Robot avoidance method, device and storage medium

Abstract

The present invention discloses a robot avoidance method, device and storage medium. The robot receives a wireless signal transmitted by a wireless beacon, identifies the received wireless signal, and obtains the type of object corresponding to the wireless beacon that transmits the wireless signal; according to the received wireless signal and the identification result of the wireless signal, the robot calculates the position information of the object corresponding to the wireless beacon; according to the object type corresponding to the wireless beacon and the position information of the object, the robot selects a corresponding avoidance strategy to avoid the object; the purpose of using the wireless beacon to identify and locate the object is achieved, and then the corresponding avoidance strategy is selected according to the identified object type, thereby improving the flexibility and intelligence of avoidance; and a technical basis is provided for the robot's environmental interaction.

Description

Technical Field

[0001] The present invention relates to the technical field of object detection and obstacle avoidance, and in particular to a robot avoidance method, device and storage medium. Background Art

[0002] With the development of the robot industry, the robot's working environment has become more complex, and the robot will inevitably interact with the working environment. In the robot's working environment, there may be two types of objects: static and dynamic. Dynamic objects include but are not limited to: other robots, humans, possible animals, and manually controlled mobile machinery (such as forklifts, cleaning vehicles, etc.). Therefore, the robot's ability to interact with the outside world is becoming increasingly important. In order to better interact with the environment, including avoiding possible collisions or movement obstacles, and smoothly realize collaborative operations with other robots, humans, or other machinery, the robot needs to identify various objects in the working environment and implement relevant interaction strategies when necessary to ensure normal operation.

[0003] At present, in the field of robotics, most of the recognition of objects in the environment uses ordinary QR code recognition solutions. However, ordinary QR code recognition solutions have high requirements on the visual conditions of the environment. For example, in the case of dim light, long observation distance, large observation angle deviation, etc., it is usually difficult to use ordinary QR code recognition methods. Summary of the invention

[0004] The present invention provides a robot avoidance method, device and storage medium, aiming to use beacons to detect objects, identify specific objects in the environment and avoid them.

[0005] In a first aspect, the present invention provides a robot avoidance method, the robot avoidance method comprising:

[0006] The robot receives the wireless signal transmitted by the wireless beacon, identifies the received wireless signal, and obtains the object type corresponding to the wireless beacon transmitting the wireless signal;

[0007] According to the received wireless signal and the recognition result of the wireless signal, the robot calculates the position information of the object corresponding to the wireless beacon;

[0008] According to the object type corresponding to the wireless beacon and the position information of the object, the robot selects a corresponding avoidance strategy to avoid the object.

[0009] In a second aspect, the present invention provides a robot, comprising:

[0010] A signal recognition module, used to receive a wireless signal transmitted by a wireless beacon, and to recognize the received wireless signal to obtain the object type corresponding to the wireless beacon transmitting the wireless signal;

[0011] A position calculation module, configured to enable the robot to calculate the position information of the object corresponding to the wireless beacon according to the received wireless signal and the recognition result of the wireless signal;

[0012] The avoidance execution module is used for the robot to select a corresponding avoidance strategy to avoid the object according to the object type corresponding to the wireless beacon and the position information of the object.

[0013] In a third aspect, the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores an avoidance program that can be executed on the processor, and when the avoidance program is executed by the processor, the robot avoidance method is executed.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium having an avoidance program stored thereon, and the avoidance program can be executed by one or more processors to implement the steps of the robot avoidance method.

[0015] The robot avoidance method, device and storage medium provided by the present invention receive the wireless signal transmitted by the wireless beacon by the robot, identify the received wireless signal, and obtain the object type corresponding to the wireless beacon that transmits the wireless signal; according to the received wireless signal and the identification result of the wireless signal, the robot calculates the position information of the object corresponding to the wireless beacon; according to the object type corresponding to the wireless beacon and the position information of the object, the robot selects the corresponding avoidance strategy to avoid the object; the purpose of using the wireless beacon to identify and locate the object is achieved, and then the corresponding avoidance strategy is selected according to the identified object type, thereby improving the flexibility and intelligence of the avoidance; and a technical basis is provided for the robot's environmental interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0017] In the attached picture: Figure 1 It is a flow chart of an implementation method of the robot avoidance method of the present invention.

