CN113110499B

CN113110499B - Determination method of traffic area, route searching method, robot and chip

Info

Publication number: CN113110499B
Application number: CN202110502501.XA
Authority: CN
Inventors: 孙永强; 李永勇; 杨武
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2024-02-23
Anticipated expiration: 2041-05-08
Also published as: CN113110499A

Abstract

The invention discloses a judgment method of a passing area, a route searching method, a robot and a chip, so that a narrow area is accurately identified in the normal working process of the robot according to the area proportion occupied by an unvented area in the robot searching area, and target points suitable for the narrow areas are searched, thereby solving the problem of navigation path planning of the robot.

Description

Determination method of traffic area, route searching method, robot and chip

Technical Field

The invention relates to the technical field of robot path planning, in particular to a determination method of a passing area, a route searching method, a robot and a chip.

Background

The mobile robots in the prior art are robots which autonomously detect the surrounding environment by using a sensor, determine the motion of a body by using a controller, and realize the motion by using an executing mechanism (such as wheels). The prior art cleaning robot is often moved to a narrow area formed by restriction between various furniture components such as four feet of a stool, an entrance of a tea table, etc. in a home environment, and the prior art cleaning robot is also often moved to a narrow passage formed by opening a door of a room.

When the robot enters the narrow areas, the robot easily marks the inlets of the narrow areas as the grid areas occupied by the obstacles on the grid map constructed immediately because of skidding conditions of the robot, accumulated errors of the sensors for positioning or errors generated by map optimization, so that the inlets of the narrow areas mapped to the grid map constructed by the robot are blocked, and the inlets are not really blocked in the actual motion scene. Therefore, the robot cannot correctly recognize whether the robot is currently in a narrow area according to the grid map constructed in real time, and further cannot search a reasonable navigation path based on a conventional path search algorithm.

Disclosure of Invention

The invention provides a judgment method of a passing area, a route searching method, a robot and a chip, wherein a narrow area is accurately identified in the normal working process of the robot according to the area proportion occupied by an unvented area in the robot searching area, and target points suitable for the narrow areas are searched, so that the problem of planning a navigation path of the robot is solved. The specific technical scheme is as follows:

a method for judging a traffic area comprises the following steps: controlling the robot to move along a preset path until the robot is judged to move to a position with the linear distance larger than or equal to the diameter of the body of the robot from the newly recorded path node, and recording the current position of the robot as a new path node to become the newly recorded path node; then judging whether the newly recorded path node meets a second preset round-domain passing condition, if so, judging that the robot is currently located in a narrow area, otherwise, judging that the robot is not currently located in the narrow area; the narrow area is a crack channel of two or more obstacles, the crack channel is a gap corresponding to the narrowest part between the two obstacles, and the width of the gap is larger than or equal to the diameter of the robot body; the preset path is a path which is planned in advance by the robot in the current area. Compared with the prior art, the technical scheme is suitable for carrying out region judgment under the normal working or navigation scene of the robot, and the current position of the robot is judged in real time by controlling the robot to move and judge simultaneously, so that whether the current position of the robot is in a narrow region or not is judged, the area characteristics of the passable region of the narrow region are met, the situation that the robot cannot normally move along a preset path due to the marking error of a mapping grid of the narrow region in a map is avoided, particularly, the region marked as an obstacle grid on the map is adopted, and the robot can freely pass through the region under the corresponding actual scene is avoided. Thus improving the effectiveness and accuracy of the region judgment.

Further, before judging whether the robot moves to a position where the straight line distance from the newly recorded path node is greater than or equal to the body diameter of the robot, further comprising: step 1, controlling a robot to move along a preset path until a preset search area is judged to meet a first preset round-domain passing condition, and then entering step 2; step 2, recording the current position of the robot as a first path node; the pre-search area is a first circular area taking the current position of the robot as a circle center and the diameter of the robot body as a radius. According to the technical scheme, the first preset round-area traffic condition is set as the pre-judging condition of the narrow area, invalid path nodes are primarily eliminated, and judging accuracy is improved.

Further, the first preset round-field traffic condition includes: the ratio of the area of the first non-passable area to the area of the pre-search area is greater than the first traffic evaluation value; the first non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the first circular area; the first traffic evaluation value is a pre-determination threshold value set to overcome a marking error of an empty grid existing in the constructed grid map. The technical scheme belongs to a rough judgment condition, and the follow-up depends on further judgment of the robot in the continuous moving process.

Further, after executing the step 2, the determining method specifically includes: step 3, controlling the robot to continue to move along the preset path until the robot is judged to move to a position with the straight line distance from the newly recorded path node being greater than or equal to the diameter of the robot body, and then entering step 4; step 4, recording the current position of the robot as a second path node, judging whether the second path node meets a second preset round domain passing condition, if so, entering a step 5, otherwise, entering a step 6; step 5, judging that the robot is currently in a narrow area, and returning to the step 3; and 6, judging that the robot is not in the narrow area currently, and returning to the step 1. According to the technical scheme, the second preset round-domain passing condition is set as the accurate judging condition of the narrow area, so that the robot can judge the narrow area after moving a certain distance relative to the last recorded path node (comprising the first path node or the second path node), and the method is more suitable for judging the area under the passable map error environment.

Further, the second preset round-domain traffic condition includes: in a second circular area taking the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, the ratio of the area of the second non-passable area to the area of the second circular area is larger than a second passable evaluation value; the second non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the second circular area; the second pass evaluation value is a judgment threshold value set for overcoming a marking error of an empty grid existing in the constructed grid map, and is larger than the first pass evaluation value. According to the technical scheme, the influence of marking information of the grid map on a single grid is not required to be paid attention to in real time in the judging process, and only the ratio of the area of the non-passable area in a certain grid area is required to be paid attention to, so that erroneous judgment is avoided.

Further, the second preset round-domain traffic condition includes: searching paths of the second path nodes which are recorded most recently and lead to the first path nodes which are recorded most recently in a second circular area which takes the first path nodes recorded most recently as the circle center and takes the diameter of the machine body which is a preset multiple as the radius by using a heuristic search algorithm; wherein, the fuselage diameter of predetermineeing the multiple sets up to: the second circular areas do not intersect other marked grid areas. The method and the device have the advantages that the planned paths in other marked grid areas are prevented from participating in judgment, meanwhile, on the premise that marking errors exist in grids, navigation paths leading to the terminal points are searched out through expanding a mature path searching algorithm in a reasonable and enough grid area range including partial barriers, the passable condition of the area is judged, and the judgment accuracy of the passable area of the narrow area is improved.

