A robot collision handling method and device

Abstract

The present invention discloses a robot collision processing method and device, wherein the robot comprises a collision sensor for detecting obstacles in front of the robot, and an obstacle detection sensor for obtaining obstacle information around the robot, comprising: when a collision sensor response is detected, calculating the position information of the target obstacle according to the response information of the collision sensor, and creating or updating the position information of the target obstacle in the current map according to the position information; obtaining first associated information of the target obstacle by using the obstacle detection sensor; and executing escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a robot collision processing method and device. Background Art

[0002] At present, most robots on the market have a strategy of retreating a certain distance after a collision is triggered, and then continue to work. Such a strategy relies heavily on sensors such as lidar to map accurate obstacle information on the map, and simply retreats after a collision and then tries again, without making corresponding safety strategies based on the information from the collision sensor. For example, when the robot encounters a reflective brick on the ground when turning, after the collision sensor is triggered, the robot will still collide with the reflective brick on the ground after retreating a distance and replanning. Because this small floor tile is completely in the robot's blind spot, including the process of turning and retreating, the robot will not be able to escape simply through path planning when no sensor can detect it. This will make the robot appear "sluggish" when encountering such low obstacles, and the overall work will appear unsmooth. Summary of the invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the existing robot can only perform a backward operation and cannot escape after a collision, thereby providing a robot collision handling method and device.

[0004] According to the first aspect, an embodiment of the present invention discloses a robot collision handling method, wherein the robot includes a collision sensor for detecting obstacles in front of the robot, and an obstacle detection sensor for obtaining obstacle information around the robot, and is characterized in that it includes: when a collision sensor response is detected, calculating the position information of the target obstacle according to the response information of the collision sensor, and creating or updating the position information of the target obstacle in the current map according to the position information; obtaining first associated information of the target obstacle by using the obstacle detection sensor; and performing escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot.

[0005] Optionally, it is characterized in that the escape decision processing is performed based on the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot, including: judging whether the robot rotation condition is met based on the robot size information in the second associated information and the distance information of the target obstacle in the first associated information; when the robot rotation condition is met, generating the robot's first obstacle avoidance path in the map according to the first associated information of the target obstacle.

[0006] Optionally, when the robot rotation condition is met, after generating a first obstacle avoidance path of the robot in the map according to the first association information of the target obstacle, the method further includes: obtaining a historical path of the robot's movement and splicing the first obstacle avoidance path and the historical path; and controlling the robot to move according to the splicing result.

[0007] Optionally, calculating the position information of the target obstacle based on the response information of the collision sensor includes: when a collision sensor response is detected, calculating and determining the position information of the target obstacle based on size information of the robot, position information of the robot, map-related information, and layout information of the collision sensor.

[0008] Optionally, the collision sensor includes a first collision sensor installed at the left side of the robot, a third collision sensor installed at the right side of the robot, and a second sensor installed in the middle of the robot; when a collision sensor response is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, including: when the first collision sensor and the third collision sensor are detected to respond at the same time, or when the first collision sensor, the second collision sensor and the third collision sensor are detected to respond at the same time, controlling the robot to perform an abnormal reporting operation.

[0009] Optionally, when a collision sensor response is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, and the position information of the target obstacle is newly created or updated in the current map according to the position information. The method then includes: obtaining information of the robot's contour and determining whether it is necessary to perform an abnormal reporting operation based on the position information of the target obstacle.

[0010] Optionally, before using the obstacle detection sensor to obtain the first associated information of the target obstacle, the method also includes: when the target obstacle is within the detection range of the obstacle detection sensor, judging whether to update the information of the target obstacle in the current map based on one or more detection results of the obstacle detection sensor.

[0011] Optionally, when the target obstacle is within the detection range of the obstacle detection sensor, after determining whether to update the position information of the target obstacle in the current map based on one or more detection results of the obstacle detection sensor, the method further includes: determining that no obstacle is detected in the area corresponding to the position information of the target obstacle based on one or more response results of the obstacle detection sensor, and eliminating the position information of the target obstacle in the current map; and determining that one or more collisions occur in the area corresponding to the position information of the target obstacle based on one or more response results of the collision sensor, determining the area as a prohibited area and storing it in the map.

