation area.
Further, when it is determined that the final navigation target point does not exist in two inflection points successively provided along a navigation advancing direction of the navigation path from the target inflection point, determining the preset inflection point satisfying the guidance condition includes: the target inflection point, and two inflection points that are disposed one after another on the navigation path from this target inflection point along a navigation proceeding direction of the navigation path; when it is determined that a first inflection point or a second inflection point continuously provided from the target inflection point along a navigation proceeding direction of the navigation path is the final navigation target point, determining the preset inflection point satisfying the guidance condition includes: all inflection points arranged from the target inflection point to the final navigation target point along a navigation proceeding direction of the navigation path on the navigation path, wherein the target inflection point and the final navigation target point are also included; a first inflection point is disposed adjacent to the target inflection point in a navigation forward direction of the navigation path, and a second inflection point is disposed adjacent to the first inflection point in the navigation forward direction of the navigation path; and when the target inflection point selected on the navigation path is judged to be the final navigation target point, determining that the preset inflection point meeting the guiding condition is only the final navigation target point. The preset inflection point meeting the guiding condition disclosed by the technical scheme can represent the navigation direction characteristic of the navigation path, and influence factors of the end point of the navigation path are fully considered, so that the calculated amount of the control robot for returning to the navigation path is simplified.
Furthermore, the navigation path is formed by connecting a group of sequentially distributed inflection points, and the planning serial numbers of the set inflection points are sequentially increased in the navigation advancing direction of the navigation path corresponding to the starting point of the navigation path to the end point of the navigation path; the planning sequence numbers of the preset inflection points meeting the guiding conditions are sequentially increased, and inflection points smaller than the planning sequence number of the target inflection point are marked as the inflection points traversed by the robot; and the planning sequence number of the final navigation target point is the largest, so that the planning sequence number corresponding to the inflection point which is closer to the final navigation target point in the navigation advancing direction of the navigation path is larger. According to the technical scheme, all inflection points on the navigation path are sorted and distinguished in a numbering mode, so that system software can conveniently identify and process the inflection points, and the selection of the preset inflection points meeting the guiding conditions is accelerated.
Further, the robot starts navigation from the current position deviating from the navigation path and firstly moves to a target inflection point included in a preset inflection point meeting a guiding condition; then, controlling the robot to traverse the inflection point of the planning sequence number larger than the target inflection point from small to large according to the size relation of the planning sequence number; when the distance between the current position of the robot and the target inflection point is smaller than a second preset distance threshold value, determining that the robot moves to the target inflection point; the second preset distance threshold value is smaller than the first preset distance threshold value. Based on the preset inflection point meeting the guiding condition selected by the technical scheme, the technical scheme corrects the advancing direction of the robot to the navigation advancing direction of the navigation path by controlling the robot to move to the target inflection point, so that the efficiency of traversing the inflection point by the robot navigation is improved.
Further, the target inflection point is disposed in front of a body of the robot. And effectively controlling the robot to return to the navigation path.
Further, the final navigation target point is a last inflection point of the navigation path. Thereby determining the position where the robot stopped navigating.
A chip having stored thereon program code which, when executed by the chip, implements the knee selection method.
A robot provided with the chip, the robot being configured to perform the inflection point selection method.
Drawings
Fig. 1 is a flowchart of a method for selecting an inflection point of a robot navigation path according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating specific steps for selecting a target inflection point on the navigation path according to another embodiment of the present invention.
Fig. 3 is a flowchart illustrating a determining step of determining the predetermined inflection point satisfying the guiding condition according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
An embodiment of the present invention discloses a method for selecting an inflection point of a robot navigation path, as shown in fig. 1, including:
and S101, the robot is preset with a navigation path formed by connecting inflection points, the inflection points are used for guiding the robot to move to a final navigation target point, and the target inflection point is selected from the preset navigation path. Then, the step S102 is carried out; the target inflection point belongs to an inflection point on a navigation path, and one target inflection point is selected and obtained from the navigation path every time step S101 is executed. When the current position of the robot is refreshed, the target inflection point is also changed, and finally the current position of the robot returns to the navigation path from outside the navigation path.