Further, in the process of executing the step 1, the method further includes: firstly judging whether the robot moves to the end point of the preset path, if so, stopping executing the judging method, otherwise, controlling the robot to continuously move along the preset path, and judging whether the pre-search area meets a first preset circle domain passing condition; in the process of executing the step 3, the method further comprises: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the body of the robot or not. And stopping the robot from continuously moving and executing the judging method in time so as to meet the intelligent planning requirement and avoid excessive consumption of computing resources caused by unlimited regional judgment of the robot.

A route search method of a traffic area, the route search method comprising: step S1, controlling the robot to move along a preset path until judging that the preset search area meets a first preset round-area passing condition, and then entering step S2; s2, recording the current position of the robot as a first path node, simultaneously creating a new predicted passing coordinate set, adding the first path node into the predicted passing coordinate set, and then entering step S3; step S3, controlling the robot to continue to move along the preset path until the robot is judged to move to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the robot body, and then entering step S4; step S4, recording the current position of the robot as a second path node, judging whether the second path node meets a second preset round domain passing condition, if so, entering a step S5, otherwise, entering a step S6; step S5, adding the second path node into the predicted passing coordinate set in the step S2, and returning to the step S3; step S6, according to the number of path nodes stored in the predicted passing coordinate set, storing the predicted passing coordinate set into the same candidate route coordinate set, and returning to the step S1; wherein, within one predicted pass coordinate set is a permissible obstacle grid point; the first element and the tail element in any one of the predicted passing coordinate sets are unique, and the first element and the tail element in the same predicted passing coordinate set are not identical; the preset path is a path which is planned in advance in the current area by the robot.

Compared with the prior art, the technical scheme is suitable for searching candidate routes for passing through a narrow area in a normal working state of the robot, a first preset round-domain passing condition is set as a prejudging condition of the narrow area, and a path node source of the candidate routes corresponding to the predicted passing coordinate set is provided; and then the robot is enabled to continuously move along the original path, a second preset circle passing condition is set as a precise judging condition of the narrow area, and the grid point sources of the candidate routes corresponding to the predicted passing coordinate set are continuously provided, so that the robot can be qualified for judging the narrow area after moving a certain distance, the candidate routes which are collected by the predicted passing coordinate set and are used for being connected into grid points are more complete, the map grid error environment under the narrow area is more suitable, and the practically passable route is provided for the robot without paying attention to the marking information of the grids on the route one by one. In addition, on the basis, if the corresponding preset round-domain traffic condition is not met, stopping searching for the predicted traffic coordinate set, and determining that the path node in a single predicted traffic coordinate set can be connected into an independent candidate route. And in a normal moving state of the robot, searching out a route point set capable of overcoming map drift errors by iteratively executing the related steps. The success rate of the robot for finding the effective navigation path in the scene with more complex obstacle space layout is increased.

Further, the method for storing the predicted passing coordinate set into the same candidate route coordinate set according to the number of path nodes stored in the predicted passing coordinate set, and then returning to the step S1 specifically includes: when the number of path nodes stored in the predicted passing coordinate set is smaller than 2, deleting the predicted passing coordinate set, and returning to the step S1 to create a new predicted passing coordinate set; when the number of path nodes stored in the predicted passing coordinate set is greater than or equal to 2, using the predicted passing coordinate set to represent a single candidate route, and storing the single candidate route into the candidate route coordinate set for calling by a heuristic search algorithm, and returning to the step S1 to create a new predicted passing coordinate set; the first path node and the second path node are added into the predicted passing coordinate set according to the recorded sequence, so that the path nodes stored in the predicted passing coordinate set are connected into candidate routes in a certain sequence; the path node corresponding to the first element in each predicted passing coordinate set is the starting point of a corresponding candidate route, and the path node corresponding to the tail element in each predicted passing coordinate set is the ending point of a corresponding candidate route. The path nodes in each predicted passing coordinate set are matched and connected to form a candidate route, so that a candidate route which can be passed through the predicted robot without obstacle in a corresponding area is formed; in the technical scheme, if the number of path nodes finally obtained by a predicted passing coordinate set is as small as a line which is difficult to connect, the path nodes can be deleted, and invalid path nodes are reduced; and finally obtaining a path node by a predicted passing coordinate set, and storing the path node as a whole to the candidate route coordinate set for storing a set of candidate routes, so that the access structure of the candidate routes is reasonably ordered.

Further, the first preset round-field traffic condition includes: the ratio of the area of the first non-passable area to the area of the pre-search area is greater than the first traffic evaluation value; the first non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the first circular area; the first traffic evaluation value is a pre-judgment threshold value set for overcoming a marking error of an idle grid existing in the construction grid map; the pre-search area is a first circular area taking the current position of the robot as a circle center and the diameter of the robot body as a radius. The method can be used for preliminarily judging whether the robot starts to enter the narrow area, belongs to a rough judgment condition, and further judgment is carried out in the continuous moving process of the robot. But whether the marking information of the single grid allows the robot to pass is not considered, so that the influence of marking errors of the single grid is reduced.

Further, the second preset round-domain traffic condition includes: in a second circular area taking the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, the ratio of the area of the second non-passable area to the area of the second circular area is larger than a second passable evaluation value; the second non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the second circular area; the second pass evaluation value is a judgment threshold value set for overcoming a marking error of an empty grid existing in the constructed grid map, and is larger than the first pass evaluation value. So as to improve the judgment accuracy. Compared with the judgment of the first preset circular domain passing condition, the technical scheme improves the judgment precision of the narrow area by judging the trafficability with higher precision through judging the area proportion occupied by the non-trafficable area in the second circular area after the robot moves to the diameter of the robot body from the newly recorded path node, and the influence of the marking information of the single grid point is not considered.

Further, the second preset round-domain traffic condition includes: searching a path of a second path node of the latest record, which leads to the first path node of the latest record, in a second circular area taking the first path node of the latest record as a circle center and taking the diameter of a machine body of a preset multiple as a radius by using a heuristic search algorithm; wherein, the fuselage diameter of predetermineeing the multiple sets up to: the second circular areas are not allowed to intersect other marked grid areas. So as to avoid the participation of the planned paths in other marked grid areas in judgment, and further avoid the occurrence of erroneous judgment.

The technical scheme is reasonable in size setting of the search area, namely the second circular area, and the situation that the robot is guided to other areas and is not guided to pass through the current narrow area due to the fact that the robot intersects other known map areas to add the planned route in the relevant area into the search area is avoided; on the other hand, whether a complete navigation path from a starting point to an end point can be planned in the second circular area currently explored is judged, so that the passable area of the second circular area is not influenced by the obstacle or the marking position of the obstacle grid; thereby improving the judgment accuracy of the narrow region.