[0012] Optionally, the escape decision process is determined based on the relevant information of the target obstacle and the relevant information of the robot, including: when the robot rotation condition is not met, based on the passage path detected by the obstacle detection sensor used to obtain obstacle information behind the robot; obtaining the historical path of the robot's movement; planning a second obstacle avoidance path based on the passage path and the historical path of the robot's movement and using a preset method; when obstacle avoidance path planning is not possible, traversing the historical path points to plan a third obstacle avoidance path.

[0013] Optionally, the robot further includes a drop sensor; the method further includes: controlling the robot to stop moving when a drop sensor response is detected.

[0014] The technical solution of the present invention has the following advantages:

[0015] The robot collision handling method / device provided by the present invention, the robot includes a collision sensor for detecting obstacles in front of the robot and an obstacle detection sensor for obtaining obstacle information on the side and rear of the robot, including: when a collision sensor response is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, and the position information of the target obstacle is newly created or updated in the current map according to the position information; the first associated information of the target obstacle is obtained by using the obstacle detection sensor; and the escape decision processing is performed according to the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot. The method of the present invention constructs an obstacle map through the individual / combined responses of the obstacle detection sensor and each collision sensor, helps the robot plan a reasonable obstacle avoidance path when encountering obstacles that cannot be identified by the obstacle detection sensor, and helps the robot escape smoothly while avoiding multiple collisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flowchart of a specific example of a robot collision handling method in an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a specific example of a robot collision handling method in an embodiment of the present invention;

[0019] Figure 3 is a principle block diagram of a specific example of a robot collision handling device in an embodiment of the present invention;

[0020] Figure 4 FIG. 4 is a specific example diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] The embodiment of the present invention discloses a robot collision processing method, wherein the robot includes a collision sensor for detecting obstacles in front of the robot and an obstacle detection sensor for obtaining obstacle information around the robot. Figure 1 As shown, the method comprises the following steps:

[0026] Step 101 : when a collision sensor response is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, and the position information of the target obstacle is newly created or updated in the current map according to the position information.

[0027] Exemplarily, the response information of the collision sensor includes the corresponding position information of the collision sensor on the body of the robot, and the position information of the target obstacle includes the position information of the obstacle that causes the corresponding collision sensor of the robot to respond. The target obstacles include but are not limited to low obstacles. When the collision sensor response of the robot is detected, the position information of the target obstacle that causes the collision sensor to respond is calculated and the position information is newly created or updated on the current map.

[0028] Step 102: using the obstacle detection sensor to obtain first associated information of the target obstacle and create or update it in the current map.

[0029] Exemplarily, the first associated information of the target obstacle is determined according to the obstacle detection sensor, and the first associated information includes the size of the target obstacle, the spacing information between the target obstacles, and the corresponding position information. The target obstacle detected by the collision sensor and the target obstacle detected by the obstacle detection sensor can be the same obstacle or different obstacles. Specifically, the obstacle detection sensor includes a laser radar and an ultrasonic sensor. The obstacle information around the robot is obtained through the cooperation of the robot's laser radar, the ultrasonic sensors installed at the rear and side of the robot, and the side lidar (laser radar).

[0030] Step 103, performing escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle, and the second associated information of the robot. Exemplarily, the second associated information of the robot includes the size information, position information, and rotation radius of the robot. Specifically, the escape decision processing is performed on the robot according to the size information of the robot and the obstacle information around the robot.

[0031] The robot collision handling method provided by the present invention includes: when a collision sensor response is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, and the position information of the target obstacle is newly created or updated in the current map according to the position information; the first associated information of the target obstacle is obtained by using the obstacle detection sensor; and the escape decision processing is performed according to the position information of the target obstacle, the first associated information of the target obstacle, and the second associated information of the robot. The method of the present invention constructs an obstacle map through the individual / combined responses of the obstacle detection sensor and each collision sensor, which helps the robot plan a reasonable obstacle avoidance path when encountering an obstacle that cannot be identified by the obstacle detection sensor, and helps the robot escape smoothly while avoiding multiple collisions.