[0018] Figure 2 It is a schematic diagram of an implementation method of deploying a single wireless beacon on an object in the robot avoidance method of the present invention.

[0019] Figure 3 It is a schematic diagram of an implementation method of deploying multiple wireless beacons on an object in the robot avoidance method of the present invention.

[0020] Figure 4 It is a schematic diagram of a reflective two-dimensional code in an implementation manner of using a reflective two-dimensional code for object recognition in the robot avoidance method of the present invention.

[0021] Figure 5 It is a schematic diagram of functional modules of an embodiment of the robot of the present invention.

[0022] Figure 6 It is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0024] The present invention provides a robot avoidance method, device and storage medium, which detect and identify specific objects in the working environment of the robot by using wireless beacons, thereby achieving the purpose of avoiding specific objects and providing a corresponding technical basis for the robot's environmental interaction.

[0025] like Figure 1 As shown, Figure 1 It is a flow chart of an implementation of the robot avoidance method of the present invention; the robot avoidance method of the present invention can be implemented as steps S10-S30 described below.

[0026] Step S10: The robot receives the wireless signal transmitted by the wireless beacon, identifies the received wireless signal, and obtains the object type corresponding to the wireless beacon that transmits the wireless signal.

[0027] In an embodiment of the present invention, in the working environment in which the robot operates, before the robot operates for the first time, it is necessary to pre-deploy corresponding wireless beacons on corresponding environmental objects. When the robot operates in the working environment, the robot receives the wireless signal transmitted by the wireless beacon and identifies the received wireless signal. The type of object corresponding to the wireless beacon that transmits the wireless signal can be obtained through the identification result of the wireless signal. In one embodiment, in terms of robot obstacle avoidance, the robot only needs to know whether the object is a static object or a dynamic object. Therefore, based on the identification result of the wireless signal, the robot can know whether the type of object corresponding to the wireless beacon that sends the wireless signal is a static object or a dynamic object to meet the corresponding obstacle avoidance requirements.

[0028] Among them, in the embodiment of the present invention, the robot itself is configured by default with a receiving device or receiver that can receive wireless signals sent by wireless beacons; if the robot's own hardware does not support the reception of wireless signals, then while wireless beacons are deployed on relevant objects in the working scene of the robot, corresponding wireless signal receivers are also deployed for the robot.

[0029] Step S20: According to the received wireless signal and the recognition result of the wireless signal, the robot calculates the position information of the object corresponding to the wireless beacon.

[0030] According to the received wireless signal, the signal strength value of the wireless signal is obtained, and then according to the signal strength value and the relationship between the distance of the wireless signal and the signal strength value, the position of the wireless beacon transmitting the wireless signal from the robot can be obtained, thereby obtaining the position information of the object corresponding to the wireless beacon. At the same time, according to the recognition result of the wireless signal in step S10, it can be obtained whether the object corresponding to the wireless beacon transmitting the wireless signal is a static object or a dynamic object.

[0031] Step S30: According to the object type corresponding to the wireless beacon and the position information of the object, the robot selects a corresponding avoidance strategy to avoid the object.

[0032] According to the object type corresponding to the wireless beacon and the position information of the object, the robot selects a targeted avoidance strategy. In an embodiment of the present invention, the robot selects different avoidance strategies according to the object type. For example, a local path planning algorithm such as a dynamic window DWA (Dynamic Window Avoidance) algorithm, a local navigation algorithm ORCA (Optimal Reciprocal Collision Avoidance) algorithm, etc. is selected.

[0033] Furthermore, in one embodiment, if the object type corresponding to the wireless beacon is a static object, the robot draws the static object as an obstacle on the corresponding grid map based on the position information of the object, and uses a local path planning algorithm to perform path planning to avoid the object; for example, a dynamic window DWA algorithm is used for path planning to avoid corresponding obstacles.

