Path finding method and system for weeding robot

A path finding system for a weeding robot, comprising:

• a map module used for drawing a blueprint, which is configured to:
• acquiring a target map of a weeding area, and partitioning the target map into grids;
• determining the type of the grids, wherein the type of the grids indicates whether the grids are obstacle grids or blank grids;
• and
• performing binarization processing on the grids according to the type of the grids to form a two-dimensional array map;
• a path finding module used for path finding of a weeding robot, which is configured to:
• mounting magnetic tacks on a boundary of the weeding area and around obstacles;
• determining, in the two-dimensional array map, an initial position of the weeding robot;
• starting to find a path with logic A and logic B, recording a direction of the initial position and determining whether there is a magnetic tack on a leftmost side, by the weeding robot;
• wherein
• logic A:
• if there is no magnetic tack, allowing the weeding robot to move leftwards in the current direction, and recording a path that the weeding robot passes in this direction;
• if there is a magnetic tack, allowing the weeding robot to shift clockwise sequentially from the leftmost side in the current direction, and determining, after each shift, whether there is an obstacle in the current direction;
• if there is no obstacle, determining, according to coordinates of points that the weeding robot has passed, whether the weeding robot has passed a current point;
• if not, allowing the weeding robot to move in the current direction;
• otherwise, repeating the determination process, and recording the position of the magnetic tack;
• logic B:
• during the operating process, when it is determined, by logic, that no moving direction is available at a point where the weeding robot arrives, searching backward for an available operating position according to the points that the weeding robot has passed, and in this case, performing cyclic calculation directly according to recorded positions of magnetic tacks;
• when an operating point is found, allowing the weeding robot to move with a current position of the weeding robot as an initial position and the operating point as an end point;
• when the moving robot reaches the operating point, repeating logic A to perform path finding;
• and
• when no operating point is found for the weeding robot through logic B, ending the path finding process;
• and
• a map revision module, which is configured to:
• when the weeding robot returns to a base station, drawing a two-dimensional array in the two-dimensional array map according to a recorded moving trajectory and the positions of the magnetic tacks, and then scaling down redundant map edges through a map clipping technique.