[0032] As an optional embodiment of the present invention, the escape decision processing is performed based on the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot, including: judging whether the robot rotation condition is met based on the robot size information in the second associated information and the distance information of the target obstacle in the first associated information; when the robot rotation condition is met, generating the robot's first obstacle avoidance path in the map according to the first associated information of the target obstacle.

[0033] Exemplarily, the distance information of the target obstacle and the size information of the robot are used to determine whether the distance formed by the current target obstacle is sufficient to complete the robot's rotation operation. The first obstacle avoidance path is a path that can ensure that the robot can successfully escape when encountering unexpected obstacles during operation. Specifically, the target obstacle information is updated according to the obstacle detection sensor to determine whether the distance between the left and right obstacles is sufficient for the robot to rotate. The minimum distance is obtained according to the following formula:

[0034]

[0035] The minimum expansion distance is the minimum distance between the robot and the obstacle. After the robot rotates, an obstacle avoidance path is planned based on the grid map constructed based on the real-time obstacle detection sensor data.

[0036] As an optional embodiment of the present invention, when the robot rotation condition is met, after generating a first obstacle avoidance path of the robot in the map according to the first association information of the target obstacle, the method further includes: obtaining a historical path of the robot's movement and splicing the first obstacle avoidance path and the historical path; and controlling the robot to move according to the splicing result.

[0037] Exemplarily, the historical path of the robot's movement is the movement path of the robot from the start of movement to the response of the collision sensor and / or obstacle detection sensor, the first obstacle avoidance path and the historical path are spliced, the robot is controlled to move according to the splicing result, and the first obstacle avoidance path, the historical path and the subsequent working path are spliced ​​and sent to the local planner for tracking.

[0038] As an optional embodiment of the present invention, the calculating the position information of the target obstacle based on the response information of the collision sensor includes: when a collision sensor response is detected, calculating and determining the position information of the target obstacle based on the size information of the robot, the position information of the robot, map-related information, and the layout information of the collision sensor.

[0039] Exemplarily, the size information of the robot includes the length and width of the robot, and the position information of the robot includes the coordinates of the robot on the grid map. Figure 2 As shown, the collision sensor includes a first collision sensor ① installed at the left side of the robot bumper, a third collision sensor ③ installed at the right side of the robot bumper, and a second collision sensor ② installed at the middle of the robot bumper. Figure 2 As shown, the robot is L long, D wide, and the robot position is (x r ,y r ), the grid size is s (the grid refers to the environment map quantized into the form of a grid map, and the size refers to the side length of a grid), and the height of the left and right bumpers (collision sensors) from the center is d; when only the first collision sensor ① responds, the calculation process of the grid point (obstacle) position is as shown in the following formula, where x1 and y1 represent the horizontal and vertical coordinates of the grid point respectively:

[0040] y1=y r +d

[0041] When only the second collision sensor ② responds, the calculation process of the grid point (obstacle) position is as follows, where x2 and y2 represent the horizontal and vertical coordinates of the grid point respectively:

[0042] x2=x r ;

[0043] When only the third collision sensor ③ responds, the calculation process of the grid point (obstacle) position is as shown in the following formula, where x3 and y3 represent the horizontal and vertical coordinates of the grid point respectively:

[0044] y3=y r +d

[0045] When the first collision sensor ① and the second collision sensor ② respond, the calculation process of the grid point (obstacle) position is as shown in the following formula, where x4 and y4 represent the horizontal and vertical coordinates of the grid point respectively:

[0046]

[0047] When the first collision sensor ② and the second collision sensor ③ respond, the calculation process of the grid point (obstacle) position is as shown in the following formula, where x5 and y5 represent the horizontal and vertical coordinates of the grid point respectively:

[0048]

[0049] As an optional embodiment of the present invention, the collision sensor includes a first collision sensor installed at the left side of the robot, a third collision sensor installed at the right side of the robot, and a second sensor installed in the middle of the robot; when a response of the collision sensor is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, including: when the first collision sensor and the third collision sensor are detected to respond at the same time, or when the first collision sensor, the second collision sensor and the third collision sensor are detected to respond at the same time, controlling the robot to perform an abnormal reporting operation.