Further, in the process of executing the step S1, the method further includes: firstly judging whether the robot moves to the end point of the preset path, if so, stopping executing the route searching method, otherwise, controlling the robot to continuously move along the preset path, and judging whether the pre-searching area meets a first preset circle domain passing condition; in the process of executing step S3, further comprising: judging whether the robot moves to the end point of the preset path, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the body of the robot. And stopping the robot from continuously moving and executing the route searching method in time so as to meet the intelligent planning requirement and avoid the condition that the robot carries out route searching without limitation, thereby causing excessive consumption of unnecessary computing resources.

A chip for storing program code for executing the one traffic zone determination method and/or executing the one traffic zone route search method. Based on the regional passable condition of the whole grid region, the control robot accurately and effectively recognizes the narrow region, and then the control robot searches a route point set which can overcome the problem that the grid cannot pass due to the map drift error in a normal working and moving state.

A robot having the chip built therein for controlling the robot to perform the one traffic area determination method and/or to perform the one traffic area route search method. When the robot detects the narrow area and plans to pass through the narrow area, the candidate route is searched in advance and combined into the current navigation route, so that the influence of grid marking errors caused by sensor accumulated errors (indirect reasons) and map drifting (direct reasons) is effectively overcome, and the navigation route formed by connecting the corresponding candidate routes passes through the narrow area without obstacle.

Drawings

Fig. 1 is a flowchart of a method for determining a traffic area according to an embodiment of the present invention.

Fig. 2 is a flowchart of a route searching method of a traffic area according to another embodiment of the present invention.

Detailed Description

The following describes the embodiments of the present invention further with reference to the drawings.

It should be noted that it is understood by those skilled in the art that: the environment information around the current position of the robot is marked in the grid map, and the grids in the map area constructed by the robot comprise three states marked as free, occupied and unknown; these grids are represented in this embodiment using grid points, i.e. the center points of the grids; the grid points in the idle state are grid points which are unoccupied by the obstacle, are grid position points which can be reached by the robot, are idle grid points and can form an unoccupied area; the grid points in the occupied state are grids occupied by the barrier, are barrier grid points and can form an occupied area; the unknown grid points refer to grid areas with unclear concrete conditions in the process of constructing the map by the robot, and the position points of the unknown grid points are often blocked by barriers, so that the unknown areas can be formed.

The intelligent sweeping robot in the prior art often moves to a narrow area formed by limiting various furniture components, such as four feet of a stool in a home environment, an inlet of a tea table and the like, and a narrow area formed by opening a door of a room. It is to be added that the narrow area is a slit channel of each obstacle, wherein the slit channel of each obstacle is a slit corresponding to the narrowest part between two obstacles, and the width of the slit is larger than the diameter of the robot body, so that the robot is allowed to pass through. Because the robot has a slip condition, a cumulative error exists in a sensor for positioning or errors are generated in visual map optimization, the robot easily marks the narrow area as an area occupied by an obstacle on a grid map constructed by instant scanning, namely, idle grid points originally mapped by the narrow area are mistakenly marked as the area occupied by the obstacle, so that an entrance of the narrow area mapped to the grid map constructed by the robot is blocked, and the actual movement scene is not really blocked, and the robot is required to accurately identify whether the narrow area is currently positioned according to the grid map constructed in real time so as to conveniently plan a navigation path capable of entering and exiting the narrow area.

As an embodiment, the invention discloses a method for determining a traffic area, which basically comprises the following steps:

and A, controlling the robot to move along a preset path until the robot is judged to move to a position with the linear distance of the last recorded path node being greater than or equal to the diameter of the body of the robot, recording a new path node at the current position of the robot, and recording the current position and storing corresponding position information once when the robot moves for the linear distance of one body diameter.

B, judging whether the last recorded path node meets a second preset round-domain passing condition or not, namely judging whether the last recorded path node meets the second preset round-domain passing condition or not after the robot moves a straight line distance of one machine body diameter relative to the last recorded path node, if so, judging that an exploration area (comprising a communication area and an unvented area) to which the robot belongs currently meets the second preset round-domain passing condition, and determining that the robot is currently in a narrow area; otherwise, judging that the current position or the area of the robot is not in the narrow area; the narrow area is a crack channel of two or more obstacles, the crack channel is a gap corresponding to the narrowest part between the two obstacles, and the width of the gap is larger than or equal to the diameter of the robot body; the preset path is a path which is planned in advance by the robot in the current area. In this embodiment, the second preset round-field traffic condition is set as a traffic condition of the robot in the narrow area.

It should be noted that, the preset path is a path which is planned in advance by the robot; the path node support is represented by grid points; the preset path is a normal working path or a navigation path of the robot, and when the robot is a sweeping robot, the preset path can be a planning sweeping path such as an arcuate moving path, a edgewise walking path, a back-font path and the like; the robot moving along the preset path may perform a route coordinate point or a route search suitable for traversing the narrow area during normal operation, or perform a corresponding route search during entering the narrow area.

Compared with the prior art, the method and the device are suitable for carrying out region judgment under the normal working or navigation scene of the robot, and realize real-time judgment of whether the current position of the robot is in a narrow region or not by controlling the robot to move and judge simultaneously, accords with the passable region characteristics of the narrow region, can not normally move along a preset path due to the marking error of the mapping grid of the narrow region in the map, particularly marks the region as the barrier grid on the map, and can freely pass the robot in the corresponding actual scene in practice. Thus improving the effectiveness and accuracy of the region judgment.

As an embodiment, as shown in fig. 1, a method for determining a traffic area specifically includes the following steps:

step S101, in the process of controlling the robot to move along a preset path, judging whether the pre-search area meets a first preset round-domain passing condition in real time, if so, entering step S102, otherwise, controlling the robot to continue to move along the preset path. The pre-search area is a first circular area with the current position of the robot as a center and the diameter of the body of the robot as a radius, and covers the smallest robot passable area around the current position of the robot.

Preferably, in the process of executing the step S101, the method further includes: firstly judging whether the robot moves to the end point of the preset path, if so, stopping executing the judging method, otherwise, controlling the robot to continuously move along the preset path, and judging whether the pre-search area meets a first preset circle domain passing condition in real time; step S101 is performed to prevent the robot from continuing to move and execute the determination method in time, so as to meet the intelligent planning requirement, and avoid that the robot performs regional determination without limitation, thereby causing excessive consumption of computing resources.