It should be noted that the navigation path is calculated before the robot travels, the navigation path in the grid map is formed by connecting a plurality of line segments, and the line segments intersect at an inflection point, so that the navigation path of the grid map can be described by the inflection point, therefore, in the process that the robot advances along the navigation path, the robot traverses the next inflection point in the same navigation path from the current inflection point in one navigation direction until the robot advances to the final navigation target point, but the robot stops traveling along the navigation path due to collision with the obstacle and then advances in a direction deviating from the set navigation path to bypass the obstacle, for example, the robot starts an edgewise traveling mode, so that the robot travels in the edgewise direction deviating from the navigation path after colliding with the obstacle to achieve obstacle crossing. In this case, the robot deviating from the navigation path needs to be guided to return to the navigation heading direction of the navigation path, and in this embodiment, the robot is moved to the target inflection point or other equivalent inflection points by adjusting the heading direction of the robot, so as to exit the edge-wise obstacle detouring path and switch back to the navigation path.
Step S102, selecting preset inflection points meeting guiding conditions by respectively judging whether the target inflection point and one or two inflection points which are sequentially arranged along the navigation advancing direction of the navigation path have the final navigation target point, so that the preset inflection points meeting the guiding conditions are used for guiding the robot deviating from the navigation path to return to the navigation advancing direction of the navigation path; wherein the navigation advancing direction of the navigation path is a robot navigation direction for guiding the robot to move to the final navigation target point; an inflection point belonging to said navigation path; the preset inflection point satisfying the guidance condition is a set of inflection points satisfying the navigation constraint condition. In the embodiment, representative inflection points capable of guiding the robot to move back to the navigation path (or the final navigation target point) are screened out by judging whether the three inflection points continuously arranged on the navigation path of the robot have the end point of the navigation path. The robot is prevented from deviating too far from the navigation path, the high-efficiency autonomous navigation function of the robot is realized, and the intelligent level of the robot is improved.
Preferably, all inflection points on the navigation path are numbered, the planned sequence number of the starting point of the navigation path is 0, the planned sequence numbers of the following inflection points are sequentially accumulated, and the planned sequence number of the end point of the navigation path is kept the maximum. Specifically, the navigation path is formed by connecting a group of sequentially distributed inflection points, and the planning serial numbers of the set inflection points are sequentially increased in the navigation advancing direction of the navigation path corresponding to the starting point of the navigation path to the end point of the navigation path; the planning sequence numbers of the preset inflection points meeting the guiding conditions are sequentially increased, and inflection points smaller than the planning sequence number of the target inflection point are marked as the inflection points traversed by the robot; since the planned sequence number of the final navigation target point is the largest, the planned sequence number corresponding to the inflection point which is closer to the final navigation target point in the navigation advancing direction of the navigation path is larger. In the embodiment, all inflection points on the navigation path are sorted and distinguished in a numbering mode, so that the inflection points can be identified and processed by system software conveniently, and the selection of the preset inflection points meeting the guiding conditions is accelerated.
As an embodiment, as shown in fig. 2, a specific method for selecting the target inflection point on a preset navigation path includes:
step S1011, a knee point comparison area is established, which is formed by grid coordinates that take the current position of the robot as the center and the maximum distance from the current position of the robot to the first preset distance threshold value. Then, the process proceeds to step S1012.
Step S1012, determining whether the inflection point exists in the inflection point comparison area, if yes, going to step S1014 to continue the determination, otherwise, going to step S1013.
Step S1013, along the navigation forward direction of the navigation path, selecting an adjacent inflection point of a target inflection point newly marked by the robot on the navigation path as a new target inflection point, where the target inflection point newly marked by the robot is a target inflection point selectively marked at a position where the robot deviates from the navigation path after the last collision with the obstacle occurs, so that the marking position of the target inflection point plays a fundamental role in controlling the robot navigation to an end point, thereby facilitating guiding the robot to move to a correct edgewise direction and avoiding the subsequently selected edgewise prediction path from deviating too far from the navigation path. Therefore, the target inflection point selected on the preset navigation path has the function of guiding the robot to return to the navigation path to move in the local navigation area.