[0050] For example, when it is detected that the first collision sensor and the third collision sensor respond at the same time, or when it is detected that the first collision sensor, the second collision sensor and the third collision sensor respond at the same time, it is an error response and an error reporting operation needs to be performed. Specifically, the layout of the first collision sensor ①, the second collision sensor ② and the third collision sensor ③ is as follows: Figure 2 As shown, because the entire bumper (collision sensor) is a rigid structure, the left bumper responds while the right bumper cannot respond.

[0051] As an optional embodiment of the present invention, when a collision sensor response is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, and the position information of the target obstacle is newly created or updated in the current map according to the position information. The method includes: obtaining information of the robot contour and judging whether it is necessary to perform an abnormal reporting operation according to the position information of the target obstacle.

[0052] For example, the robot's outline information is the area covered by the robot when it is operating. When an obstacle is detected in the robot's coverage area, an error is directly reported. Specifically, when the robot's collision sensor responds, the robot's current footprint (a polygon constructed according to the robot's outline) is detected to determine whether it intersects with the obstacle. If the robot's footprint intersects with the obstacle, that is, the robot is "trapped" in the obstacle, the next operation cannot be performed, and an error is directly reported.

[0053] If the obstacle information can be displayed on the current map, the robot will not collide with the obstacle. If the robot is "stuck" in an obstacle and is trying to escape, it may cause multiple unpredictable collisions.

[0054] As an optional embodiment of the present invention, before using the obstacle detection sensor to obtain the first associated information of the target obstacle, the method also includes: when the target obstacle is within the detection range of the obstacle detection sensor, judging whether to update the information of the target obstacle in the current map based on one or more detection results of the obstacle detection sensor.

[0055] Exemplarily, when the target obstacle is within the detection range of the obstacle detection sensor and no obstacle is found after one or more detections, the information of the target obstacle is updated; if the obstacle is found after one or more detections, the information of the target obstacle is maintained on the map until the operation is completed.

[0056] As an optional embodiment of the present invention, when the collision sensor responds, after determining whether to update the position information of the target obstacle in the current map based on one or more response results of the collision sensor, the method further includes: eliminating the position information of the target obstacle in the current map based on one or more response results of the collision sensor; detecting one or more responses of the collision sensor, determining that one or more collisions occur in the area corresponding to the position information of the target obstacle, and then determining the area as a prohibited area and storing it in the map.

[0057] For example, when the target obstacle is within the detection range of the obstacle detection sensor and no obstacle is found after one or more detections, the target obstacle information is removed from the current map; when the robot detects one or more responses from the collision sensor during operation, it can be determined that the target obstacle exists in the corresponding area, and the corresponding area is determined as a prohibited area and stored in the map, and the path is spliced ​​so that the robot will not collide with the obstacle again in subsequent operations. Specifically, when the obstacle information point is within the field of view of all the robot's sensors, but no obstacle information is detected, its obstacle information can be removed, which can reduce the construction of permanent obstacle information due to accidental collisions to a certain extent.

[0058] As an optional embodiment of the present invention, the escape decision process is determined based on the relevant information of the target obstacle and the relevant information of the robot, including: when the robot rotation condition is not met, a path with a maximum width detected by an obstacle detection sensor used to obtain obstacle information behind the robot; obtaining a historical path of the robot's movement; planning a second obstacle avoidance path based on the path with the maximum width and the historical path of the robot's movement and using a preset method; and when obstacle avoidance path planning is not possible, traversing historical path points to plan a third obstacle avoidance path.

[0059] Exemplarily, when it is detected that the robot cannot perform a rotation operation, a preset method is used to perform a second obstacle avoidance path based on the maximum width of the passage path detected by the obstacle detection sensor of the obstacle information behind the robot and the historical path of the robot's movement, and the preset method includes an A start algorithm. Specifically, if the robot cannot rotate, a path with a length of the maximum detection distance of the rear ultrasonic sensor is taken, and then a historical path point with a body length away from the robot is taken as the starting point to perform path planning (using the A start algorithm) to avoid obstacles. If the first obstacle avoidance path cannot be successfully planned, the robot starts to retreat while ensuring that the historical path is passable, and continues to update the retrieved historical path to attempt obstacle avoidance planning until there is no historical path.