Step S102, recording the current position of the robot as a first path node, and then entering step S103; the first path node recorded in step S102 that is currently executed is new with respect to the first path node recorded in step S102 that was executed last time, and both path nodes are saved and recorded. Therefore, in this embodiment, the first preset round-field traffic condition is set as the pre-judging condition of the narrow area, so that invalid path nodes are primarily eliminated, and the overall judging accuracy is increased.

In this embodiment, if the robot determines that the pre-search area meets the first preset round-domain traffic condition at the current position of the robot, the current position of the robot is recorded as a new first path node, so as to form a path starting point having navigation meaning, or a navigation starting point position suitable for being defined by a general path search algorithm rule.

In this embodiment, the first preset round-field traffic condition includes: the ratio of the area of the first non-passable area to the area of the pre-search area is larger than the first traffic evaluation value, namely the area ratio of the first non-passable area in the pre-search area is larger than the first traffic evaluation value; the first non-passable area is a grid area formed by unknown grid points (which can also be regarded as an unknown grid, and is represented by a grid center point in the embodiment) and barrier grid points (which can also be regarded as an unknown grid, and is represented by a grid center point in the embodiment) in a grid area corresponding to the first circular area; the first traffic evaluation value is a pre-judgment threshold value set for overcoming the marking error of the idle grid existing in the construction grid map, and is a result of repeated experiments in the narrow area; the first pass evaluation value is preferably set to 50%. When the robot judges that the ratio of the area of the first non-passable area (corresponding grid number) to the area of the first circular area (corresponding grid number) is less than or equal to 50%, the robot is controlled to continuously move along the preset path until the robot judges that the area ratio of the first non-passable area in the grid area corresponding to the first circular area is greater than 50%. Therefore, the first preset circle passing condition is used for primarily judging whether the robot starts to enter the narrow area, belongs to a rough judging condition, and further judgment is carried out in the continuous moving process of the robot. But whether the marking information of the single grid allows the robot to pass is not considered, so that the influence of marking errors of the single grid is reduced.

In the present embodiment, the grid marking error is formed by reflecting an error such as a sensor error or a map drift error or an obstacle movement into the grid map.

Step S103, in the process of controlling the robot to continue moving along the preset path, judging whether the robot moves to a position with the straight line distance of the last recorded path node being larger than or equal to the body diameter of the robot in real time, if so, entering step S104, otherwise, controlling the robot to continue moving along the preset path until the current position (real-time position) of the robot is detected to reach or exceed the body diameter of the robot with the straight line distance of the last recorded path node. The linear distance between the current position of the robot and the last recorded path node in real time in step S103 includes the linear distance between the current position of the robot and the first path node, where the robot keeps detecting the linear distance between the current position and the last recorded path node in real time, or may perform distance sampling detection at regular intervals of a certain detection period, and record the path node detected in real time when a certain traffic condition is satisfied.

In the process of executing step S103, further includes: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the body of the robot or not. Therefore, the robot is prevented from continuing to move and executing the judging method in time, so that the intelligent path planning requirement is met, and the situation that the robot carries out regional judgment without limitation, so that the consumption of computing resources is overlarge is avoided.

Step S104, the current position of the robot is recorded as a second path node, and the process proceeds to step S105. The second path node recorded in step S104 is a new path node with respect to the second path node recorded in the last execution of step S104, both of which are saved and recorded, and both of which are not updated and replaced. Thus, the second path node recorded in step S104 is a new second path node with respect to the second path node recorded in the last execution of step S104 or the first path node recorded in the corresponding step S102 is a new path node, and all the path nodes are saved and recorded, and none of them is updated and replaced. Therefore, when step S102 is performed to step S103, the newly recorded path node in step S103 is the first path node recorded in step S102; when step S103 (which is performed iteratively by a subsequent step) is repeatedly performed once without going through step S102, the newly recorded path node in step S103 is the second path node recorded in the last execution step S104.

Step 105, judging whether the second path node meets the second preset circle domain passing condition, if yes, entering step 106, otherwise entering step 107. And is also equivalent to judging whether the robot exploration area (including the communication area and the non-passable area) to which the second path node belongs meets the second preset round-domain passing condition.

The connected region means a region in which all points in the region can be connected to each other and the outside is an obstacle or a map boundary.

As one embodiment of the second preset round-domain traffic condition, the second preset round-domain traffic condition includes: in a second circular area (effective detection area of the robot) taking the current position of the robot (namely a newly recorded second path node) as a center and the diameter of the body of the robot as a radius, the ratio of the area of the second non-passable area to the area of the second circular area is larger than a second passable evaluation value; the second non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the second circular area; the second circular area may be understood as a robot exploration area (including a communication area and an unvented area) where the newly recorded second path node is located. The second pass evaluation value is a judgment threshold value set for overcoming a marking error of an empty grid existing in the constructed grid map, and is larger than the first pass evaluation value to improve judgment accuracy. The second pass evaluation value is preferably set to 75%. And when the robot judges that the area ratio occupied by the second non-passable area in the grid area corresponding to the second circular area is less than or equal to 75%, the step S107 is performed. Wherein the coverage area of the second circular area is different relative to the coverage area of the first circular area because the position of the robot changes; therefore, on the basis of the first circular area or the basis of the last searched second circular area, after the robot moves to the robot body diameter which is one distance away from the newly recorded path node, the judgment of the area proportion occupied by the second non-passable area is further carried out.

As another embodiment of the second preset round-domain traffic condition, the second preset round-domain traffic condition includes: and searching a path of the newly recorded second path node to the newly recorded first path node by using a path searching algorithm in a second circular area taking the newly recorded first path node as a circle center and taking the diameter of the machine body as a radius, wherein the second circular area is understood as a robot exploration area where the second path node is located and comprises a communication subarea and an unvented subarea, and the path searching algorithm is used for proving that the path searching in the current second circular area is not influenced by an obstacle or the error mark of the obstacle grid. Since the second circular area may be in the vicinity of the narrow area, there may be an obstacle between the newly recorded second path node and the newly recorded first path node, and the node where the collision may occur is called an invalid node or an illegal node, and the nodes need to be avoided when planning the path, so that it is only necessary to use a mature stable path searching algorithm to check the trafficability of the area, so as to prove that the trafficable area of the second circular area is not influenced by the obstacle or the marking position of the obstacle grid by judging whether a complete navigation path from the start point to the end point can be planned in the currently explored second circular area; the path searching algorithm used in this embodiment is an a-type algorithm, so that the navigation path from the newly recorded second path node to the newly recorded first path node is effectively and rapidly searched in the second circular area, and the judgment accuracy of the narrow area is further improved.

