Robot navigation method, device and robot

Abstract

The present application relates to the field of robot technology, and discloses a robot navigation method, device and robot. The robot navigation method includes: during the robot's movement, determining whether a robot signpost is detected; if a robot signpost is detected, obtaining first indication information indicated by the robot signpost; replanning a path according to the first indication information to obtain a replanned target path; and controlling the robot to continue to move based on the target path. By detecting the robot signpost, obtaining the first indication information indicated by the robot signpost, replanning the path and controlling the robot to continue to move based on the replanned target path, the present application can improve the robot's travel efficiency.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of robots, and in particular, to a robot navigation method, apparatus, and robot. Background Art

[0002] A robot is a common name for an automatically controlled machine, including all machines that simulate human behavior or thinking and other organisms. With the development of technology and the improvement of people's living standards, robots such as cleaning robots, service robots, remote monitoring robots, and floor-sweeping robots have gradually entered people's lives.

[0003] Currently, many robots have the ability of autonomous movement and autonomous path planning. Robots can start from the starting point and reach the destination through local or cloud navigation information. Most current robots perform positioning and navigation based on the Simultaneous Localization and Mapping (SLAM) technology. After planning the path on the static map, they move along the planned path. However, during the movement of the robot, when encountering sudden situations, such as encountering obstacles, the robot needs to perform local path planning to bypass the obstacle, return to the original path, and continue walking.

[0004] Local path planning needs to use its own vision and / or radar and other capabilities to assist in obstacle avoidance, collision prevention, and traffic rule compliance actions under the condition of a large path. In complex scenarios, the computational requirements for the robot are high and the processing time is long, resulting in low walking efficiency of the robot. Summary of the Invention

[0005] To solve the above technical problems, embodiments of the present application provide a robot navigation method, apparatus, and robot to improve the traveling efficiency of the robot.

[0006] To solve the above technical problems, embodiments of the present application provide the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a robot navigation method, including:

[0008] During the movement of the robot, determine whether a robot road sign is detected;

[0009] If a robot road sign is detected, obtain first indication information indicated by the robot road sign;

[0010] According to the first indication information, re-plan the path to obtain a re-planned target path;

[0011] Control the robot to continue moving based on the target path.

[0012] In some embodiments, the first indication information includes passage information, temporary no - passage information, or permanent no - passage information. According to the first indication information, re - plan the path to obtain the re - planned target path, including:

[0013] If the first indication information is passage information, plan a first path and use the first path as the target path, where the first path includes the section corresponding to the passage information;

[0014] If the first indication information is temporary no - passage information, plan a second path, use the second path as the target path, and perform corresponding actions according to the information indicated by the subsequent robot road signs obtained;

[0015] If the first indication information is permanent no - passage information, plan a third path and use the third path as the target path, where the third path does not include the section corresponding to the permanent no - passage information.

[0016] In some embodiments, the passage information includes a first section and a traveling direction;

[0017] Planning the first path includes:

[0018] Obtain the global map;

[0019] According to the global map, plan multiple sub - paths along the traveling direction between the current position of the robot and the target position the robot needs to reach;

[0020] According to the first section, determine a target path among the multiple sub - paths, where the target path passes through the first section.

[0021] In some embodiments, planning the second path, using the second path as the target path, and performing corresponding actions according to the information indicated by the subsequent robot road signs obtained, includes:

[0022] According to the queuing position information sent by the robot road sign, plan the second path so that the robot enters the queuing waiting mode;

[0023] When the robot is in the queuing waiting mode, continuously obtain the second indication information indicated by the robot road sign and pass through in an orderly manner according to the second indication information, where the second indication information is the queuing information for releasing robots to pass through in sequence.

[0024] In some embodiments, the robot road sign includes a first communication module, and the robot includes a second communication module. During the robot's traveling process, determining whether a robot road sign is detected includes:

[0025] When the distance between the robot and the robot road sign is less than the first distance threshold, the first communication module of the robot road sign communicates with the second communication module of the robot;

[0026] When the identification signal sent by the first communication module of the robot landmark is received, it is determined that the robot landmark is detected.

[0027] In some embodiments, the robot further comprises a camera unit;

[0028] If a robot road sign is detected, obtaining first indication information indicated by the robot road sign includes:

[0029] If it is determined that the robot landmark is detected according to the received identification signal, the landmark image of the robot landmark is acquired through the camera unit;

[0030] According to the road sign image, the first indication information indicated by the robot road sign is obtained.

[0031] In some embodiments, obtaining first indication information indicated by a robot road sign according to a road sign image includes:

[0032] Extract the direction signs and / or text content displayed in the road sign image;

[0033] Determine the first indication information indicated by the robot road sign according to the extracted direction mark and / or text content.

[0034] In some embodiments, the method further comprises:

[0035] Get the first dwell time of the robot within the preset range of the robot landmark;

[0036] If the first dwell time is greater than the first time threshold, it is determined that the robot is in distress;

[0037] After determining that the robot is in distress, obtaining the second stay time of the robot within the preset range of the robot landmark;

[0038] If the second dwell time is greater than the second time threshold, it is determined that the robot cannot escape safely, and a distress signal is sent to the terminal connected to the robot to notify the technical personnel corresponding to the terminal to assist in escaping.

[0039] In a second aspect, the present application embodiment provides a robot navigation device, including:

[0040] A judgment unit is used to judge whether a robot landmark is detected during the robot's movement;

[0041] An acquisition unit, configured to acquire first indication information indicated by the robot road sign if a robot road sign is detected;

[0042] A planning unit, configured to re-plan a path according to the first indication information to obtain a re-planned target path;

[0043] A traveling unit for controlling the robot to continue traveling based on a target path.

[0044] In a third aspect, an embodiment of the present application provides a robot, including:

[0045] At least one processor; and

[0046] A memory communicatively connected to the at least one processor; wherein,

[0047] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the robot navigation method as in the first aspect.

[0048] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium storing computer-executable instructions for causing a robot to execute the robot navigation method as in the first aspect.

