Obstacle avoidance control method, robot and computer readable storage medium

Abstract

The present invention provides an obstacle avoidance control method for a robot, a robot, and a computer-readable storage medium. A reflection area is provided outside the blind area, and the reflection area can receive a light beam from an object in the blind area. The robot pre-stores reference information of the reflection area. The robot control method includes: when the robot moves to a position close to the blind area, using the robot's sensor to obtain scanning information of the reflection area; according to the scanning information of the reflection area, obtaining a preset type of detection parameter; comparing the preset type of detection parameter with the reference information of the reflection area; and controlling the robot movement according to the comparison result. The embodiment of the present application uses a sensor to obtain scanning information of the reflection area, obtains obstacle information within the field of view of the sensor blind area through the reflection area, compares it with the reference information of the reflection area, determines whether there is an obstacle in the blind area, and controls the robot to perform corresponding obstacle avoidance actions, which can reduce the risk of collision and improve the reliability of the robot operation.

Description

Technical Field

[0001] The present invention generally relates to the field of intelligent device control technology, and in particular to an obstacle avoidance control method, a robot, and a computer-readable storage medium. Background Art

[0002] Robots are usually integrated with a variety of sensors to obtain real-time information about the robot's surroundings. For example, the robot's laser radar is used to scan the robot's surroundings, detect obstacles in advance, especially moving obstacles, and control the robot to avoid them. However, in actual application scenarios, the robot has certain perception blind spots due to factors such as the sensor's field of view. The robot cannot detect obstacles in the blind spots in time, and there is still a risk of collision.

[0003] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0004] In view of one or more defects in the prior art, the present invention provides an obstacle avoidance control method for a robot, wherein a reflection area is provided outside the blind area, and the reflection area can receive a light beam from an object in the blind area, and the robot pre-stores reference information of the reflection area. The robot control method comprises:

[0005] When the robot moves to a position close to the blind area, the scanning information of the reflection area is acquired by using the sensor of the robot;

[0006] According to the scanning information of the reflection area, a detection parameter of a preset type is obtained;

[0007] comparing the detection parameter of the preset type with the reflection area reference information;

[0008] The movement of the robot is controlled according to the comparison result.

[0009] According to one aspect of the present invention, the step of controlling the robot movement according to the comparison result comprises:

[0010] Determining whether an error between the detection parameter of the preset type and the reference information of the reflection area exceeds a threshold;

[0011] When the error does not exceed the threshold, the robot is controlled to continue moving until it passes through the blind area.

[0012] According to one aspect of the present invention, when the error exceeds a threshold, the robot is controlled to reduce the movement speed.

[0013] According to one aspect of the present invention, a waiting area is provided between the reflection area and the blind area, and the robot control method further comprises: when the error exceeds a threshold value,

[0014] Controlling the robot to move to the waiting area;

[0015] In the waiting area, the orientation of the robot is adjusted to detect the blind area.

[0016] According to one aspect of the present invention, the blind spot is caused by a fixed obstacle at the proximal end of the corner blocking the robot's sensor, and the reflective area is arranged at the distal end of the corner, and the robot's sensor can use the reflective area to expand its field of view.

[0017] According to one aspect of the present invention, the reflection area reference information includes scanning information at a corresponding position of the reflection area obtained by the robot using a sensor when there are no dynamic obstacles in the blind area; the robot control method also includes: pre-storing the coordinates of the blind area and the corresponding reflection area reference information in a map of the robot's activity range.

[0018] According to one aspect of the present invention, the sensor of the robot is a visual sensor and / or a distance sensor, and the reflection area has a reflection surface.

[0019] According to one aspect of the present invention, the reflection area comprises a plane mirror or a convex mirror, and the reflection area reference information comprises an image or a reflectivity.

[0020] According to one aspect of the present invention, the present invention also includes a robot, the robot comprising:

[0021] main body;

[0022] A motion device, which is disposed on the main body and can be driven to drive the main body to move;

[0023] a sensor disposed on the body; and

[0024] A control system communicates with the sensor and the motion device and is configured to execute the obstacle avoidance control method as described above.

[0025] According to one aspect of the present invention, the present invention also includes a computer-readable storage medium, which includes computer-executable commands stored thereon, and the executable commands implement the obstacle avoidance control method as described above when executed by a processor.

