Robot obstacle avoidance method and device, robot and storage medium

Abstract

The embodiment of the invention relates to the field of mobile robots, and discloses a robot obstacle avoidance method and device, a robot and a storage medium. The method comprises the following steps: detecting an obstacle in a current detection range, and generating current obstacle point cloud data; acquiring stored historical obstacle point cloud data; and establishing a navigation map by utilizing the current obstacle point cloud data and the historical obstacle point cloud data, determining position information of the obstacle according to the navigation map, and planning a navigation route. According to the method, the obstacle which can be detected by the robot exists in the navigation map of the robot, the obstacle in the blind area detected by the robot at the current moment also exists in the navigation map of the robot, and the robot can be effectively prevented from being scratched according to the navigation route planned by the established navigation map.

Description

technical field [0001] Embodiments of the present invention relate to the field of mobile robots, and in particular to an obstacle avoidance method and device for a robot, a robot and a storage medium. Background technique [0002] With the rapid development of computer technology, sensor technology and artificial intelligence, robot autonomous navigation technology has also made great progress. During the autonomous navigation process of the robot, it is necessary to detect obstacles on the traveling route, so as to avoid damage to the robot caused by friction between the robot and obstacles. The robot usually detects the traveling route through the sensors installed on it, so as to know the direction of the obstacle and adjust the traveling route of the robot. [0003] The inventors have found that there are at least the following problems in the related art: In order to ensure that the sensors installed on the robot can detect a relatively distant area, usually the senso...

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Problems solved by technology

[0003] The inventors have found that there are at least the following problems in the related art: In order to ensure that the sensors installed on the robot can detect a relatively distant area, usually the sensors installed on the robot will have a certain distance from the ground, such as figure 1 As shown, due to the installation position of the sensor, there is a detection blind zone on both sides of the robot or in a short range in front of the robot. If there is an obstacle in the detection blind zone, the robot will collide with the obstacle.

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