[0060] As an optional embodiment of the present invention, the robot further includes a drop sensor; the method further includes: controlling the robot to stop moving when a drop sensor response is detected. Optionally, if the drop sensor is triggered during movement, the movement action will be stopped immediately, the current path point of the robot will be terminated, and the historical path before the current path point will no longer be sent to the controller.

[0061] The embodiment of the present invention further discloses a robot collision processing device, wherein the robot comprises a collision sensor for detecting obstacles in front of the robot and an obstacle detection sensor for obtaining information about obstacles around the robot, wherein the device comprises: Figure 3 As shown, it includes: a calculation module 201, which is used to calculate the position information of the target obstacle according to the response information of the collision sensor when a collision sensor response is detected, and to create or update the position information of the target obstacle in the current map according to the position information; a first acquisition module 202, which is used to use the obstacle detection sensor to obtain the first associated information of the target obstacle; a processing module 103, which is used to perform escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot.

[0062] The robot collision handling device provided by the present invention comprises a collision sensor for detecting obstacles in front of the robot, and an obstacle detection sensor for obtaining information about obstacles around the robot, and is characterized in that it comprises: a calculation module for calculating the position information of the target obstacle according to the response information of the collision sensor when a response of the collision sensor is detected, and creating or updating the position information of the target obstacle in the current map according to the position information; a first acquisition module for obtaining the first associated information of the target obstacle by using the obstacle detection sensor; and a processing module for performing escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle, and the second associated information of the robot. The device of the present invention constructs an obstacle map through the individual / combined responses of the obstacle detection sensor and each collision sensor, so as to help the robot plan a reasonable obstacle avoidance path when encountering obstacles that cannot be identified by the obstacle detection sensor, and help the robot escape smoothly while avoiding multiple collisions.

[0063] As an optional embodiment of the present invention, the processing module includes: a first judgment module, used to judge whether the robot rotation condition is met based on the robot size information in the second association information and the spacing information of the target obstacle in the first association information; a generation module, used to generate a first obstacle avoidance path of the robot in the map according to the first association information of the target obstacle when the robot rotation condition is met.

[0064] As an optional embodiment of the present invention, the device further includes: a splicing module, used to obtain the historical path of the robot's movement and splice the first obstacle avoidance path and the historical path; and a control module, used to control the robot to move according to the splicing result.

[0065] As an optional embodiment of the present invention, the calculation module includes: a calculation submodule, which is used to calculate and determine the position information of the target obstacle based on the size information of the robot, the position information of the robot, map-related information, and the layout information of the collision sensor when a collision sensor response is detected.

[0066] As an optional embodiment of the present invention, the collision sensor includes a first collision sensor installed at the left side of the robot bumper, a third collision sensor installed at the right side of the robot bumper, and a second sensor installed in the middle of the robot bumper; the calculation module includes: a first abnormality reporting module, which is used to control the robot to perform an abnormality reporting operation when it is detected that the first collision sensor and the third collision sensor respond at the same time, or when it is detected that the first collision sensor, the second collision sensor and the second collision sensor respond at the same time.

[0067] As an optional embodiment of the present invention, the device includes: a second abnormality reporting module, which is used to obtain information about the robot's outline and determine whether an abnormality reporting operation needs to be performed based on the position information of the target obstacle.

[0068] As an optional embodiment of the present invention, the device also includes: a second judgment module, when the target obstacle is within the detection range of the obstacle detection sensor, judging whether to update the information of the target obstacle in the current map according to one or more detection results of the obstacle detection sensor.

[0069] As an optional embodiment of the present invention, the device also includes: an elimination module, which is used to determine, based on one or more response results of the obstacle detection sensor, that no obstacle is detected in the area corresponding to the location information of the target obstacle, and eliminate the location information of the target obstacle in the current map; a second determination module, which determines, based on one or more response results of the collision sensor, that one or more collisions occur in the area corresponding to the location information of the target obstacle, and determines the area as a prohibited area and stores it in the map.