[0034] If the object type corresponding to the wireless beacon is a dynamic object, then according to the position information of the object and the current position coordinates of the robot itself, a local navigation algorithm is used as a basic avoidance strategy, and the robot performs navigation to complete the avoidance, such as using the ORCA algorithm, VO algorithm, RVO algorithm, etc.

[0035] Furthermore, in one embodiment, in the working environment in which the robot is running, it is necessary to pre-deploy corresponding wireless beacons on corresponding environmental objects before the robot runs for the first time. Wireless beacons are deployed on objects in the working environment of the robot, and at the same time, an association relationship is established between the beacon ID of the wireless beacon and the object corresponding to the wireless beacon, and / or an association relationship is established between the beacon ID and the location information of the object. In this way, the object information bound to the beacon ID of the wireless beacon can be obtained based on the beacon ID of the wireless beacon, and the corresponding object type, such as a static object or a dynamic object, can be obtained based on the object information. In addition, if there is an association relationship between the beacon ID and the location information of the object, the location information of the object corresponding to the beacon ID can also be obtained based on the beacon ID.

[0036] In an embodiment of the present invention, the beacon ID uniquely corresponds to one wireless beacon. When the wireless beacon is specifically deployed, the number of wireless beacons deployed on an object can be determined according to specific needs. For example, only one wireless beacon can be deployed on some objects to meet the object recognition requirements. On some objects, multiple wireless beacons need to be deployed to meet the needs of the robot to accurately identify and determine the location information of the object. When multiple wireless beacons are deployed on the same object, in order to facilitate the robot to accurately calculate the location information of the object based on the wireless signal emitted by the wireless beacon, while establishing the association relationship between the beacon ID of the wireless beacon and the corresponding object, it is preferred that the association relationship between the beacon ID of the wireless beacon and the location information of the wireless beacon on the object is established at the same time.

[0037] Further, in one embodiment, based on the established association relationship between the beacon ID of the wireless beacon and the corresponding object, and / or the established association relationship between the beacon ID and the position information of the wireless beacon on the object, when the robot receives the wireless signal transmitted by the wireless beacon and identifies the received wireless signal, the object type corresponding to the wireless beacon transmitting the wireless signal is obtained, which can be implemented according to the following technical means:

[0038] The robot receives the wireless signal transmitted by the wireless beacon, identifies the wireless signal, and obtains the beacon ID corresponding to the wireless beacon transmitting the wireless signal;

[0039] According to the association relationship corresponding to the pre-bound beacon ID, the object associated with the beacon ID is obtained, and it can be obtained whether the object type corresponding to the object is a static object or a dynamic object.

[0040] Furthermore, in one embodiment, for the same working environment, since the signal strength value of the wireless signal transmitted by the wireless beacon will attenuate as its propagation distance increases, in order to conveniently know the distance between the wireless beacon sending the wireless signal and the robot according to the received signal strength value of the wireless signal, a distance strength curve corresponding to the wireless signal transmitted by the wireless beacon can be drawn in advance.

[0041] For example, for the deployed wireless beacon, the correlation between the signal strength value of the wireless signal emitted by the wireless beacon and the measured distance is measured; based on the measured correlation, a distance strength curve corresponding to the wireless signal emitted by the wireless beacon can be drawn. When the robot subsequently calculates the distance of the wireless beacon that emits the wireless signal based on the received wireless signal, the drawn distance strength curve can be searched based on the signal strength value of the received wireless signal to obtain the distance between the wireless beacon and the robot.

[0042] Furthermore, in one embodiment, based on a pre-drawn distance strength curve corresponding to the wireless signal emitted by the wireless beacon, the robot calculates the position information of the object corresponding to the wireless beacon according to the received wireless signal and the recognition result of the wireless signal, which can be implemented according to the following technical means:

[0043] The robot obtains a signal strength value of the wireless signal based on the received wireless signal; based on the obtained signal strength value, the robot refers to a pre-drawn distance strength curve corresponding to the wireless signal to obtain distance information corresponding to the wireless beacon that sends the wireless signal and matches the signal strength value; based on the recognition result of the wireless signal, the robot obtains object information associated with the beacon ID of the identified wireless beacon, and with reference to the obtained distance information corresponding to the wireless beacon, the robot calculates the position information of the object corresponding to the wireless beacon.