In this embodiment, the first circular area or the second circular area may be regarded as a cleaning area. The fuselage diameter of the preset multiple is set as follows: the second circular area does not cross other marked grid areas to avoid participation in judgment of planned paths in other marked grid areas, and meanwhile, on the premise that marking errors exist in grids, the judgment accuracy of the narrow area which can pass through is improved by expanding and searching out a navigation path to an end point in a reasonable and enough grid area range including partial barriers by referring to a mature path search algorithm. The predetermined multiple of the fuselage diameter is set to two-thirds of the fuselage diameter such that a second circular area is formed that is larger than the first circular area. The present embodiment is reasonable for the size of the search area of the second circular area, avoiding intersecting other known map areas to add routes planned in the relevant area thereto, resulting in the robot being guided to other areas and no longer being guided through the current stenosis area.

Step S106, judging that the robot is currently positioned in the narrow area; after the robot recognizes that its current position is in the narrow area, it continues to move along the preset path within the narrow area by returning to step S103. But the robot may have moved to the end of the preset path, it is preferable to control the robot to proceed from step S106 to step S108 for further path node judgment.

Therefore, in this embodiment, after the robot searches for the first path node using the first preset circle passing condition, when the robot moves by a straight line distance of one body diameter, it is determined whether the current position or the current search area of the robot meets the second preset circle passing condition; then, when the robot is currently located in the narrow area, the robot continues to move along the preset path and whether the robot is still located in the narrow area is detected in real time through a second preset round-area passing condition, so that whether the robot is currently located in the narrow area is checked in a layer-by-layer progressive mode, the narrow area can be detected quickly and timely, the effective working efficiency of the robot is improved, and the fact that the narrow area is a crack channel of two or more barriers, the crack channel is a gap corresponding to the narrowest part between the two barriers, and the width of the gap is larger than or equal to the diameter of a machine body of the robot is needed. The determination method may require a precise distance sensor (such as a laser radar) of the robot, or may require only a common infrared or collision sensor.

Step S107, judging that the robot is not currently positioned in the narrow area or just leaves the current narrow area to come to an idle area with smaller occupied area of the non-passable area, so returning to step S101 to control the robot to carry out a round of judgment on the narrow area again at a new position, namely iteratively executing the steps S101 to S107. But the robot may have moved to the end of the preset path, it is preferable to control the robot to proceed from step S107 to step S109 for further path node judgment.

Step S108, judging whether the robot moves to the end point of the preset path, if so, ending executing the judging method, otherwise, returning to step S103.

Step S109, judging whether the robot moves to the end point of the preset path, if so, ending executing the judging method, otherwise, returning to step S101.

Therefore, the robot is prevented from continuing to move and executing the judging method in time, and the situation that the robot carries out regional judgment without limitation, so that excessive consumption of computing resources is caused is avoided.

Another embodiment of the present invention discloses a route searching method for a traffic area, as shown in fig. 2, where the route searching method specifically includes:

step S201, in the process of controlling the robot to move along the preset path, judging whether the pre-search area meets the first preset round-domain passing condition in real time, if yes, entering step S202, otherwise, controlling the robot to continue to move along the preset path. The preset path is a path which is planned in advance by the robot; the path node support is represented by grid points; the preset path is a normal working path or a navigation path of the robot, when the robot is a sweeping robot, the preset path can be an arcuate moving path, a edgewise walking path, a back-shaped path and the like, and the robot moving on the preset path can perform route coordinate points or route searching suitable for crossing the narrow area in the normal working process or perform corresponding route searching in the process of entering the narrow area. The pre-search area is a first circular area with the current position of the robot as the center and the diameter of the robot body as the radius, and covers the minimum passable area around the robot.

Preferably, in the process of executing the step S201, the method further includes: firstly judging whether the robot moves to the end point of the preset path, if so, stopping executing the route searching method, otherwise, controlling the robot to continuously move along the preset path, and judging whether the pre-search area meets a first preset circle domain passing condition in real time; step S201 prevents the robot from moving continuously and executing the route searching method in time, so as to meet the intelligent planning requirement, and avoid the robot from searching route coordinates without limit, thereby causing excessive consumption of computing resources.

Step S202, recording the current position of the robot as a first path node, simultaneously creating a new predicted pass coordinate set, storing the first path node into the predicted pass coordinate set, and then entering step S203. In this embodiment, the elements within the predicted pass coordinate set are configured to store the first path nodes in a recorded chronological order.

It should be noted that, the first element and the tail element in the predicted passing coordinate set are all unique, so that the first element or the tail element in the predicted passing coordinate set becomes the unique identification information of the route represented by the first element or the tail element, and can be used as an index node in the process of planning a path or as a marking node of a backtracking path.

In this embodiment, the first preset round-field traffic condition includes: the area ratio of the first non-passable area in the pre-search area is larger than the first pass evaluation value; the first non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the first circular area; the first traffic evaluation value is a pre-judgment threshold value set for overcoming the marking error of the idle grid existing in the construction grid map, and is a result of repeated experiments in the narrow area; the first pass evaluation value is preferably set to 50%. When the robot judges that the area proportion occupied by the first non-passable area in the grid area corresponding to the first circular area is less than or equal to 50%, the robot is controlled to move along a preset path until the robot judges that the area proportion occupied by the first non-passable area in the grid area corresponding to the first circular area is greater than 50%. Therefore, the first preset circle passing condition is used for primarily judging whether the robot starts to enter the narrow area, belongs to a rough judging condition, and further judgment is carried out in the continuous moving process of the robot. But without considering whether the marking information of each grid connected to the planned path allows the robot to pass through, the influence of the marking error of each grid is reduced.

Step S203, when the robot is controlled to continue moving along the preset path, whether the robot moves to a position with a straight line distance greater than or equal to the diameter of the body of the robot from the latest recorded path node is judged in real time, if yes, step S204 is entered, otherwise, the robot is controlled to continue moving along the preset path. The linear distance between the robot and the last recorded path node detected in step S203 includes the linear distance between the current position of the robot and the first path node, where the robot keeps detecting the linear distance between the current position and the last recorded path node in real time, or may perform distance sampling detection at regular intervals of detection periods, and record the path node detected in real time when a certain traffic condition is satisfied.

In the process of executing step S203, further includes: judging whether the robot moves to the end point of the preset path, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the body of the robot. Therefore, the robot is prevented from continuously moving and executing the route searching method in time so as to meet the intelligent path planning requirement, and the situation that the robot moves limitlessly to continuously search the route coordinates, so that the consumption of computing resources is overlarge is avoided.

And step S204, when the linear distance between the current position of the robot and the newly recorded path node is detected to be greater than or equal to the diameter of the body of the robot, recording the current position of the robot as a second path node, and then entering step S205.