[0049] The beneficial effects of the embodiments of the present application are as follows: Different from the prior art, the embodiments of the present application provide a robot navigation method, including: during the traveling process of the robot, determining whether a robot road sign is detected; if a robot road sign is detected, obtaining first indication information indicated by the robot road sign; according to the first indication information, re-planning a path to obtain a re-planned target path; controlling the robot to continue traveling based on the target path. By detecting the robot road sign and obtaining the first indication information indicated by the robot road sign to re-plan the path and control the robot to continue traveling based on the re-planned target path, the present application can improve the traveling efficiency of the robot. Description of the Drawings

[0050] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0051] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0052] Figure 2 is a schematic flowchart of a robot navigation method provided by an embodiment of the present application;

[0053] Figure 3 is Figure 2 a detailed flowchart of step S204 in

[0054] Figure 4 is a schematic diagram of the traveling of robot navigation provided by an embodiment of the present application;

[0055] Figure 5 It is a schematic flowchart of a process for planning a first path provided by an embodiment of the present application;

[0056] Figure 6 It is a schematic flowchart of a process for planning a second path provided by an embodiment of the present application;

[0057] Figure 7 It is a schematic flowchart of a process for a robot to escape from trouble provided by an embodiment of the present application;

[0058] Figure 8 It is an interaction timing diagram of a server, a robot, and a mobile terminal provided by an embodiment of the present application;

[0059] Figure 9 It is a schematic diagram of communication between a robot and a robot road sign provided by an embodiment of the present application;

[0060] Figure 10 It is a schematic structural diagram of a robot navigation device provided by an embodiment of the present application;

[0061] Figure 11 It is a schematic structural diagram of a robot provided by an embodiment of the present application. Detailed implementation manners

[0062] To facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific implementation manners. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are only for the purpose of illustration.

[0063] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in this specification in the description of the present application are only for the purpose of describing specific implementation manners and are not used to limit the present application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0064] Before the present application is described in detail, the nouns and terms involved in the embodiments of the present application are described. The nouns and terms involved in the embodiments of the present application are applicable to the following explanations:

[0065] (1) A robot road sign refers to a kind of identification or object used to be recognized by a robot. Among them, the robot road sign includes physical devices such as signs and road signs that display specific information, for example: traffic signs, and also includes virtual devices such as screen patterns and screen marks that display specific information.

[0066] The technical solution of the present application will be specifically described below in conjunction with the accompanying drawings of the specification:

[0067] Please refer to Figure 1 , Figure 1 which is a schematic diagram of an application environment provided by an embodiment of the present application;

[0068] As Figure 1 shown, the application environment 100 includes: a robot 10, a mobile terminal 20, and a server 30. Among them, the robot 10, the mobile terminal 20, and the server 30 are communicatively connected to each other through a network. Among them, the network includes a wired network and / or a wireless network. It can be understood that the network includes wireless networks such as 2G, 3G, 4G, 5G, wireless local area network, and Bluetooth, and can also include wired networks such as serial cables and network cables.

[0069] In an embodiment of the present application, the robot 10 includes a mobile robot, for example: cleaning robots, pet robots, handling robots, nursing robots, remote monitoring robots, floor sweeping robots, and other robots. Among them, the cleaning robot includes, but is not limited to, floor sweeping robots, vacuuming robots, mopping robots, or floor washing robots.

[0070] Among them, the robot includes a main body, a driving wheel component, a camera unit, a lidar, a communication module, and a controller. The outer shape of the main body can generally be oval, triangular, D-shaped, or other shapes. The controller is arranged on the main body, and the driving wheel component is installed on the main body for driving the robot to move. If the robot is a cleaning robot, the driving wheel component drives the robot to move on the surface to be cleaned. Among them, the surface to be cleaned can be a relatively smooth floor surface, a surface covered with a carpet, and other surfaces that need to be cleaned.

[0071] In an embodiment of the present application, the driving wheel component includes a left driving wheel, a right driving wheel, and an omnidirectional wheel. The left driving wheel and the right driving wheel are respectively installed on opposite sides of the main body. The omnidirectional wheel is installed at a position close to the front of the bottom of the main body. The omnidirectional wheel is a movable caster and can rotate 360 degrees horizontally so that the robot can turn flexibly. The installation of the left driving wheel, the right driving wheel, and the omnidirectional wheel forms a triangle to improve the walking stability of the robot.

[0072] In an embodiment of the present application, a camera unit is disposed on the body of the robot and is used to acquire image data and / or video data. Among them, the camera unit is communicatively connected to the controller and is used to acquire image data and / or video data within the coverage of the camera unit. For example, it acquires image data and / or video data within a certain enclosed space, or acquires image data and / or video data within a certain open space, and sends the acquired image data and / or video data to the controller. In an embodiment of the present application, the camera unit includes, but is not limited to, camera devices such as infrared cameras, night vision cameras, network cameras, digital cameras, high-definition cameras, 4K cameras, and 8K high-definition cameras.

[0073] In an embodiment of the present application, a lidar is communicatively connected to the controller. The lidar is disposed on the body of the robot. For example, the lidar is disposed on the mobile chassis of the body of the robot, and the lidar is used to acquire lidar point cloud data. Specifically, the lidar is used to acquire lidar point cloud data within the monitoring range. A communication module is disposed on the mobile chassis of the body of the robot, and the lidar point cloud data acquired by the lidar is sent to the controller through the communication module. In an embodiment of the present application, the lidar includes radars such as pulsed lidar and continuous wave lidar, and the mobile chassis includes robot mobile chassis such as all-round general chassis and arched mobile chassis.

[0074] In an embodiment of the present application, a communication module is communicatively connected to a mobile terminal and a server and is used to receive data sent by the mobile terminal and the server. For example, it receives an environmental map sent by the server; or sends data to the mobile terminal and the server. For example, it sends path information to the server. In an embodiment of the present application, the communication module can communicate with the Internet and the Internet. Among them, the communication module includes, but is not limited to, communication units such as WIFI module, ZigBee module, NB_IoT module, 4G module, 5G module, and Bluetooth module.

[0075] In an embodiment of the present application, a controller is disposed inside the main body. The controller is electrically connected to the left drive wheel, the right drive wheel, and the omnidirectional wheel respectively. As the control core of the robot, the controller is used to control the robot to walk forward, backward, and perform some business logic processing. For example, the controller is used to receive image data and / or video data sent by the camera unit, and receive lidar point cloud data sent by the lidar, and construct an environmental map based on the lidar point cloud data. Among them, the controller performs operations on the lidar point cloud data of the monitoring area through the Simultaneous Localization and Mapping (SLAM) technology, that is, the laser SLAM algorithm to construct an environmental map. In an embodiment of the present application, the laser SLAM algorithm includes Kalman filtering, particle filtering, and graph optimization methods.