Step S1014, determining whether the inflection point comparison area has only one inflection point, if yes, going to step S1015, otherwise, going to step S1016.
And step S1015, selecting the inflection point in step S1014 as the target inflection point, which is beneficial to shortening the distance between the target inflection point and the current position of the robot and avoiding that the subsequently selected edgewise prediction path deviates too far from the navigation path. It should be noted that all inflection points smaller than the planning sequence number of the target inflection point are set as the inflection points that the robot has traversed.
Step S1016, determining that there are two or more inflection points in the inflection point comparison area, selecting an inflection point closest to the final navigation target point along a navigation proceeding direction of the navigation path, among inflection points having a distance from the current position of the robot less than a first preset distance threshold value, equivalent to a partial path of the navigation path covered by this inflection point comparison area, as the target inflection point, namely selecting the inflection point with the largest planning sequence number as a target inflection point in front of the robot from all inflection points with the distance from the current position of the robot to be less than a first preset distance threshold value, when the robot moves from the current position to the target inflection point, the speed of moving back to the navigation path is increased, and it should be noted that all inflection points smaller than the planning sequence number of the target inflection point are set as the inflection points traversed by the robot; the current position of the robot is not located on the navigation path.
As another embodiment, as shown in fig. 3, a specific method for determining the preset inflection point satisfying the guiding condition includes:
step S1021, determining that step S1013 or step S1015 or step S1016 of the above embodiment has completed marking of the target inflection point. Then, the process proceeds to step S1022.
Step S1022, determining whether the target inflection point selected on the navigation path is set as the final navigation target point, if so, going to step S1023 to determine that the preset inflection point meeting the guidance condition is only the final navigation target point; otherwise, go to step S1024 to continue to judge the selection.
Step S1024, determining whether a first inflection point or a second inflection point continuously set from the target inflection point along the navigation proceeding direction of the navigation path is set as a final navigation target point, if so, proceeding to step S1025, otherwise, proceeding to step S1026.
Step S1025, determining the preset inflection point satisfying the guiding condition includes: all inflection points arranged from the target inflection point to the final navigation target point along a navigation proceeding direction of the navigation path on the navigation path, wherein the target inflection point and the final navigation target point are also included; the first inflection point is disposed adjacent to the target inflection point in the navigation progressing direction of the navigation path, and the second inflection point is disposed adjacent to the first inflection point in the navigation progressing direction of the navigation path.
As understood from the combination of step S1024 and step S1025, when it is determined that the inflection point adjacent to the target inflection point, which is set along the navigation progression direction of the navigation path from the target inflection point, is the final navigation target point, that is, when it is determined that the first inflection point, which is continuously set along the navigation progression direction of the navigation path from the target inflection point, is the final navigation target point, determining the preset inflection point satisfying the guidance condition includes: and all inflection points arranged from the target inflection point to the final navigation target point along the navigation advancing direction of the navigation path on the navigation path, wherein all inflection points arranged from the target inflection point to the final navigation target point along the navigation advancing direction of the navigation path only have the target inflection point and the final navigation target point, and at the moment, the navigation advancing direction from the target inflection point along the navigation path only has a set first inflection point and no set second inflection point, because the first inflection point is already judged as an end point. It is to be noted that, when the adjacent inflection point disposed along the navigation proceeding direction of the navigation path from this target inflection point is the final navigation target point, the end point of the navigation path is already determined, and there is no need to continue the determination.
When it is determined that a second inflection point continuously provided from the target inflection point along a navigation proceeding direction of the navigation path is the final navigation target point, determining the preset inflection point satisfying the guidance condition includes: and on the navigation path, all inflection points are arranged from the target inflection point to the final navigation target point along the navigation advancing direction of the navigation path, and at the moment, 3 inflection points are arranged from the target inflection point to the final navigation target point along the navigation advancing direction of the navigation path, wherein the inflection points comprise the target inflection point, the final navigation target point and one inflection point arranged on the navigation path between the target inflection point and the final navigation target point. It should be noted that the first inflection point is disposed adjacent to the target inflection point in the navigation direction of the navigation route, and the second inflection point is also disposed adjacent to the first inflection point in the navigation direction of the navigation route.