[0070] As an optional embodiment of the present invention, the processing module includes: a detection module, which is used to, when the robot rotation condition is not met, detect a path with a maximum width detected by an obstacle detection sensor used to obtain obstacle information behind the robot; a second acquisition module, which is used to obtain a historical path of the robot's movement; a first planning module, which is used to plan a second obstacle avoidance path based on the path with the maximum width and the historical path of the robot's movement and using a preset method; and a second planning module, which is used to traverse historical path points to plan a third obstacle avoidance path when obstacle avoidance path planning cannot be performed.

[0071] As an optional embodiment of the present invention, the robot further includes a drop sensor; the device further includes: a response module, which is used to control the robot to stop moving when a drop sensor response is detected.

[0072] The embodiment of the present invention further provides an electronic device, such as Figure 4As shown, the electronic device may include a processor 401 and a memory 402, wherein the processor 401 and the memory 402 may be connected via a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0073] The processor 401 may be a central processing unit (CPU). The processor 401 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0074] The memory 402 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the robot collision processing method in the embodiment of the present invention. The processor 401 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory 402, that is, implementing the robot collision processing method in the above method embodiment.

[0075] The memory 402 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created by the processor 401, etc. In addition, the memory 402 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 402 may optionally include a memory remotely arranged relative to the processor 401, and these remote memories may be connected to the processor 401 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0076] The one or more modules are stored in the memory 402, and when executed by the processor 401, the following is performed: Figure 1 The robot collision handling method in the illustrated embodiment.

[0077] For details of the above electronic equipment, please refer to Figure 1 The corresponding related descriptions and effects in the illustrated embodiments can be understood and will not be repeated here.

[0078] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and 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-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0079] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A robot collision handling method, wherein the robot comprises a collision sensor for detecting obstacles in front of the robot and an obstacle detection sensor for obtaining information about obstacles around the robot, characterized in that: include: When a collision sensor response is detected, the position information of the target obstacle is calculated according to the response information of the collision sensor, and the position information of the target obstacle is newly created or updated in the current map according to the position information; Acquiring first associated information of a target obstacle using the obstacle detection sensor; Executing escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle, and the second associated information of the robot; The collision sensor includes a first collision sensor installed at the left side of the robot bumper, a third collision sensor installed at the right side of the robot bumper, and a second collision sensor installed at the middle of the robot bumper. The method of calculating the position information of the target obstacle according to the response information of the collision sensors includes: When a collision sensor response is detected, the position information of the target obstacle is calculated and determined according to the size information of the robot, the position information of the robot, the map-related information, and the layout information of the collision sensor, wherein the position information of the robot includes the coordinates of the robot on the grid map; When the collision sensor response is detected, the position information of the target obstacle is calculated and determined according to the size information of the robot, the position information of the robot, the map-related information, and the layout information of the collision sensor, including: When only the first collision sensor responds, the position information of the target obstacle is calculated by the following formula: Among them, x1 and y1 respectively represent the horizontal and vertical coordinates of the grid point corresponding to the target obstacle, s represents the grid size in the grid map, D represents the length of the robot, d represents the height of the first collision sensor from the center point of the robot, and the robot position is (x r ,y r ); When only the second collision sensor responds, the position information of the target obstacle is calculated by the following formula: Where L represents the length of the robot, x2 and y2 represent the horizontal and vertical coordinates of the grid point corresponding to the target obstacle respectively; When only the third collision sensor responds, the position information of the target obstacle is calculated by the following formula: Among them, x3 and y3 respectively indicate the horizontal and vertical coordinates of the grid point corresponding to the target obstacle.

2. The method according to claim 1, characterized in that The performing escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot comprises: Determining whether a robot rotation condition is met according to the robot size information in the second association information and the distance information of the target obstacle in the first association information; When the robot rotation condition is met, a first obstacle avoidance path of the robot is generated in the map according to the first association information of the target obstacle.

3. The method according to claim 2, characterized in that When the robot rotation condition is met, after generating a first obstacle avoidance path of the robot in the map according to the first association information of the target obstacle, the method further includes: Acquire a historical path of movement of the robot and splice the first obstacle avoidance path with the historical path; Control the robot to move according to the splicing results.