[0076] In the embodiments of the present application, the controller may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components. The controller may also be any conventional processor, controller, microcontroller, or state machine. The controller may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP and / or any other such configuration, or one or more combinations of a microcontroller unit (MCU), a field-programmable gate array (FPGA), and a system-on-chip (SoC).

[0077] It can be understood that the robot 10 in the embodiments of the present application further includes a storage module, and the storage module includes, but is not limited to, one or more of devices such as FLASH flash memory, NAND flash memory, vertical NAND flash memory (VNAND), NOR flash memory, resistive random access memory (RRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), spin-transfer torque random access memory (STT-RAM), etc.

[0078] In the embodiments of the present application, during the movement of the above-mentioned robot 100, the controller adopts the Simultaneous Localization and Mapping (SLAM) technology, that is, the laser SLAM algorithm for positioning and navigation, and constructs a map and locates according to the environmental data.

[0079] In the embodiments of the present application, the mobile terminal 20 is communicatively connected to the robot 10, and is used to send control instructions to the robot 10, or receive path information sent by the robot 10, so as to present the path information and related images of the robot 10 on the screen of the mobile terminal 20 to monitor the traveling process of the robot. Among them, the mobile terminal 20 is installed with an application APP, and the user can send control commands to the robot 10 through the application APP to control the state of the robot 10. The mobile terminal 20 includes, but is not limited to: mobile communication devices, mobile personal computer devices, portable entertainment devices, or other electronic devices with video playback functions and Internet access functions.

[0080] In the embodiments of the present application, the server 30 is communicatively connected to the robot 10 and the mobile terminal 20, and is configured to send map information to the robot 10 and / or the mobile terminal 20, such as: an environmental map of the environment where the robot is located, so that the robot 10 can perform path planning based on the environmental map of the environment where it is located. Among them, the environmental map includes maps such as street maps and road planning maps. The number of the servers 30 is multiple, and the multiple servers can form a server cluster. For example, the server cluster includes: a first server, a second server,..., an Nth server. Alternatively, the server cluster can be a cloud computing service center, and the cloud computing service center includes several servers. The servers in the embodiments of the present application include, but are not limited to: tower servers, rack servers, blade servers, and cloud servers. Preferably, the server is a cloud server (Elastic Compute Service, ECS).

[0081] Please refer to Figure 2 , Figure 2 which is a schematic flow chart of a robot navigation method provided by an embodiment of the present application;

[0082] Among them, the robot navigation method is applied to a robot, such as: a mobile robot. Specifically, the execution subject of the robot navigation method is one or more processors of the robot.

[0083] As Figure 2 shown, the robot navigation method includes:

[0084] Step S201: The robot is in the process of moving forward;

[0085] Specifically, the robot receives a movement instruction sent by the mobile terminal, and according to the movement instruction, moves forward along the original path. Among them, the movement instruction includes path information of the original path. After the controller of the robot receives the movement instruction, it parses the movement instruction to obtain the path information of the original path, and based on the path information, controls the robot to start from the current position and enter the movement process. Among them, the path information includes start point information, end point information, and path direction information. At this time, the robot is controlled to move forward according to the current position, end point information, and path direction information of the robot, so that the robot moves towards the end point.

[0086] Step S202: Determine whether a robot road sign is detected;

[0087] Specifically, the robot road sign is an identification or object for being recognized by the robot. The robot road sign includes a first communication module, and the robot includes a second communication module. Determining whether a robot road sign is detected includes:

[0088] When the distance between the robot and the robot road sign is less than the first distance threshold, the first communication module of the robot road sign communicates with the second communication module of the robot;

[0089] When receiving the identification signal sent by the first communication module of the robot road sign, it is determined that the robot road sign is detected.

[0090] Specifically, if the distance between the robot and the robot road sign is less than the first distance threshold, the robot road sign sends an identification signal to the robot. When receiving the identification signal sent by the first communication module of the robot road sign, it is determined that the robot road sign is detected.

[0091] Alternatively, the robot road sign is an identification for being recognized by the robot. The robot road sign includes first indication information. The robot acquires a road sign image including the robot road sign through an imaging unit disposed on the body of the robot, performs image recognition on the road sign image to determine whether the robot road sign is detected. If the robot road sign is detected, step S203 is entered: acquiring the first indication information indicated by the robot road sign; if the robot road sign is not detected, step S206 is entered: controlling the robot to continue traveling based on the original path.

[0092] In the embodiment of the present application, in order to more accurately detect the robot road sign, a robot road sign detection model is pre-trained. The training process includes:

[0093] (1) Acquire an image data set. The image data set includes road sign images of multiple robot road signs. The road sign image is a three-channel color image, and each road sign image is labeled with a class label. The class label is used to characterize whether the road sign image includes a robot road sign and the class of the first indication information corresponding to the robot road sign. For example: label the road sign image through the one-hot class label algorithm, and use the value of 1 or 0 at the position corresponding to the robot road sign to indicate that the road sign image includes or does not include a robot road sign.

[0094] It can be understood that the image data set can be color images collected by the imaging unit of the robot, or the image data set can be road sign images included in the database of the server. The source of the image samples is not limited here.

[0095] (2) Construct a loss function, and train the robot road sign detection model based on the image data set to obtain a trained robot road sign detection model.

[0096] Specifically, the embodiments of the present application adopt the Adam algorithm (Adaptive Moment Estimation Algorithm) to optimize the model parameters of the robot road sign detection model. For example: set the number of iterations to 500 times, initialize the learning rate to 0.001, set the weight decay to 0.0005, and decay the learning rate to 1 / 10 of the original every 50 iterations.

[0097] It can be understood that the Adam algorithm (Adaptive Moment Estimation Algorithm, Adam) can be regarded as a combination of the momentum method and the RMSProp algorithm. It not only uses momentum as the parameter update direction but also can adaptively adjust the learning rate.

[0098] After the robot road sign detection model is trained, the trained robot road sign detection model is called to detect the road sign images captured by the robot in real time to determine whether a robot road sign is detected.