[0044] Since only one wireless beacon or multiple wireless beacons may be deployed on the same object, in one embodiment, the robot obtains object information associated with the beacon ID of the identified wireless beacon based on the recognition result of the wireless signal, and calculates the position information of the object corresponding to the wireless beacon with reference to the acquired distance information corresponding to the wireless beacon, which can be implemented according to the following technical means:

[0045] According to the identification result of the wireless signal, the object information associated with the beacon ID of the identified wireless beacon is obtained; according to the object information, the number of wireless beacons deployed on the same object is obtained. In the embodiment of the present invention, since the same beacon ID uniquely corresponds to one wireless beacon, and the beacon ID of the wireless beacon is associated with the object where the wireless beacon is located, when the object associated with the wireless beacon is obtained according to the beacon ID, it is possible to know how many wireless beacons are associated with the object information according to the same object information, so that the number of wireless beacons specifically deployed on the same object can be known.

[0046] If there is only one wireless beacon deployed on the same object, assuming that the geometric center of the robot is A, the geometric center of the object is B, and the multiple beacon receivers deployed on the robot are A1 to An, then the signal strength values ​​of the wireless signals received by different beacon receivers A1 to An, and the distance information corresponding to the signal strength values ​​obtained based on the different signal strength values ​​are BAi. Using geometric relationships, circles are drawn with Ai as the center and BAi as the radius, and the intersection of the circles is taken as the position of the object. According to the coordinates of the intersection, the position information of the object can be obtained; wherein, i=1,2,3...n.

[0047] like Figure 2 As shown, Figure 2 FIG. 1 is a schematic diagram of an implementation method of deploying a single wireless beacon on an object in the robot avoidance method of the present invention. Figure 2 In the embodiment, A represents the geometric center of the robot, and B represents the geometric center of the object, which can be a static object or a dynamic object. A single wireless beacon is deployed at point B, and three beacon receivers are deployed at A1, A2, and A3 of the robot. For the convenience of description, only three wireless beacons are drawn in the figure. According to the signal strength value of the wireless signal emitted by the wireless beacon, according to the distance strength curve, the distances BA1, BA2, and BA3 between the receivers A1, A2, and A3 deployed on the robot A and the wireless beacon transmitter B can be obtained. In this case, the geometric relationship can be used for solution; the solution process is: take A1, A2, and A3 as the center of the circle, and make circles with BA1, BA2, and BA3 as the radius respectively. The intersection of these three circles is the position of B, that is, the geometric center of the object, so that the position information of the object B is calculated.

[0048] If there are multiple wireless beacons deployed on the same object, assuming that m wireless beacons are deployed on the same object B, then the position coordinates Lm corresponding to each wireless beacon on object B are calculated separately according to the calculation method that there is only one wireless beacon deployed on the same object; the calculated m position coordinates Lm are clustered to finally obtain the position information corresponding to the same object B.

[0049] like Figure 3 As shown, Figure 3 FIG. 1 is a schematic diagram of an implementation method of deploying multiple wireless beacons on an object in the robot avoidance method of the present invention. In this case, several transmitters are deployed on the object B, such as Figure 3 B1, B2 and B3 shown. Any transmitter can be received by multiple receivers A1, A2 and A3 deployed on robot A. Figure 3 In order to more clearly show the situation where the wireless signal emitted by the wireless beacon is received, for simplicity, only the situation where the wireless signal emitted by the wireless beacon B1 is received by all the receivers A1, A2 and A3 deployed on the robot A is drawn. Figure 2 According to the above calculation principle, each wireless beacon B1, B2 and B3 deployed on object B as a wireless signal transmitter can adopt Figure 2 The calculation principle and method of a wireless beacon shown in the figure are solved to obtain a corresponding result, namely: the wireless beacon B1 corresponds to the calculated geometric center B11, the wireless beacon B2 corresponds to the calculated geometric center B21, and the wireless beacon B3 corresponds to the calculated geometric center B31; all the solution results, namely all the geometric centers B11, B21 and B31, are clustered, and the final result after clustering is used as the geometric center of object B, thereby obtaining the corresponding position information of the same object B.