[0026] Compared with the prior art, the embodiment of the present application provides an obstacle avoidance control method applied to a robot, wherein a reflection area is set outside the blind area, and the scanning information of the reflection area is obtained by using the sensor in the robot, and the obstacle information within the field of view of the sensor blind area is obtained through the reflection area, and compared with the reference information of the reflection area, to determine whether there is an obstacle in the blind area, and control the robot to make corresponding obstacle avoidance actions, which can reduce the risk of collision and improve the reliability of the robot operation. The present invention also includes an embodiment of a robot and an embodiment of a computer-readable storage medium, which can cooperate to execute the aforementioned obstacle avoidance control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 is a flow chart of an obstacle avoidance control method in one embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of a robot reflex zone in one embodiment of the present invention;

[0030] Figure 3 It is a schematic diagram of the blind area of ​​a robot in the prior art;

[0031] Figure 4 is a schematic diagram of a reflection area in a case of a roundabout corner in one embodiment of the present invention;

[0032] Figure 5 is a flow chart of an obstacle avoidance control method including comparing detection parameters and reflection area reference information in one embodiment of the present invention;

[0033] Figure 6 1 is a block diagram of a robot in one embodiment of the present invention. DETAILED DESCRIPTION

[0034] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which 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" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0036] 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, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0039] 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.

[0040] Figure 1 The specific process of the obstacle avoidance control method 100 applied to a robot according to an embodiment of the present invention is shown. Figure 2 A schematic diagram of a robot and blind spot distribution according to an embodiment of the present invention is shown below. Figure 1 and Figure 2 Detailed description.

[0041] The sensor used to obtain obstacle information on the motion path of the robot is usually set in front of the robot's motion direction, such as the top or bottom of the robot, and scans within a certain range forward to obtain obstacle information on the robot's motion path.

[0042] Within the robot's range of activity, there are blind spots due to environmental factors. Blind spots refer to areas where the robot's sensors cannot obtain or cannot accurately obtain scanning information due to obstacles, robot turning obstacles, etc. Specifically, for example, the robot's sensors are blocked by fixed obstacles, decorations, wall structures, etc., or the robot cannot rotate to a specific angle due to environmental restrictions so that the sensor can obtain scanning information in a specific direction. The blind spot causes the robot's sensor to lose scanning information, affecting the robot's judgment of the movement results. For example, if the robot moves toward the blind spot, it may collide with an obstacle in the blind spot. In this embodiment, a reflection area is set outside the blind spot, and the reflection area can receive light beams from objects in the blind spot, including reflected light. Specifically, a plane mirror or a convex mirror can be set in the reflection area.

[0043] Specifically, within the robot's range of activity, obstacles with fixed positions can be marked when constructing the map. For example, fixed obstacles such as walls, shelves, tables and chairs can have their specific positions, sizes and postures marked on the map. When controlling the robot's movement, the robot's movement path can be planned to avoid fixed obstacles. However, for obstacles with non-fixed positions, such as people or other moving robots within the robot's range of activity, or temporary obstacles caused by humans, the sensors on the robot need to obtain information about the obstacles and control the robot to make corresponding avoidance actions based on the position, size and movement of the obstacles. In the absence of occlusion, the appropriate sensor scanning range can be set to ensure that the robot can detect obstacles in time, make avoidance movements, and prevent collision accidents. However, for obstacles such as Figure 2 and Figure 3 In the case shown in the figure, due to the obstruction of fixed obstacles or wall structures, blind spots will appear in the sensor's scanning range. In this case, the robot cannot detect obstacles in time, and there is a risk of collision accidents if the robot continues to operate normally, especially when there are obstacles to the movement of objects in the blind spot, such as Figure 3 The situation shown in .

[0044] like Figure 2 As shown, in this embodiment, a reflection area is set outside the blind area within the robot's activity range, and the robot pre-stores reference information of the reflection area. Specifically, the reference information of the reflection area can control the sensor on the robot to obtain scanning information at the corresponding position of the reflection area when there is no obstacle in the blind area, and record the scanning information of the reflection area, such as recording point cloud information, feature image and other image information, or one or more of optical information such as reflectivity and reflection distance. According to a preferred embodiment of the present invention, when the robot moves to a position close to the blind area, the reflection area is located within the scanning range of the robot sensor, and the sensor can be used to obtain the corresponding scanning information at the position of the reflection area. Specifically, it can be selected according to different sensor types, such as laser radar, distance sensor, etc., when obtaining the scanning information of the reflection area, it can be recorded when there is no obstacle in the blind area, and the ranging value of the reflection area can be obtained and recorded. For image sensors such as binocular stereo vision, when obtaining the scanning information of the reflection area, it can be recorded when there is no obstacle in the blind area, and the feature image can be obtained and recorded.