Step S205, judging whether the second path node meets a second preset round domain passing condition, if yes, entering step S206, otherwise, entering step S207; thus, the last recorded path node in step S204 includes the last recorded first path node or the last recorded second path node. The second path node recorded in step S204 is a new second path node with respect to the second path node recorded in the last execution of step S204 or the first path node recorded in the last execution of step S202 is a new path node. Specifically, when step S202 is executed to step S203, the newly recorded path node in step S203 is the first path node recorded in step S202, and at this time, the predicted traffic coordinate set added by the first path node and the second path node recorded currently is not the predicted traffic coordinate set created in step S202 executed last time; when step S203 (which is performed iteratively by a subsequent step) is repeatedly performed once without going through step S202, the newly recorded path node in step S203 is the second path node recorded in the last execution of step S204, and all the second path nodes obtained through the iterative processing are saved in the same predicted pass coordinate set, and none of them is updated and replaced.

As one embodiment of the second preset round-domain traffic condition, the second preset round-domain traffic condition includes: in a second circular area taking the current position of the robot (namely a newly recorded second path node) as a circle center and the diameter of the body of the robot as a radius, the area proportion occupied by a second non-passable area is larger than a second passable evaluation value; the second non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the second circular area; the second pass evaluation value is a judgment threshold value set for overcoming a marking error of an empty grid existing in the constructed grid map, and is larger than the first pass evaluation value to improve judgment accuracy. The second pass evaluation value is preferably set to 75%. When the robot judges that the area ratio occupied by the second non-passable area in the grid area corresponding to the second circular area is less than or equal to 75%, the step S207 is entered. Wherein the coverage area of the second circular area is different relative to the coverage area of the first circular area because the position of the robot changes; therefore, on the basis of the first circular area or the basis of the last searched second circular area, after the robot moves to the diameter of the robot body which is one distance from the newly recorded path node, the judgment of the area proportion occupied by the second non-passable area is further carried out, the influence of the marking information of a single grid point is not considered, and the judgment precision of the narrow area is improved. In this embodiment, only the exploration radius of the second circular area is set to be the diameter of the robot body, instead of a larger value, so that the control-irrelevant (out of the exploration range) grid area is prevented from participating in calculation, and the time cost is reduced.

As another embodiment of the second preset round-domain traffic condition, the second preset round-domain traffic condition includes: searching a path of the newly recorded second path node to the newly recorded first path node by using a path searching algorithm in a second circular area taking the newly recorded first path node as a circle center and taking the diameter of the machine body as a radius, wherein the preset multiple of the machine body diameter is used for proving that the path searching in the current second circular area is not influenced by an obstacle or an error mark of an obstacle grid; since the second circular area may be in the vicinity of the narrow area, there may be an obstacle between the newly recorded second path node and the newly recorded first path node, and the node that may collide is called an invalid node or an illegal node in the embodiment, and these nodes need to be avoided when planning a path, so that it is necessary to use a mature stable path search algorithm to check the feasibility of the area, and the path search algorithm used in the embodiment is an a-x algorithm, so that the navigation path from the newly recorded second path node to the newly recorded first path node is effectively and quickly searched in the second circular area. In this embodiment, the first circular area or the second circular area may be regarded as a cleaning area. Wherein, the fuselage diameter of predetermineeing the multiple sets up to: the second circular area is not intersected with other marked grid areas, so that the planned paths in the other marked grid areas are prevented from participating in judgment, and misjudgment is avoided. The predetermined multiple of the fuselage diameter is set to two-thirds of the fuselage diameter such that a second circular area is formed that is larger than the first circular area. Compared with the prior art, the size of the search area, namely the second circular area, is set reasonably, and the situation that the robot is guided to other areas and is not guided to pass through the current narrow area due to the fact that the robot intersects other known map areas to add the planned route in the relevant area is avoided; on the other hand, whether a complete navigation path from a starting point to an end point can be planned in the second circular area currently explored is judged, so that the passable area of the second circular area is not influenced by the obstacle or the marking position of the obstacle grid; thereby improving the judgment accuracy of the narrow region.

Step S206, judging that the robot is currently in the narrow area, adding a second path node into the predicted passing coordinate set in the step S202, and returning to the step S203; since the robot continues to move along the preset path within the stenosis by returning to step S203 after recognizing that its current position is within the stenosis. But the robot may have moved to the end of the preset path, it is preferable to control the robot to proceed from step S206 to step S208 for further path node judgment.

Therefore, in this embodiment, after the robot searches the first path node, when the linear distance of one machine body diameter is moved, that is, when the linear distance between the current position and the position of the last recorded path node is the machine body diameter, it is determined whether the current position or the current search area of the robot meets the second preset circle domain passing condition; and then, when the fact that the robot is currently located in the narrow area is determined through the second preset circle domain passing condition, continuing to move in the narrow area along the preset path, and continuing to search out a new second path node to connect a route for passing through the narrow area until the fact that the second path node does not meet the second preset circle domain passing condition is judged. The narrow area is a slit channel of two or more obstacles, the slit channel is a slit corresponding to the narrowest part between the two obstacles, and the width of the slit is larger than or equal to the diameter of the robot body.

Step S207, judging that the robot is not currently located in the narrow area or just leaves the current narrow area to come to an idle area with smaller occupied area of the non-passable area, meanwhile, according to the number of path nodes stored in the predicted passing coordinate set, storing the predicted passing coordinate set into the same candidate route coordinate set, and connecting the path nodes stored in the predicted passing coordinate set into a corresponding candidate route according to the sequence of adding, wherein the sequence is equivalent to adding an end point of the corresponding candidate route into the predicted passing coordinate set, so that one predicted passing coordinate set is formed into a point set representing one candidate route in the candidate route coordinate set; then, returning to the step S201, the robot is controlled to carry out a round of judgment on the narrow area again at a new position, namely, the steps S201 to S207 are iteratively executed to create a new predicted passing coordinate set in the candidate route coordinate set so as to describe a new candidate route; but the robot may have moved to the end of the preset path, it is preferable to control the robot to proceed from step S207 to step S209 for further path node judgment.

Therefore, step S208 judges whether the robot moves to the end point of the preset path, if so, the execution of the route search method is ended, otherwise, step S203 is returned.

Step S209, determining whether the robot moves to the end point of the preset path, if yes, ending executing the route searching method, otherwise returning to step S201. Therefore, the robot is prevented from continuously moving and executing the route searching method in time, and the situation that the robot performs route searching without limitation, so that excessive consumption of computing resources is caused is avoided.