[0099] Step S203: Obtain the first indication information indicated by the robot road sign;

[0100] Specifically, the robot further includes a camera unit. If a robot road sign is detected, the first indication information indicated by the robot road sign is obtained. Specifically, if it is determined that a robot road sign is detected according to the received identification signal, the road sign image of the robot road sign is obtained through the camera unit; according to the road sign image, the first indication information indicated by the robot road sign is obtained. Among them, the first indication information includes passing information, temporary no-passing information, and long-term no-passing information. Among them, the passing information includes going straight, turning left, and turning right. The temporary no-passing information includes temporarily prohibiting going straight, temporarily prohibiting turning left, and temporarily prohibiting turning right. The long-term no-passing information includes permanently prohibiting going straight, permanently prohibiting turning left, and permanently prohibiting turning right.

[0101] In the embodiments of the present application, obtaining the first indication information indicated by the robot road sign according to the road sign image includes:

[0102] Extract the direction signs and / or text contents displayed in the road sign image;

[0103] According to the extracted direction signs and / or text contents, determine the first indication information indicated by the robot road sign.

[0104] It can be understood that the road sign image can be used to provide rich display contents, such as: direction signs and / or text contents, which are beneficial for guiding the robot in direction or path planning.

[0105] Furthermore, the pre-trained robot road sign detection model in the embodiments of the present application is also used to identify the first indication information indicated by the robot road sign.

[0106] Specifically, by obtaining a road sign image including the robot road sign, inputting the road sign image into the pre-trained robot road sign detection model, the first indication information indicated by the robot road sign is obtained, for example: one of going straight, turning left, turning right, temporarily prohibiting going straight, temporarily prohibiting turning left, temporarily prohibiting turning right, permanently prohibiting going straight, permanently prohibiting turning left, and permanently prohibiting turning right.

[0107] It can be understood that during the training process of the robot road sign detection model, the road sign image is labeled by the one-hot category label algorithm. For example: the number of bits of the label corresponding to each road sign image is seven-bit binary. The first bit represents whether the road sign image includes a robot road sign, and the following six bits respectively represent the categories of the first indication information corresponding to the robot road sign. For example: [1,1,0,0,0,0,0] means that the road sign image includes a robot road sign, and the first indication information corresponding to the robot road sign is going straight.

[0108] Furthermore, in order to shorten the position of the label, the embodiments of the present application set the number of bits of the label to be equal to the number of categories of the first indication information corresponding to the robot road sign. For example: if the number of categories of the first indication information corresponding to the robot road sign is 6, then the number of bits of the label is set to 6 bits. For example: [0,0,0,0,0,0] represents that the road sign image does not include a robot road sign, [1,0,0,0,0,0] represents that the road sign image includes a robot road sign, and the first indication information corresponding to the robot road sign is going straight, and so on, so as to determine whether the road sign image includes a robot road sign and the first indication information corresponding to the robot road sign.

[0109] Step S204: Re-plan the path according to the first indication information to obtain the re-planned target path;

[0110] It can be understood that since the pre-planned original path of the robot does not take into account the existence of the robot road sign, and the different first indication information indicated by the robot road sign may cause problems that the original path may not be passable. Therefore, the embodiments of the present application need to re-plan the path according to the first indication information to obtain the re-planned target path.

[0111] Specifically, please refer to Figure 3 , Figure 3 is Figure 2 the detailed flowchart of step S204 in

[0112] As Figure 3As shown in the figure, step S204: Re-plan the path according to the first indication information to obtain the re-planned target path, including:

[0113] Step S2041: Obtain the first indication information;

[0114] Among them, the first indication information is obtained after the robot performs image recognition on the road sign image. The first indication information includes passage information, temporary no-passage information, and permanent no-passage information. Among them, the passage information includes going straight, turning left, and turning right. The temporary no-passage information includes temporarily prohibiting going straight, temporarily prohibiting turning left, and temporarily prohibiting turning right. The permanent no-passage information includes permanently prohibiting going straight, permanently prohibiting turning left, and permanently prohibiting turning right.

[0115] Step S2042: If the first indication information is passage information, plan the first path and use the first path as the target path. Among them, the first path includes the section corresponding to the passage information;

[0116] Specifically, if the first indication information is passage information, it means that the section corresponding to the passage information is a passable section. At this time, plan the first path. Among them, the first path includes the section corresponding to the passage information. For example: if the passage information is turning left, then the first path includes the section corresponding to turning left, plan the section corresponding to turning left in the first path, and determine the first path as the target path.

[0117] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the movement of a robot navigation provided by an embodiment of the present application;

[0118] As Figure 4 shown, during the movement of the robot, if the robot detects a robot road sign, re-plan the path according to the first indication information indicated by the robot road sign to obtain the re-planned target path. For example:

[0119] If the first indication information includes passage information, plan the first path and use the first path as the target path;

[0120] Specifically, please refer to Figure 5 again, Figure 5 which is a schematic flowchart of planning the first path provided by an embodiment of the present application;

[0121] As Figure 5 shown, planning the first path includes:

[0122] Step S501: Obtain the global map;

[0123] Specifically, the global map includes an environmental map of the environment where the robot is located. For example, a global SLAM map. The robot obtains the global map sent by the server, or the controller of the robot obtains the global map stored in the storage unit of the robot.

[0124] Step S502: According to the global map, plan multiple sub-paths along the traveling direction between the current position of the robot and the target position the robot needs to reach.

[0125] Specifically, the traveling direction, that is, the forward direction of the robot. Among them, the traveling direction of the robot is detected by an acceleration sensor set on the body of the robot. Through the acceleration sensor, the traveling direction of the robot can be detected. It can be understood that this acceleration sensor is also used to detect the speed and acceleration of the robot.

[0126] According to the global map, determine the current position of the robot and the target position the robot needs to reach. Between the current position and the target position, plan multiple sub-paths along the traveling direction of the robot. Among them, each sub-path starts from the current position and points to the target position.

[0127] Step S503: According to the first section, determine a target path among the multiple sub-paths, where the target path passes through the first section.

[0128] Specifically, the section corresponding to the traffic information is the first section. Determine a target path among the multiple sub-paths. Among them, each sub-path passes through the first section. For example, determine the sub-path with the shortest distance among the multiple sub-paths as the target path, where the target path passes through the first section, or determine the sub-path with the fewest turns among the multiple sub-paths as the target path, where the target path passes through the first section.

[0129] In the embodiment of the present application, by determining a target path among the multiple sub-paths, the distance of the target path is the shortest or the number of turns is the fewest, which better constrains the path planning of the robot, is conducive to reducing the passing time of the robot, and thus improves the walking efficiency of the robot.