[0050] Based on the description of the above embodiments, further, in a specific application scenario, a reflective graphic code can be used to identify and locate an object. At this time, a reflective graphic code can be used as one of the specific forms of expression of a wireless beacon; wherein the reflective graphic code includes but is not limited to: a reflective QR code, a reflective barcode, and reflective graphic codes in other forms. In the embodiment of the present invention, only a reflective QR code among the reflective graphic codes is used as an example for specific description.

[0051] In an embodiment of the present invention, laser light emitted by a laser radar deployed by the robot itself is incident on the reflective graphic code, and coding information of the reflective graphic code is obtained according to a received corresponding graphic code intensity map; referring to a pre-established association relationship between the coding information and a corresponding object, the object type of the corresponding object is obtained, whether it is a static object or a dynamic object, according to the obtained coding information of the reflective graphic code; according to the object type and in combination with the object contour obtained by laser detection, object recognition and positioning are achieved, and then a corresponding avoidance strategy is selected to avoid the corresponding object.

[0052] like Figure 4 As shown, Figure 4 Schematic diagram of a reflective two-dimensional code in an embodiment of the robot avoidance method of the present invention, using a reflective two-dimensional code for object recognition. Figure 4 In the embodiment, the recognition of laser two-dimensional code is realized according to the basic principle of visual two-dimensional code. Figure 4 As shown, the black part of the visual QR code is made of ordinary black material, and the white part of the visual QR code is made of white reflective material. According to the different arrangements of the black and white parts, different information can be encoded using specific encoding rules. When the robot receives the reflective QR code, it can decode the information using the corresponding pre-set decoding rules, thereby realizing the recognition of the reflective QR code.

[0053] In the deployment phase of the reflective two-dimensional code, that is, when the reflective two-dimensional code is deployed in the working environment corresponding to the robot, the reflective two-dimensional code can be deployed on a static object, or on the surface of a dynamic object (such as other robots, forklifts, etc.), just like the deployment of the wireless beacon in the above embodiment. After the reflective two-dimensional code is deployed, an association relationship between the reflective two-dimensional code and the corresponding object deployed is established. After the association relationship is established, when the robot receives and recognizes the corresponding reflective two-dimensional code, it can be inferred whether the corresponding object type is a static object or a dynamic object based on the information of the recognized reflective two-dimensional code.

[0054] In the robot avoidance method of the present invention, the association information reflecting the association relationship between the wireless beacon and the corresponding object can be stored on the robot or stored in the central server; when the robot recognizes the corresponding beacon ID or the corresponding reflective QR code, it can be obtained by requesting the central server.

[0055] The robot uses laser radar to detect and identify the deployed reflective QR codes. When the robot approaches an object, the laser emitted by the robot is incident on the reflective QR code. The reflection intensity varies according to the different reflective materials at different positions. For 3D laser radar, a QR code intensity map can be obtained. Based on the received QR code intensity map, the robot can obtain the encoding information of the reflective QR code through decoding rules similar to those of the visual QR code. Based on the established association between the reflective QR code information and the corresponding object, it can be determined whether the object type corresponding to the reflective QR code is a static object or a dynamic object. Then, the robot recognizes and locates the object by combining the object contour detected by the laser.

[0056] The robot uses different avoidance strategies based on the actual type of the object, i.e., whether it is a static object or a dynamic object. For example, in a specific application scenario, the robot will treat static objects as obstacles and use the DWA method for path planning to avoid obstacles. For dynamic objects, the robot uses the ORCA algorithm as the basic avoidance strategy to complete the avoidance while minimizing the impact on the environment.