Step S1026, determining the preset inflection point satisfying the guiding condition includes: the target inflection point, and two inflection points that are disposed one after another on the navigation path from this target inflection point along a navigation proceeding direction of the navigation path. Specifically, when it is determined that the final navigation target point does not exist in two inflection points successively provided along a navigation advancing direction of the navigation path from the target inflection point, determining the preset inflection point satisfying the guidance condition includes: the target inflection point is selected from the navigation path, and the two inflection points are sequentially arranged along the navigation advancing direction of the navigation path from the target inflection point, the two inflection points which are sequentially arranged after the target inflection point on the navigation path are sequentially arranged, the planning serial numbers of the inflection points are increased and are larger than the planning serial number of the target inflection point, and the target inflection point and the two inflection points after the target inflection point are both in front of the current position of the robot, so that the robot is guided to move to the final navigation target point more quickly.
In conclusion, the preset inflection point meeting the guiding condition disclosed in this embodiment can represent the navigation direction characteristic of the navigation path, and fully considers the influence factor of the end point of the navigation path, thereby simplifying the calculation amount for controlling the robot to return to the navigation path.
In this embodiment, according to the above inflection point selection method, after a preset inflection point meeting a guidance condition is determined on the navigation path, the robot starts to navigate from a current position deviating from the navigation path, first moves to a target inflection point included in the preset inflection point meeting the guidance condition, and the current moving direction of the robot is gradually adjusted back to the navigation advancing direction of the navigation path; and then, controlling the robot to traverse the rest inflection points from small to large according to the size relation of the planning serial number, namely starting from the target inflection point reached by the robot, and traversing the inflection points on the navigation path larger than the planning serial number of the target inflection point by the robot according to the sequence of the planning serial number from small to large. It should be noted that when the distance between the current position of the robot and the target inflection point is smaller than a second preset distance threshold value, it is determined that the robot moves to the target inflection point; the second preset distance threshold value is smaller than the first preset distance threshold value. In the embodiment, the robot is controlled to move to the target inflection point, so that the navigation advancing direction from the advancing direction of the robot to the navigation path is corrected, and the efficiency of traversing the inflection point by the robot navigation is improved.
Preferably, when the distance between the current position of the robot and one of the inflection points is smaller than a second preset distance threshold value, it is determined that the current position of the robot coincides with the inflection point, and particularly, when the distance between the current position of the robot and the target inflection point is smaller than the second preset distance threshold value, it indicates that the robot has moved to the target inflection point. And the second preset distance threshold value is smaller than the first preset distance threshold value.
A chip having stored thereon program code which, when executed by the chip, implements a knee selection method as described. The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
A robot provided with the chip, the robot being configured to perform the inflection point selection method.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A method for selecting an inflection point of a robot navigation path, comprising:
selecting preset inflection points meeting guiding conditions on a preset navigation path, so that the preset inflection points meeting the guiding conditions are used for guiding a robot deviating from the navigation path to return to the navigation advancing direction of the navigation path;
wherein, the robot is provided with a navigation path formed by connecting inflection points in advance.
2. The inflection point selection method according to claim 1, wherein the method for selecting the preset inflection point satisfying the guidance condition on the preset navigation path specifically comprises:
selecting a target inflection point from the navigation path, and then selecting a preset inflection point meeting a guidance condition by respectively judging whether the target inflection point and one or two inflection points which are sequentially arranged along the navigation advancing direction of the navigation path from the target inflection point exist the final navigation target point;
wherein the navigation advancing direction of the navigation path is a robot navigation direction for guiding the robot to move to the final navigation target point; and the final navigation target point belongs to the end point of the navigation path.