[0130] Step S2043: If the first indication information is a temporary traffic prohibition information, then plan a second path, use the second path as the target path, and perform corresponding actions according to the information indicated by the subsequent obtained robot road signs.

[0131] Specifically, the temporary traffic prohibition information includes temporarily prohibiting going straight, temporarily prohibiting turning left, and temporarily prohibiting turning right. Please refer to Figure 6 , Figure 6 is a schematic flowchart of a process for planning a second path provided by an embodiment of the present application;

[0132] Such as Figure 6As shown, plan a second path, use the second path as the target path, and perform corresponding actions according to the information indicated by the subsequent robot road signs obtained, including:

[0133] Step S601: According to the queuing position information sent by the robot road sign, plan a second path to make the robot enter the queuing waiting mode;

[0134] It can be understood that the robot road sign can be regarded as a kind of intelligent device, for example: an intelligent terminal, which is used to orderly release multiple robots in the queuing waiting mode, so that it has the function of dredging traffic.

[0135] Specifically, the robot road sign communicates with multiple robots within the preset range of the robot road sign and sends queuing position information to the robots, so that the robots plan a second path to enter the queuing waiting mode according to the queuing position information sent by the robot road sign. Among them, the queuing position information includes the position information and serial number information of each robot. Among them, the smaller the serial number information corresponding to a certain robot, the closer the robot is to the robot road sign. That is to say, based on the robot road sign, the robot with smaller serial number information is in front of the robot with larger serial number.

[0136] Step S602: When the robot is in the queuing waiting mode, continuously obtain the second indication information indicated by the robot road sign and pass through orderly according to the second indication information, where the second indication information is the queuing information for releasing robots to pass through in turn.

[0137] Specifically, if there are multiple robots within the preset range of the robot road sign, and if a certain robot is in the queuing waiting mode, the robot road sign continuously sends the second indication information to the robot, so that multiple robots pass through orderly according to the second indication information. Among them, the second indication information is the queuing information for releasing robots to pass through in turn. For example: the first robot, the second robot and the third robot are all in the queuing waiting mode. Among them, the first robot is in front of the second robot, and the second robot is in front of the third robot. Then, after the robot road sign releases the first robot, it sends the second indication information to the second robot and the third robot, so that the second robot and the third robot pass through orderly in turn according to the second indication information.

[0138] Step S2044: If the first indication information is long-term prohibited passage information, plan a third path and use the third path as the target path, where the third path does not include the section corresponding to the long-term prohibited passage information;

[0139] Specifically, if the first indication information is long-term no-passing information, it means that the section corresponding to this passing information is a no-passing section. At this time, plan a third path, where the third path does not include the section corresponding to this long-term no-passing information. For example, if this long-term no-passing information is a right turn, then this third path does not include the section corresponding to the right turn. At this time, reselect the next section as the traveling route of the robot to determine the third path, and use the third path as the target path.

[0140] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the traveling of a robot navigation provided by an embodiment of the present application;

[0141] As Figure 4 shown, during the traveling process of the robot, if the robot detects a robot road sign, then according to the first indication information indicated by this robot road sign, re-plan the path to obtain the re-planned target path. For example:

[0142] If this first indication information includes long-term no-passing information, then plan a third path and use the third path as the target path.

[0143] In the embodiment of the present application, when the robot encounters a robot road sign, that is, re-plan the path, it can pass smoothly according to the first indication information indicated by the robot road sign, thus avoiding the drawbacks of the prior art of collecting environmental information in real time, constructing a local map, and planning a local path to bypass obstacles, and improving the traveling efficiency of the robot. Further, in the embodiment of the present application, by adopting different processing methods for different types of first indication information, it is beneficial to improve the traveling efficiency of the robot.

[0144] Step S205: Control the robot to continue traveling based on the target path;

[0145] Specifically, determine the target path according to the first indication information indicated by the robot road sign, and continue traveling based on the target path, where the target path includes the first path, the second path or the third path.

[0146] Step S206: Control the robot to continue traveling based on the original path;

[0147] Among them, this original path is determined by the mobile terminal, and this original path is determined by the traveling instruction sent by the mobile terminal to the robot.

[0148] It can be understood that if the robot does not detect a robot road sign during the traveling process, it travels based on the original path until it reaches the end point.

[0149] It can be understood that robots generally adopt lidar positioning and navigation algorithms with better computational efficiency. In the embodiments of the present application, the robot is guided by robot road signs, which have better penetration and a simple algorithm. Moreover, the robot road signs can notify the robot at a long distance. For example, the robot can be notified at the intersection position, avoiding the drawback of turning back to select a path after entering the roadway, and avoiding the drawbacks of only detecting at close range with a camera device and a large amount of algorithm operations, thereby improving the traveling efficiency of the robot.

[0150] Please refer to Figure 7 , Figure 7 which is a schematic flow diagram of a robot getting out of trouble provided by the embodiments of the present application;

[0151] The process of the robot getting out of trouble includes:

[0152] Step S701: Obtain the first residence time of the robot within the preset range of the robot road sign;

[0153] Specifically, the preset range refers to a distance range. For example, within the range of the first distance from the robot road sign. For example, in a certain direction, when a certain robot enters the range of the first distance from the robot road sign, its residence time is used as the first residence time of the robot within the preset range of the robot road sign.

[0154] Step S702: If the first residence time is greater than the first time threshold, determine that the robot is in distress;

[0155] Specifically, determine whether the first residence time is greater than the first time threshold. If the first residence time is greater than the first time threshold, determine that the robot is in distress; if the first residence time is not greater than the first time threshold, determine that the robot is walking normally. In the embodiments of the present application, the first time threshold is proportional to the size of the preset range and / or the current speed of the robot. Among them, the size of the preset range is characterized by the first distance, and the preset range is the range where the circle with the robot road sign as the center and the first distance as the radius is located. For example, the first time threshold = the first distance * the first weight coefficient + the current speed of the robot * the second weight coefficient. For example, the first distance is 10m, the first weight coefficient is 5, the current speed of the robot is 1m / s, and the second weight coefficient is 50, then the first time threshold is 100s.

[0156] Step S703: After determining that the robot is in distress, obtain the second residence time of the robot within the preset range of the robot road sign;

[0157] Specifically, the second residence time is a period of time starting from when it is determined that the robot is in distress until the robot leaves the preset range of the robot road sign.