It is noted that, inside the same candidate route coordinate set, there are a plurality of said predicted passing coordinate sets, which respectively represent other candidate routes different from each other, because inside the same candidate route coordinate set, the first element and the last element inside any one of said predicted passing coordinate sets are unique.

Notably, within one set of predicted traffic coordinates are allowed to include obstacle grid points, indicating that the corresponding candidate route is likely to have obstacle grid points. As is known from steps S201 to S209, the robot itself moves to a specific path node, for example, the current position of the robot corresponding to step S202 (the initial state condition is met) during one iteration, or the current position of the robot corresponding to step S206 during one iteration, and when it is determined that the first preset round-domain traffic condition or the second preset round-domain traffic condition is met on the path node, the path node is added to the predicted traffic coordinate set as a path node connected to the corresponding candidate route, however, due to the sensor detection error, the map drift error, etc., the marked grid information of the path node on the grid map may not be in an idle state, but may be mismarked as an obstacle occupying state, that is, the obstacle grid point, the path node is also added to the predicted traffic coordinate set as a path node on the corresponding candidate route, and the actual robot may move to the path node, which proves that the path node is passable or communicable.

As an embodiment, the method for storing the predicted passing coordinate set to the same candidate route coordinate set according to the number of path nodes stored in the predicted passing coordinate set specifically includes: when the number of path nodes stored in the predicted pass coordinate set is less than 2, it indicates that the robot may detect an obstacle that is difficult to surmount or is trapped or has other abnormal conditions, so that the path nodes stored in the predicted pass coordinate set are collected as invalid nodes, the predicted pass coordinate set is selected to be deleted, and then step S201 is returned to create a new predicted pass coordinate set. Therefore, in this embodiment, if the number of path nodes finally obtained by one predicted pass coordinate set is so small that it is difficult to connect out a line, the relevant set may be deleted to reduce invalid path nodes.

When the number of path nodes stored in the predicted passing coordinate set is greater than or equal to 2, using the predicted passing coordinate set to represent a single candidate route, and storing the single candidate route into the candidate route coordinate set for calling by a path searching algorithm, which can be a heuristic searching algorithm, and then returning to the step S201 to create a new predicted passing coordinate set; preferably, the route nodes finally obtained by a predicted passing coordinate set can be saved as an integral route to the candidate route coordinate set, so that the stored data of the candidate route is reasonably ordered. The first path node and the second path node are added into the predicted passing coordinate set according to the recorded sequence, so that the path nodes stored in the predicted passing coordinate set are connected into a corresponding candidate route according to the recorded sequence. It should be noted that, the path node corresponding to the first element in each predicted passing coordinate set is the start point of a corresponding candidate route, and the path node corresponding to the tail element in each predicted passing coordinate set is the end point of a corresponding candidate route. The path nodes in each predicted passing coordinate set are matched and connected to form a candidate route, so that a candidate route which can be passed through the predicted robot without obstacle in a corresponding area is formed; compared with the prior art, the route searching method in the foregoing steps S201 to S207 is suitable for performing route searching in a state that the robot enters the narrow area, and first sets a first preset round-domain traffic condition as a pre-judging condition of the narrow area, and provides a route node source of the candidate route corresponding to the predicted traffic coordinate set; and then the robot is enabled to continuously move along the original path, a second preset circle passing condition is set as a precise judging condition of the narrow area, and the grid point sources of the candidate routes corresponding to the predicted passing coordinate set are continuously provided, so that the robot can be qualified for judging the narrow area after moving a certain distance, the candidate routes which are collected by the predicted passing coordinate set and are used for being connected into grid points are more complete, the map grid error environment under the narrow area is more suitable, and the practically passable routes are provided for the robot without paying attention to the grid mark information on the routes one by one. In addition, on the basis, if the corresponding preset round-domain traffic condition is not met, stopping searching the path nodes for the predicted traffic coordinate set, and determining that the path nodes in a single predicted traffic coordinate set can be connected into an independent candidate route. By iteratively executing the foregoing correlation steps, the robot searches for a set of route points that can overcome map drift errors in a state of normal operation movement. The success rate of the robot for finding the effective navigation path in the scene with more complex obstacle space layout is increased.

Preferably, if the robot detects that the robot is not located in the narrow area, the robot starts to use a plurality of predicted passing coordinate sets in the candidate route coordinate sets to perform navigation path planning, specifically, searches for a path node belonging to the predicted passing coordinate set in the current map area or a route formed by corresponding connection, and connects to a navigation path marked by a conventional path searching algorithm, so as to plan a navigation path supporting the robot to freely enter and exit the narrow area, and overcome map drift errors. Therefore, when the robot leaves the narrow area or just before leaving the current narrow area and entering a new narrow area, the searched coordinate points suitable for the candidate route passing through the narrow area are fused into the current position to program a navigation path by using a heuristic search algorithm or other mature path search algorithms, and the problem that the planned path cannot pass through the narrow area due to the fact that the idle grid points searched at the narrow area are easily marked as barrier grid points is solved.

Preferably, the execution of the route search method and the determination method mentioned in the foregoing embodiments is stopped when the current position of the robot is surrounded by the obstacle such that it cannot continue to move along the preset path.

The embodiment of the invention also discloses a chip which is used for storing program codes, wherein the program codes are used for executing the judging method of the passing area and/or executing the route searching method of the passing area. Based on the region passable state of the grid region corresponding to the embodiment, the control robot accurately and effectively identifies the narrow region, and then the control robot searches a route point set capable of overcoming the problem that the grid cannot pass due to map drift errors in a state of normal working movement.

Based on the foregoing embodiments, a robot is also disclosed, in which the foregoing chip is built, and the chip is configured to control the robot to perform the method for determining a traffic area and/or perform the method for searching a route of the traffic area. When the robot detects the narrow area and plans to pass through the narrow area, the candidate routes are searched in advance and combined into the current navigation path, so that the influence of grid marking errors caused by sensor accumulated errors (indirect reasons) and map drifting (direct reasons) is effectively overcome, and the navigation path formed by connecting the corresponding candidate routes passes through the narrow area without obstacle.