3. The inflection point selection method of claim 2, wherein the specific method for selecting a target inflection point on the navigation path comprises:
establishing an inflection point comparison area which is formed by grid coordinates and takes the current position of the robot as the center, and the maximum distance between the inflection point comparison area and the current position of the robot is a first preset distance threshold value; wherein the current position of the robot is not on the navigation path;
when the inflection point comparison area has only one inflection point, selecting the inflection point as the target inflection point;
when two or more inflection points exist in the inflection point comparison area, selecting an inflection point closest to the final navigation target point along the navigation advancing direction of the navigation path from the inflection points which are less than a first preset distance threshold value and located at the current position of the robot, and recording the inflection point as the target inflection point;
when the inflection point comparison area does not have the inflection point, selecting an inflection point adjacent to the latest marked target inflection point of the robot on the navigation path along the navigation advancing direction of the navigation path to be marked as a new target inflection point.
4. The inflection point selection method of claim 3, wherein when it is determined that the final navigation target point does not exist in two inflection points sequentially disposed along a navigation proceeding direction of the navigation path from the target inflection point, determining the preset inflection point satisfying the guidance condition includes: the target inflection point, and two inflection points that are disposed one after another on the navigation path from this target inflection point along a navigation proceeding direction of the navigation path;
when it is determined that a first inflection point or a second inflection point continuously provided from the target inflection point along a navigation proceeding direction of the navigation path is the final navigation target point, determining the preset inflection point satisfying the guidance condition includes: all inflection points arranged from the target inflection point to the final navigation target point along a navigation proceeding direction of the navigation path on the navigation path, wherein the target inflection point and the final navigation target point are also included; a first inflection point is disposed adjacent to the target inflection point in a navigation forward direction of the navigation path, and a second inflection point is disposed adjacent to the first inflection point in the navigation forward direction of the navigation path;
and when the target inflection point selected on the navigation path is judged to be the final navigation target point, determining that the preset inflection point meeting the guiding condition is only the final navigation target point.
5. The inflection point selection method according to claim 2 or 4, wherein the navigation path is formed by connecting a group of sequentially distributed inflection points, and the planned sequence numbers of the inflection points arranged along the navigation advancing direction of the navigation path are sequentially increased;
the planning sequence numbers of the preset inflection points meeting the guiding conditions are sequentially increased, and inflection points smaller than the planning sequence number of the target inflection point are marked as the inflection points traversed by the robot;
and the planning sequence number of the final navigation target point is the largest, so that the planning sequence number corresponding to the inflection point which is closer to the final navigation target point in the navigation advancing direction of the navigation path is larger.
6. The inflection point selection method as claimed in claim 5, wherein the robot starts navigation from a current position deviated from the navigation path, and first moves to a target inflection point included in preset inflection points satisfying a guidance condition;
then, controlling the robot to traverse the inflection point of the planning sequence number larger than the target inflection point from small to large according to the size relation of the planning sequence number;
when the distance between the current position of the robot and the target inflection point is smaller than a second preset distance threshold value, determining that the robot moves to the target inflection point; the second preset distance threshold value is smaller than the first preset distance threshold value.
7. The inflection point selection method as claimed in claim 6, wherein the target inflection point is disposed in front of a body of the robot.
8. The inflection point selection method of claim 5, wherein the final navigation target point is a last inflection point of the navigation path.
9. A chip having program code stored thereon, wherein the program code when executed by the chip implements the corner selection method of any one of claims 1 to 8.
10. A robot provided with the chip of claim 9, the robot being configured to perform the inflection point selection method of any one of claims 1 to 8.
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| CN109213171A (en) * | 2018-09-25 | 2019-01-15 | 电子科技大学 | A kind of localized target point choosing method based on tangential direction |
| CN109871021A (en) * | 2019-03-18 | 2019-06-11 | 安徽大学 | A kind of robot navigation method based on particle swarm optimization algorithm |
| CN111273647A (en) * | 2018-11-19 | 2020-06-12 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
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| CN103294054A (en) * | 2012-02-24 | 2013-09-11 | 联想(北京)有限公司 | Robot navigation method and system |
| CN109213171A (en) * | 2018-09-25 | 2019-01-15 | 电子科技大学 | A kind of localized target point choosing method based on tangential direction |
| CN111273647A (en) * | 2018-11-19 | 2020-06-12 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
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