[0158] Step S704: If the second dwell time is greater than the second time threshold, it is determined that the robot cannot escape safely;

[0159] Specifically, determine whether the second dwell time is greater than the first time threshold. If so, determine that the robot cannot escape safely; if not, determine that the robot can escape safely. The second time threshold is positively correlated with the first time threshold, for example: the second time threshold = the first time threshold * proportional coefficient, for example: the first time threshold is 100s, the proportional coefficient is 0.8, and the second time threshold is 80s.

[0160] Step S705: Send a distress signal to the terminal connected to the robot to notify the technical personnel at the terminal to assist in escaping the distress.

[0161] Specifically, if the second dwell time is greater than the second time threshold, it means that the robot cannot escape by itself. At this time, the robot sends a distress signal to the terminal connected to the robot to notify the technical personnel corresponding to the terminal to assist in escaping.

[0162] In the embodiment of the present application, a first time threshold is set to determine whether the robot is in distress, and a second time threshold is further set to determine whether the robot can escape by itself, and then determine whether to notify the technician, thereby preventing the robot from being unable to move after being in distress and improving the driving safety of the robot.

[0163] Please refer to Figure 8 , Figure 8 is an interactive timing diagram of a server, a robot, and a mobile terminal provided in an embodiment of the present application;

[0164] If Figure 8 As shown in the figure, the interaction process among the server, robot and mobile terminal includes:

[0165] Step S801: Sending environment map;

[0166] Specifically, the server sends an environmental map to the robot, wherein the environmental map includes maps such as street maps and road planning maps, and the environmental map is used for navigation by the robot. In some embodiments, the server also sends the environmental map to the mobile terminal, so that the mobile terminal generates a travel instruction based on the environmental map to control the robot to travel.

[0167] Step S802: Receive and store the environment map;

[0168] ​Specifically, the robot receives and stores the environmental map sent by the server. It can be understood that since the environmental map is continuously updated, the robot only stores the latest environmental map, that is, after receiving the current environmental map sent by the server, the historical environmental map is deleted, thus saving the storage space of the storage unit of the robot.

[0169] Step S803: Send a travel instruction;

[0170] Specifically, the mobile terminal sends a travel instruction to the robot so that the robot receives the travel instruction.

[0171] Step S804: Parse the travel instruction to obtain the original path;

[0172] Specifically, the robot receives the travel instruction sent by the mobile terminal and parses the travel instruction to obtain the path information of the original path. Among them, the path information of the original path includes start point information, end point information, and path direction information. Further, in order to make the robot's travel more accurate, the path information of the original path also includes section information, that is, the path information of the original path includes the section information of each section, and the section information of each section includes: the position, length, width, etc. of each section.

[0173] Step S805: Enter the travel process;

[0174] Specifically, the controller controls the robot to enter the travel process. For example: controlling the driving wheel component of the robot to move to control the robot to enter the travel process.

[0175] Step S806: Walk based on the environmental map and the original path.

[0176] Specifically, control the robot to walk based on the environmental map and the original path. For example: based on the environmental map, control the robot to walk from the current position of the robot to the target position of the robot based on the original path.

[0177] In the embodiment of the present application, by sending the environmental map from the server to the robot, the robot receives and stores the environmental map, the mobile terminal sends a travel instruction to the robot, and after receiving the travel instruction, the robot parses the travel instruction to obtain the original path, so as to walk based on the original path. The present application can utilize the environmental map sent by the server to improve the travel efficiency.

[0178] In the embodiment of the present application, the robot road sign includes a first communication module, the robot includes a second communication module, and the method further includes:

[0179] When the distance between the robot and the robot road sign is less than the first distance threshold, the first communication module of the robot road sign communicates with the second communication module of the robot;

[0180] The second communication module of the robot receives the identification signal sent by the first communication module of the robot road sign, and obtains the first indication information indicated by the robot road sign according to the identification signal.

[0181] Specifically, please refer to Figure 9 , Figure 9 which is a schematic diagram of communication between a robot and a robot road sign provided by an embodiment of the present application;

[0182] As Figure 9 shown, the robot road sign 901 includes a first communication module 9011, and the robot 902 includes a second communication module 9021, wherein the first communication module 9011 and the second communication module 9021 are communicatively connected.

[0183] Specifically, the robot includes a camera unit, the robot road sign 901 includes a first communication module 9011, and the robot 902 includes a second communication module 9021. When the distance between the robot 902 and the robot road sign 901 is less than the first distance threshold, the first communication module 9011 of the robot road sign 901 communicates with the second communication module 9021 of the robot 902. In the embodiment of the present application, the first distance threshold is positively correlated with the signal transmission distance of the first communication module 9011 and the second communication module 9012. For example, the first distance threshold is set to 70% of the maximum signal transmission distance of the first communication module 9011 and the second communication module 9012. For example, if the maximum signal transmission distance is 5m, the first distance threshold is set to 3.5m.

[0184] The second communication module 9021 of the robot 902 receives the identification signal sent by the first communication module 9011 of the robot road sign 901, and obtains the first indication information indicated by the robot road sign 901 according to the identification signal.

[0185] Specifically, after receiving the identification signal sent by the first communication module of the robot road sign, control the camera unit to scan the environmental information, locate the robot road sign, capture the road sign image of the robot road sign, and perform image recognition on the road sign image to obtain the first indication information indicated by the robot road sign.

[0186] In an embodiment of the present application, by providing a robot navigation method, including: during the process of the robot's movement, determining whether a robot road sign is detected; if a robot road sign is detected, obtaining first indication information indicated by the robot road sign; according to the first indication information, re-planning a path to obtain a re-planned target path; controlling the robot to continue moving based on the target path. By detecting the robot road sign and obtaining the first indication information indicated by the robot road sign to re-plan the path and control the robot to continue moving based on the re-planned target path, the present application can improve the movement efficiency of the robot.

[0187] Please refer to Figure 10 , Figure 10 which is a schematic structural diagram of a robot navigation device provided by an embodiment of the present application;

[0188] Among them, the robot navigation device is applied to a robot. Specifically, the robot navigation device is applied to one or more processors of the robot.