[0057] The robot avoidance method of the present invention receives the wireless signal transmitted by the wireless beacon by the robot, identifies the received wireless signal, and obtains the object type corresponding to the wireless beacon that transmits the wireless signal; according to the received wireless signal and the identification result of the wireless signal, the robot calculates the position information of the object corresponding to the wireless beacon; according to the object type corresponding to the wireless beacon and the position information of the object, the robot selects the corresponding avoidance strategy to avoid the object; the purpose of using the wireless beacon to identify and locate the object is achieved, and then the corresponding avoidance strategy is selected according to the identified object type, thereby improving the flexibility and intelligence of the avoidance; and a technical basis is provided for the robot's environmental interaction.

[0058] Based on the description of the robot avoidance method in the above embodiment, an embodiment of the present invention further provides a robot, which can implement the robot avoidance method described in the above embodiment. Figure 5 As shown, Figure 5 It is a schematic diagram of functional modules of an embodiment of the robot of the present invention. Figure 5 In the embodiment, the robot is described only from the functional point of view.

[0059] In the embodiment of the present invention, the robot functionally includes: a signal recognition module 110, a position calculation module 120 and an avoidance execution module 130. The signal recognition module 110 is used to receive a wireless signal transmitted by a wireless beacon, identify the received wireless signal, and obtain the type of object corresponding to the wireless beacon that transmits the wireless signal; the position calculation module 120 is used for the robot to calculate the position information of the object corresponding to the wireless beacon according to the received wireless signal and the recognition result of the wireless signal; the avoidance execution module 130 is used for the robot to select a corresponding avoidance strategy to avoid the object according to the type of object corresponding to the wireless beacon and the position information of the object.

[0060] The specific implementation process and implementation principle of the robot executing the robot avoidance method are consistent with the specific implementation process of the above-mentioned robot avoidance method, which will not be repeated here.

[0061] The robot of the present invention receives a wireless signal transmitted by a wireless beacon and identifies the received wireless signal to obtain the type of object corresponding to the wireless beacon that transmits the wireless signal; calculates the position information of the object corresponding to the wireless beacon according to the received wireless signal and the identification result of the wireless signal; selects a corresponding avoidance strategy to avoid the object according to the type of object corresponding to the wireless beacon and the position information of the object; achieves the purpose of identifying and locating objects by using wireless beacons, and then selects a corresponding avoidance strategy according to the identified object type, thereby improving the flexibility and intelligence of avoidance; and provides a technical basis for the robot's environmental interaction.

[0062] The present invention also provides an electronic device, which can be Figures 1 to 4 The robot avoidance method described in the embodiment is used to avoid the situation. Figure 6 As shown, Figure 6 It is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.

[0063] In this embodiment, the electronic device 1 may be a PC (Personal Computer), or a terminal device such as a smart phone, a tablet computer, or a portable computer. The electronic device 1 at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.

[0064] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as a hard disk of the electronic device 1. In other embodiments, the memory 11 can also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 11 can also include both an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the avoidance program 01, etc., but also can be used to temporarily store data that has been output or is to be output.

[0065] In some embodiments, the processor 12 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 11, such as executing the avoidance program 01.

[0066] The communication bus 13 is used to realize the connection and communication between these components.

[0067] The network interface 14 may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0068] Optionally, the electronic device 1 may further include a user interface, which may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0069] Figure 6 Only the electronic device 1 having the components 11-14 and the avoidance program 01 is shown. It can be understood by those skilled in the art that Figure 6The structure shown does not constitute a limitation on the electronic device 1 , and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0070] based on Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The description of the embodiments is in Figure 6 In the embodiment of the electronic device 1 shown, the memory 11 stores an avoidance program 01; the avoidance program 01 stored in the memory 11 can be run on the processor 12, and the avoidance program 01 is executed by the processor 12 to implement the following steps:

[0071] Receiving a wireless signal transmitted by a wireless beacon, identifying the received wireless signal, and obtaining the object type corresponding to the wireless beacon transmitting the wireless signal;

[0072] Calculate the location information of the object corresponding to the wireless beacon according to the received wireless signal and the recognition result of the wireless signal;

[0073] According to the object type corresponding to the wireless beacon and the location information of the object, a corresponding avoidance strategy is selected to avoid the object.