Claims

1. A method for determining a traffic zone, comprising:

controlling the robot to move along a preset path until the robot is judged to move to a position with the linear distance larger than or equal to the diameter of the body of the robot from the newly recorded path node, and recording the current position of the robot as a new path node to become the newly recorded path node;

then judging whether the newly recorded path node meets a second preset round-domain passing condition, if so, judging that the robot is currently located in a narrow area, otherwise, judging that the robot is not currently located in the narrow area;

the narrow area is a crack channel of two or more obstacles, the crack channel is a gap corresponding to the narrowest part between the two obstacles, and the width of the gap is larger than or equal to the diameter of the robot body;

the preset path is a path which is planned in advance in the current area by the robot;

before judging whether the robot moves to the position with the straight line distance of the latest recorded path node being more than or equal to the diameter of the robot body, the method further comprises:

step 1, controlling a robot to move along a preset path until a preset search area is judged to meet a first preset round-domain passing condition, and then entering step 2;

Step 2, recording the current position of the robot as a first path node;

the pre-search area is a first circular area taking the current position of the robot as a circle center and the diameter of the robot body as a radius;

the first preset round-domain traffic condition includes:

the ratio of the area of the first non-passable area to the area of the pre-search area is greater than the first traffic evaluation value; the first non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the first circular area; the first traffic evaluation value is a pre-judgment threshold value set for overcoming a marking error of an idle grid existing in the construction grid map;

after executing the step 2, the determination method specifically includes:

step 3, controlling the robot to continue to move along the preset path until the robot is judged to move to a position with the straight line distance from the newly recorded path node being greater than or equal to the diameter of the robot body, and then entering step 4;

step 4, recording the current position of the robot as a second path node, judging whether the second path node meets a second preset round domain passing condition, if so, entering a step 5, otherwise, entering a step 6;

Step 5, judging that the robot is currently in a narrow area, and returning to the step 3;

step 6, judging that the robot is not in the narrow area currently, and returning to the step 1;

the second preset round-domain traffic condition includes:

in a second circular area taking the current position of the robot as the center of a circle and the diameter of the body of the robot as the radius, the ratio of the area of the second non-passable area to the area of the second circular area is larger than a second passable evaluation value; the second non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the second circular area; the second pass evaluation value is a judgment threshold value set for overcoming a marking error of an idle grid existing in the constructed grid map and is larger than the first pass evaluation value;

or the second preset round-domain traffic condition includes:

searching paths of the second path nodes which are recorded most recently and lead to the first path nodes which are recorded most recently in a second circular area which takes the first path nodes recorded most recently as the circle center and takes the diameter of the machine body which is a preset multiple as the radius by using a heuristic search algorithm;

wherein, the fuselage diameter of predetermineeing the multiple sets up to: the second circular areas do not intersect other marked grid areas.

2. The method according to claim 1, further comprising, in performing step 1: firstly judging whether the robot moves to the end point of the preset path, if so, stopping executing the judging method, otherwise, controlling the robot to continuously move along the preset path, and judging whether the pre-search area meets a first preset circle domain passing condition;

in the process of executing the step 3, the method further comprises: judging whether the robot moves to the end point of the preset path or not, if so, stopping executing the judging method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the body of the robot or not.

3. A route search method of a traffic area, characterized in that the route search method comprises:

step S1, controlling the robot to move along a preset path until judging that the preset search area meets a first preset round-area passing condition, and then entering step S2;

s2, recording the current position of the robot as a first path node, simultaneously creating a new predicted passing coordinate set, adding the first path node into the predicted passing coordinate set, and then entering step S3;

Step S3, controlling the robot to continue to move along the preset path until the robot is judged to move to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the robot body, and then entering step S4;

step S4, recording the current position of the robot as a second path node, judging whether the second path node meets a second preset round domain passing condition, if so, entering a step S5, otherwise, entering a step S6;

step S5, adding the second path node into the predicted passing coordinate set in the step S2, and returning to the step S3;

step S6, according to the number of path nodes stored in the predicted passing coordinate set, storing the predicted passing coordinate set into the same candidate route coordinate set, and returning to the step S1; wherein, within one predicted pass coordinate set is a permissible obstacle grid point;

the first element and the tail element in any one of the predicted passing coordinate sets are unique, and the first element and the tail element in the same predicted passing coordinate set are not identical;

The first preset round-domain traffic condition includes:

the ratio of the area of the first non-passable area to the area of the pre-search area is greater than the first traffic evaluation value;

the first non-passable area is a grid area consisting of unknown grid points and barrier grid points in the grid area corresponding to the first circular area; the first traffic evaluation value is a pre-judgment threshold value set for overcoming a marking error of an idle grid existing in the construction grid map;

the second preset round-domain traffic condition includes:

Or the second preset round-domain traffic condition includes:

searching a path of a second path node of the latest record, which leads to the first path node of the latest record, in a second circular area taking the first path node of the latest record as a circle center and taking the diameter of a machine body of a preset multiple as a radius by using a heuristic search algorithm;

wherein, the fuselage diameter of predetermineeing the multiple sets up to: the second circular areas are not allowed to intersect other marked grid areas.

4. The route search method according to claim 3, wherein the method for storing the predicted pass coordinate set into the same candidate route coordinate set according to the number of path nodes stored in the predicted pass coordinate set, and then returning to step S1 specifically comprises:

when the number of path nodes stored in the predicted passing coordinate set is smaller than 2, deleting the predicted passing coordinate set, and returning to the step S1 to create a new predicted passing coordinate set;

when the number of path nodes stored in the predicted passing coordinate set is greater than or equal to 2, using the predicted passing coordinate set to represent a single candidate route, and storing the single candidate route into the candidate route coordinate set for calling by a heuristic search algorithm, and returning to the step S1 to create a new predicted passing coordinate set;

The first path node and the second path node are added into the predicted passing coordinate set according to the recorded sequence, so that the path nodes stored in the predicted passing coordinate set are connected into candidate routes in a certain sequence;

the path node corresponding to the first element in each predicted passing coordinate set is the starting point of a corresponding candidate route, and the path node corresponding to the tail element in each predicted passing coordinate set is the ending point of a corresponding candidate route.

5. The route search method according to claim 3, characterized by further comprising, in performing said step S1: firstly judging whether the robot moves to the end point of the preset path, if so, stopping executing the route searching method, otherwise, controlling the robot to continuously move along the preset path, and judging whether the pre-searching area meets a first preset circle domain passing condition;

in the process of executing step S3, further comprising: judging whether the robot moves to the end point of the preset path, if so, stopping executing the route searching method, otherwise, controlling the robot to continue to move along the preset path, and judging whether the robot moves to a position with the straight line distance from the latest recorded path node being greater than or equal to the diameter of the body of the robot.

6. Chip, characterized in that it is arranged to store program code for performing a method for determining a traffic area according to any of claims 1 to 2 and/or for performing a method for route searching of a traffic area according to any of claims 3 to 5.

7. A robot incorporating the chip of claim 6 for controlling the robot to perform a method of determining a traffic zone according to any one of claims 1 to 2 and/or to perform a method of route searching for a traffic zone according to any one of claims 3 to 5.