[0189] As Figure 10 shown, the robot navigation device 101 includes:

[0190] A judgment unit 1011, configured to determine whether a robot road sign is detected during the movement of the robot;

[0191] An acquisition unit 1012, configured to obtain first indication information indicated by the robot road sign if a robot road sign is detected;

[0192] A planning unit 1013, configured to re-plan a path according to the first indication information to obtain a re-planned target path;

[0193] A movement unit 1014, configured to control the robot to continue moving based on the target path.

[0194] In an embodiment of the present application, the first indication information includes passing information, temporary no-passing information, and permanent no-passing information. Specifically, the planning unit 1013 is configured to:

[0195] If the first indication information is passing information, plan a first path and use the first path as the target path, where the first path includes the section corresponding to the passing information;

[0196] If the first indication information is temporary no-passing information, plan a second path, use the second path as the target path, and perform corresponding actions according to the information indicated by the robot road signs obtained subsequently;

[0197] If the first indication information is permanent no-passing information, plan a third path and use the third path as the target path, where the third path does not include the section corresponding to the permanent no-passing information.

[0198] In an embodiment of the present application, the passage information includes a first section and a traveling direction;

[0199] Planning a first path includes:

[0200] Obtaining a global map;

[0201] According to the global map, planning multiple sub-paths along the traveling direction between the current position of the robot and the target position to which the robot is to reach;

[0202] According to the first section, determining a target path from the multiple sub-paths, where the target path passes through the first section.

[0203] In an embodiment of the present application, the planning unit 1013 is further configured to:

[0204] According to the queuing position information sent by the robot road sign, planning a second path to enable the robot to enter the queuing waiting mode;

[0205] When the robot is in the queuing waiting mode, continuously obtaining the second indication information indicated by the robot road sign, and passing through in an orderly manner according to the second indication information, where the second indication information is the queuing information for sequentially releasing the robot to pass through.

[0206] In an embodiment of the present application, the robot road sign includes a first communication module, the robot includes a second communication module, and the obtaining unit 1012 is further configured to:

[0207] When the distance between the robot and the robot road sign is less than a first distance threshold, the first communication module of the robot road sign communicates with the second communication module of the robot;

[0208] When receiving the identification signal sent by the first communication module of the robot road sign, it is determined that the robot road sign is detected.

[0209] In an embodiment of the present application, the robot further includes a camera unit. After receiving the identification signal sent by the first communication module of the robot road sign, the obtaining unit 1012 is further configured to:

[0210] If the robot road sign is detected, obtaining the first indication information indicated by the robot road sign, including:

[0211] If it is determined that the robot road sign is detected according to the received identification signal, obtaining the road sign image of the robot road sign through the camera unit;

[0212] According to the road sign image, obtaining the first indication information indicated by the robot road sign.

[0213] In an embodiment of the present application, the obtaining unit 1012 is specifically configured to:

[0214] Extracting direction signs and / or text content displayed in road sign images;

[0215] Determine the first indication information indicated by the robot road sign according to the extracted direction mark and / or text content.

[0216] In the embodiment of the present application, the traveling unit 1014 is also used for:

[0217] Get the first dwell time of the robot within the preset range of the robot landmark;

[0218] If the first dwell time is greater than the first time threshold, it is determined that the robot is in distress;

[0219] After determining that the robot is in distress, obtaining the second stay time of the robot within the preset range of the robot landmark;

[0220] If the second dwell time is greater than the second time threshold, it is determined that the robot cannot escape safely, and a distress signal is sent to the terminal connected to the robot to notify the technical personnel corresponding to the terminal to assist in escaping.

[0221] In the embodiments of the present application, the robot navigation device can also be constructed by hardware devices. For example, the robot navigation device can be constructed by one or more chips, and the chips can work in coordination with each other to complete the robot navigation methods described in the above embodiments. For another example, the robot navigation device can also be constructed by various logic devices, such as general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), single-chip microcomputers, ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0222] The robot navigation device in the embodiments of this application can be a device, or a component, integrated circuit, or chip in a terminal. This device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of this application do not make specific limitations.

[0223] The robot navigation device in the embodiments of this application can be a device with an operating system. This operating system can be the Android operating system, the iOS operating system, or other possible operating systems. The embodiments of this application do not make specific limitations.

[0224] The robot navigation device provided in the embodiments of this application can implement Figure 2 each of the implemented processes. To avoid repetition, it will not be elaborated here.

[0225] It should be noted that the above-mentioned robot navigation device can execute the robot navigation method provided in the embodiments of this application and has corresponding functional modules and beneficial effects for executing the method. For technical details not described in detail in the embodiments of the robot navigation device, reference can be made to the robot navigation method provided in the above embodiments.

[0226] In the embodiments of this application, by providing a robot navigation device, including: a judgment unit, configured to judge whether a robot road sign is detected during the robot's travel; an acquisition unit, configured to acquire first indication information indicated by the robot road sign if the robot road sign is detected; a planning unit, configured to re-plan a path according to the first indication information to obtain a re-planned target path; and a travel unit, configured to control the robot to continue traveling based on the target path. By detecting the robot road sign, acquiring the first indication information indicated by the robot road sign, re-planning the path, and controlling the robot to continue traveling based on the re-planned target path, this application can improve the travel efficiency of the robot.

[0227] Please refer to Figure 11 , Figure 11 which is a schematic structural diagram of a robot provided in the embodiments of this application;

[0228] AsFigure 11 As shown, the robot 110 includes one or more processors 111 and a memory 112. Among them, Figure 11 Take one processor 111 as an example.

[0229] The processor 111 and the memory 112 can be connected through a bus or other means. Figure 11 Take the connection through the bus as an example.

[0230] The processor 111 is used to provide computing and control capabilities to control the robot 110 to perform corresponding tasks. For example, controlling the robot 110 to execute the robot navigation method in any of the above method embodiments, including: during the movement of the robot, determining whether a robot road sign is detected; if a robot road sign is detected, obtaining first indication information indicated by the robot road sign; according to the first indication information, re-planning a path to obtain a re-planned target path; controlling the robot to continue moving based on the target path.

[0231] By detecting the robot road sign, obtaining the first indication information indicated by the robot road sign, re-planning the path and controlling the robot to continue moving based on the re-planned target path, the present application can improve the movement efficiency of the robot.