[0074] The electronic device of the present invention receives a wireless signal transmitted by a wireless beacon and identifies the received wireless signal to obtain the type of object corresponding to the wireless beacon that transmits the wireless signal; calculates the position information of the object corresponding to the wireless beacon based on the received wireless signal and the identification result of the wireless signal; selects a corresponding avoidance strategy to avoid the object based on the type of object corresponding to the wireless beacon and the position information of the object; achieves the purpose of identifying and locating objects by using wireless beacons, and then selects a corresponding avoidance strategy based on the identified object type, thereby improving the flexibility and intelligence of avoidance; and provides a technical basis for the robot's environmental interaction.

[0075] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which an avoidance program is stored. The avoidance program can be executed by one or more processors to implement the following operations:

[0076] Receiving a wireless signal transmitted by a wireless beacon, identifying the received wireless signal, and obtaining the object type corresponding to the wireless beacon transmitting the wireless signal;

[0077] Calculate the location information of the object corresponding to the wireless beacon according to the received wireless signal and the recognition result of the wireless signal;

[0078] According to the object type corresponding to the wireless beacon and the location information of the object, a corresponding avoidance strategy is selected to avoid the object.

[0079] The specific implementation of the computer-readable storage medium of the present invention is basically the same as the implementation principles of the above-mentioned robot avoidance method, robot and electronic device corresponding to each embodiment, and will not be repeated here.

[0080] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.

[0081] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot avoidance method, characterized in that: The robot avoidance method comprises: The robot receives the wireless signal transmitted by the wireless beacon, identifies the received wireless signal, and obtains the object type corresponding to the wireless beacon transmitting the wireless signal; According to the received wireless signal and the recognition result of the wireless signal, the robot calculates the position information of the object corresponding to the wireless beacon; According to the object type corresponding to the wireless beacon and the position information of the object, the robot selects a corresponding avoidance strategy to avoid the object; The robot selects a corresponding avoidance strategy to avoid the object according to the object type corresponding to the wireless beacon and the position information of the object, including: If the object type corresponding to the wireless beacon is a static object, the robot draws the static object as an obstacle on the corresponding grid map according to the position information of the object, and uses a local path planning algorithm to perform path planning to avoid the object; If the object type corresponding to the wireless beacon is a dynamic object, then according to the position information of the object and the current position coordinates of the robot itself, a local navigation algorithm is adopted as a basic avoidance strategy, and the robot performs navigation to complete the avoidance.

2. The robot avoidance method according to claim 1, characterized in that: The robot avoidance method also includes: Wireless beacons are deployed on objects in the robot working environment, and an association relationship is established between the beacon ID of the wireless beacon and the object corresponding to the wireless beacon, and / or an association relationship is established between the beacon ID and the location information of the object.

3. The robot avoidance method according to claim 2, characterized in that: The robot avoidance method also includes: For the deployed wireless beacon, measuring the correlation between the signal strength value of the wireless signal transmitted by the wireless beacon and the measurement distance; According to the measured association relationship, a distance strength curve corresponding to the wireless signal transmitted by the wireless beacon is drawn.

4. The robot avoidance method according to any one of claims 1 to 3, characterized in that: The robot receives a wireless signal transmitted by a wireless beacon, identifies the received wireless signal, and obtains the object type corresponding to the wireless beacon transmitting the wireless signal, including: The robot receives the wireless signal transmitted by the wireless beacon, identifies the wireless signal, and obtains the beacon ID corresponding to the wireless beacon transmitting the wireless signal; According to the association relationship corresponding to the pre-bound beacon ID, an object associated with the beacon ID is obtained, and it is determined whether the object type corresponding to the object is a static object or a dynamic object.