4. The method according to claim 1, characterized in that When the collision sensor response is detected, calculating the position information of the target obstacle according to the response information of the collision sensor includes: When it is detected that the first collision sensor and the third collision sensor respond at the same time, or when it is detected that the first collision sensor, the second collision sensor and the third collision sensor respond at the same time, the robot is controlled to perform an abnormality reporting operation.

5. The method according to claim 1, characterized in that When the collision sensor response is detected, after calculating the position information of the target obstacle according to the response information of the collision sensor, and creating or updating the position information of the target obstacle in the current map according to the position information, the method further includes: The robot's outline information is obtained and, based on the position information of the target obstacle, it is determined whether an abnormality reporting operation needs to be performed.

6. The method according to claim 1, characterized in that Before acquiring the first associated information of the target obstacle by using the obstacle detection sensor, the method further includes: When the target obstacle is within the detection range of the obstacle detection sensor, it is determined whether to update the information of the target obstacle in the current map according to one or more detection results of the obstacle detection sensor.

7. The method according to claim 6, characterized in that When the target obstacle is within the detection range of the obstacle detection sensor, after determining whether to update the position information of the target obstacle in the current map according to one or more detection results of the obstacle detection sensor, the method further includes: Determining, based on one or more response results of the obstacle detection sensor, that no obstacle is detected in the area corresponding to the position information of the target obstacle, and eliminating the position information of the target obstacle in the current map; According to one or more response results of the collision sensor, it is determined that one or more collisions occur in the area corresponding to the position information of the target obstacle, and the area is determined as a prohibited area and stored in the map.

8. The method according to claim 2, characterized in that: The step of determining the escape decision process according to the relevant information of the target obstacle and the relevant information of the robot includes: When the robot rotation condition is not met, a travel path detected by an obstacle detection sensor for obtaining obstacle information behind the robot; Get the historical path of the robot's movement; Planning a second obstacle avoidance path according to the travel path and the historical path of movement of the robot and using a preset method; When obstacle avoidance path planning is not possible, the historical path points are traversed to plan the third obstacle avoidance path.

9. The method according to any one of claims 1 to 8, characterized in that: The robot further includes a drop sensor; and the method further includes: When the fall sensor response is detected, the robot is controlled to stop moving.

10. A robot collision handling device, the robot comprising a collision sensor for detecting obstacles ahead of the robot, and an obstacle detection sensor for acquiring information about obstacles around the robot, characterized in that: include: A calculation module, configured to calculate the position information of the target obstacle according to the response information of the collision sensor when a collision sensor response is detected, and to create or update the position information of the target obstacle in the current map according to the position information; A first acquisition module, used for acquiring first associated information of a target obstacle using the obstacle detection sensor; A processing module, used for performing escape decision processing according to the position information of the target obstacle, the first associated information of the target obstacle and the second associated information of the robot; The collision sensor includes a first collision sensor installed at the left side of the robot bumper, a third collision sensor installed at the right side of the robot bumper, and a second collision sensor installed at the middle of the robot bumper. The method of calculating the position information of the target obstacle according to the response information of the collision sensors includes: When a collision sensor response is detected, the position information of the target obstacle is calculated and determined according to the size information of the robot, the position information of the robot, the map-related information, and the layout information of the collision sensor, wherein the position information of the robot includes the coordinates of the robot on the grid map; When the collision sensor response is detected, the position information of the target obstacle is calculated and determined according to the size information of the robot, the position information of the robot, the map-related information, and the layout information of the collision sensor, including: When only the first collision sensor responds, the position information of the target obstacle is calculated by the following formula: Among them, x1 and y1 respectively represent the horizontal and vertical coordinates of the grid point corresponding to the target obstacle, s represents the grid size in the grid map, D represents the length of the robot, d represents the height of the first collision sensor from the center point of the robot, and the robot position is (x r ,y r ); When only the second collision sensor responds, the position information of the target obstacle is calculated by the following formula: Where L represents the length of the robot, x2 and y2 represent the horizontal and vertical coordinates of the grid point corresponding to the target obstacle respectively; When only the third collision sensor responds, the position information of the target obstacle is calculated by the following formula: Among them, x3 and y3 respectively indicate the horizontal and vertical coordinates of the grid point corresponding to the target obstacle.

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