[0232] The processor 111 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0233] The memory 112 serves as a non-transitory computer-readable storage medium and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the robot navigation method in the embodiments of the present application. By running the non-transitory software programs, instructions, and modules stored in the memory 112, the processor 111 can implement the robot navigation method in any of the following method embodiments. Specifically, the memory 112 may include volatile memory (VM), such as random access memory (RAM); the memory 112 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), or other non-transitory solid-state storage devices; the memory 112 may further include a combination of the above types of memories.

[0234] The memory 112 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 112 optionally includes memories remotely located relative to the processor 111, and these remote memories can be connected to the processor 111 through a network. Examples of the above networks include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and combinations thereof.

[0235] One or more modules are stored in the memory 112 and, when executed by one or more processors 111, implement the robot navigation method in any of the above method embodiments. For example, they execute the Figure 2 various steps shown above; they can also implement Figure 10 the functions of the various modules or units.

[0236] In the embodiments of the present application, the robot 110 may also have components such as a wired or wireless network interface, a keyboard, and an input / output interface for input / output. The robot 110 may further include other components for implementing the functions of the device, which will not be elaborated here.

[0237] The robots in the embodiments of the present application exist in various forms. When executing the Figure 2 various steps shown above; they can also implement Figure 10 the functions of the various units, including but not limited to: cleaning robots, service robots, remote monitoring robots, floor-sweeping robots, and other robots.

[0238] The embodiments of the present application also provide a computer-readable storage medium, such as a memory including program codes, and the above program codes can be executed by a processor to complete the robot navigation method in the above embodiments. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0239] The embodiments of the present application also provide a computer program product, which includes one or more program codes, and the program codes are stored in a computer-readable storage medium. The processor of the electronic device reads the program codes from the computer-readable storage medium, and the processor executes the program codes to complete the method steps of the robot navigation method provided in the above embodiments.

[0240] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by hardware related to program codes. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a magnetic disk, or an optical disc, etc.

[0241] Through the description of the above embodiments, those of ordinary skill in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), or a random access memory (RAM), etc.

[0242] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present application as described above. For the sake of brevity, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot navigation method, characterized in that: include: During the robot's movement, determine whether the robot's landmarks are detected; If a robot landmark is detected, obtaining first indication information indicated by the robot landmark; Replanning a path according to the first indication information to obtain a replanned target path; Controlling the robot to continue moving based on the target path; The replanning a path according to the first indication information to obtain a replanned target path includes: If the first indication information is passage information, a first path is planned, and the first path is used as a target path, wherein the first path includes a road section corresponding to the passage information, and the passage information includes a first road section and a travel direction; the planning of the first path includes: acquiring a global map; according to the global map, planning a plurality of sub-paths along the travel direction between the current position of the robot and the target position to be reached by the robot; according to the first road section, determining a target path from the plurality of sub-paths, wherein the target path passes through the first road section; If the first indication information is permanent traffic prohibition information, planning a third path and taking the third path as the target path, wherein the third path does not include the road section corresponding to the permanent traffic prohibition information; If the first indication information is temporary prohibition information, a second path is planned, the second path is used as the target path, and corresponding actions are performed according to the information indicated by the robot road sign obtained subsequently, specifically including: Planning a second path according to the queue position information sent by the robot landmark to enable the robot to enter a queue waiting mode; When the robot is in a queue waiting mode, the robot continuously obtains second indication information indicated by the robot road sign, and passes in an orderly manner according to the second indication information, wherein the second indication information is queue information for releasing the robots to pass in sequence.

2. The method according to claim 1, characterized in that The robot roadmap includes a first communication module, and the robot includes a second communication module; During the robot's movement, determining whether a robot road sign is detected includes: When the distance between the robot and the robot landmark is less than a first distance threshold, the first communication module of the robot landmark communicates with the second communication module of the robot; When the identification signal sent by the first communication module of the robot landmark is received, it is determined that the robot landmark is detected.

3. The method according to claim 2, characterized in that The robot also includes a camera unit; If a robot landmark is detected, obtaining first indication information indicated by the robot landmark includes: If it is determined that the robot landmark is detected according to the received identification signal, acquiring a landmark image of the robot landmark through the camera unit; According to the road sign image, first indication information indicated by the robot road sign is obtained.

4. The method according to claim 3, characterized in that Acquiring first indication information indicated by the robot road sign according to the road sign image, including: Extracting direction signs and / or text content displayed in the road sign image; The first indication information indicated by the robot road sign is determined according to the extracted direction identifier and / or text content.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Obtaining a first stay time of the robot within a preset range of the robot landmark; If the first dwell time is greater than a first time threshold, determining that the robot is in distress; After determining that the robot is in distress, obtaining a second stay time of the robot within a preset range of the robot landmark; If the second dwell time is greater than a second time threshold, it is determined that the robot cannot escape safely, and a distress signal is sent to a terminal that is communicatively connected to the robot to notify a technician corresponding to the terminal to assist in escaping.

6. A robot navigation device, characterized in that: include: A judgment unit, used to judge whether a robot landmark is detected during the robot's movement; an acquiring unit, configured to acquire first indication information indicated by the robot road sign if a robot road sign is detected; a planning unit, configured to re-plan a path according to the first indication information to obtain a re-planned target path; A moving unit, used for controlling the robot to continue moving based on the target path; The planning unit is used to: If the first indication information is passage information, a first path is planned, and the first path is used as a target path, wherein the first path includes a road section corresponding to the passage information, and the passage information includes a first road section and a travel direction; the planning of the first path includes: acquiring a global map; according to the global map, planning a plurality of sub-paths along the travel direction between the current position of the robot and the target position to be reached by the robot; according to the first road section, determining a target path from the plurality of sub-paths, wherein the target path passes through the first road section; If the first indication information is permanent traffic prohibition information, planning a third path and taking the third path as the target path, wherein the third path does not include the road section corresponding to the permanent traffic prohibition information; If the first indication information is temporary prohibition information, planning a second path, taking the second path as the target path, and performing corresponding actions according to the information indicated by the robot road sign obtained subsequently; Planning unit, specifically for: Planning a second path according to the queue position information sent by the robot landmark to enable the robot to enter a queue waiting mode; When the robot is in a queue waiting mode, the robot continuously obtains second indication information indicated by the robot road sign, and passes in an orderly manner according to the second indication information, wherein the second indication information is queue information for releasing the robots to pass in sequence.

7. A robot, characterized in that: include: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the robot navigation method according to any one of claims 1 to 5.

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