5. The robot avoidance method according to any one of claims 1 to 3, characterized in that: The robot calculates the position information of the object corresponding to the wireless beacon according to the received wireless signal and the recognition result of the wireless signal, including: The robot obtains a signal strength value of the wireless signal according to the received wireless signal; According to the acquired signal strength value, referring to a pre-drawn distance strength curve corresponding to the wireless signal, acquiring distance information corresponding to the wireless beacon that sends the wireless signal and matches the signal strength value; According to the recognition result of the wireless signal, the object information associated with the beacon ID of the identified wireless beacon is obtained, and referring to the acquired distance information corresponding to the wireless beacon, the robot calculates the position information of the object corresponding to the wireless beacon.

6. The robot avoidance method according to claim 5, characterized in that: The obtaining of object information associated with the beacon ID of the identified wireless beacon based on the recognition result of the wireless signal, and the obtaining of position information of the object corresponding to the wireless beacon by the robot by calculating the position information of the object corresponding to the wireless beacon with reference to the acquired distance information corresponding to the wireless beacon, including: According to the recognition result of the wireless signal, obtaining the object information associated with the beacon ID of the identified wireless beacon; According to the object information, obtaining the number of wireless beacons deployed on the same object; If there is only one wireless beacon deployed on the same object, assuming that the geometric center of the robot is A, the geometric center of the object is B, and the multiple beacon receivers deployed on the robot are A1 to An, then the signal strength values ​​of the wireless signals received by different beacon receivers A1 to An, and the distance information corresponding to the signal strength values ​​obtained based on the different signal strength values ​​are BAi, and by using the geometric relationship, circles are drawn with Ai as the center and BAi as the radius, and the intersection of the circles is taken as the position of the object. According to the coordinates of the intersection, the position information of the object can be obtained; wherein, i=1,2,3...n; If there are multiple wireless beacons deployed on the same object, assuming that m wireless beacons are deployed on the same object B, then the position coordinates Lm corresponding to each wireless beacon on object B are calculated separately according to the calculation method that there is only one wireless beacon deployed on the same object; the calculated m position coordinates Lm are clustered to finally obtain the position information corresponding to the same object B.

7. The robot avoidance method according to any one of claims 1 to 3, characterized in that: The wireless beacon includes a reflective graphic code, and the laser emitted by the laser radar deployed by the robot itself is incident on the reflective graphic code, and the coding information of the reflective graphic code is obtained according to the received corresponding graphic code intensity map; Referring to the pre-established association relationship between the coding information and the corresponding object, according to the obtained coding information of the reflective graphic code, the object type of the corresponding object is obtained as a static object or a dynamic object; According to the object type and in combination with the object contour obtained by laser detection, the object is identified and located, and then a corresponding avoidance strategy is selected to avoid the corresponding object.

8. A robot, characterized in that: The robot comprises: A signal recognition module, used to receive a wireless signal transmitted by a wireless beacon, and to recognize the received wireless signal to obtain the object type corresponding to the wireless beacon transmitting the wireless signal; A position calculation module, configured to enable the robot to calculate the position information of the object corresponding to the wireless beacon according to the received wireless signal and the recognition result of the wireless signal; An avoidance execution module, configured to enable the robot to select a corresponding avoidance strategy to avoid the object according to the object type corresponding to the wireless beacon and the position information of the object; The avoidance execution module is further used for: If the object type corresponding to the wireless beacon is a static object, the robot draws the static object as an obstacle on the corresponding grid map according to the position information of the object, and uses a local path planning algorithm to perform path planning to avoid the object; If the object type corresponding to the wireless beacon is a dynamic object, then according to the position information of the object and the current position coordinates of the robot itself, a local navigation algorithm is adopted as a basic avoidance strategy, and the robot performs navigation to complete the avoidance.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein the memory stores an avoidance program that can be executed on the processor, and when the avoidance program is executed by the processor, the robot avoidance method according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that: An avoidance program is stored on the storage medium, and the avoidance program can be executed by one or more processors to implement the steps of the robot avoidance method as described in any one of claims 1 to 7.

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