[0045] In the obstacle avoidance control method 100 of the present embodiment, in step S101, when the robot moves close to the blind spot, the robot's sensor is used to obtain scanning information of the reflection area. Specifically, when the robot moves close to the blind spot, for example, a preset position is set at the blind spot position marked in the map. When the robot reaches the specified position, the reflection area is within the scanning range of the sensor. By retrieving the position information of the reflection area corresponding to the blind spot, the sensor is used to obtain the scanning information at the corresponding position of the reflection area. Blind spots caused by fixed obstacles or walls or building structures can be marked on the map, and correspondingly, the reflection area corresponding to the blind spot also has a preset position, such as specific coordinates. Since the range of the blind spot is related to the current position of the robot, when judging the blind spot, it can also be judged based on the information obtained in real time by the sensor on the robot, for example Figure 3 As shown in the situation, at the corner position, the robot's sensor field of view is blocked by the wall, and a part of the field of view is missing. Feedback to the robot shows that there is a blind spot in front of the robot's motion path, which meets the conditions in this step. According to a preferred embodiment of the present invention, the coordinates of the blind spot can be stored in a map of the robot's activity range and correspond to the reflection area reference information. Within the robot's activity range, multiple blind spots may exist at different positions at the same time, and accordingly, the reflection area reference information corresponding to the blind spots also differs. And as Figure 2 and Figure 3 As shown, for the same turning angle position, the movement direction of the robot is opposite, and the corresponding reflection area reference information is also different. Therefore, according to a preferred embodiment of the present invention, the coordinates of the blind area and the reflection area reference information have corresponding meanings, and the coordinates of the blind area include the movement direction of the robot. For example, the robot Figure 2 The coordinates of the blind spot can be set to include the vertex of the proximal end of the corner and the movement direction of the robot, and correspond to the reference information of the reflection area. Specifically, the proximal end of the corner refers to the inner position of the robot's turning movement.

[0046] In step S102, based on the scanning result of the reflection area, a detection parameter of a preset type is obtained. Specifically, the detection parameter of the preset type corresponds to the reference information of the reflection area. For example, the reference information of the reflection area pre-stored by the robot includes the reflection distance of the reflection area. In this step, the scanning information of the reflection area is also obtained by using a sensor, for example, the reflection distance is obtained. In the case where the reference information of the reflection area is characteristic image information, in this step, the scanning information of the reflection area can also be obtained by using a sensor to obtain the characteristic image information. In step S103, the detection parameter of the preset type is compared with the reference information of the reflection area. Furthermore, the same type is compared. When there are multiple blind spots within the range of the robot's activity, in this step, the reference information of the reflection area corresponding to the coordinates of the current blind spot is retrieved. In step S104, the movement of the robot is controlled based on the comparison result of the detection parameter of the preset type and the reference information of the reflection area.

[0047] For blind spots caused by fixed obstacles or building structures at corners, such as Figure 2 As shown in the figure, the reflection area is set at the far end of the corner, that is, the outer side of the corner in the robot's motion path, and the obstacles that cause the blind spot are located at the near end of the corner. When the reflection area is not set, the robot's blind spot is as follows Figure 3 As shown in the middle shaded area, the robot cannot obtain information about obstacles in the blind area. If the robot is controlled to continue moving or turning, a collision may occur. After setting the reflection area, the robot is controlled according to the obstacle avoidance control method 100 in this embodiment. The field of view of the sensor in the robot is as shown in FIG. Figure 2 As shown, compared to Figure 3 , the field of view is greatly increased. For larger corners, even U-turns, such as Figure 4 As shown, the reflection area is also set at the far end of the corner, or the reflection areas are set at both far ends of the wall structure, which can expand the field of view of the robot and reduce the risk of collision accidents.

[0048] According to a preferred embodiment of the present invention, the reflection area is set according to the working principle of the robot's sensor. For example, the robot's sensor is a visual sensor and / or a distance sensor, wherein the visual sensor uses the principle of optical imaging to obtain image information, and the distance sensor uses, for example, the round-trip time or phase change of a laser beam to obtain the distance from the sensor to the reflection surface. Accordingly, an optical reflection surface can be set in the reflection area. Specifically, according to a preferred embodiment of the present invention, it can be a plane mirror or a convex mirror, wherein the provision of a convex mirror can expand the scanning range of the sensor, further reduce the blind area of ​​the sensor, and reduce the risk of collision.

[0049] Figure 5 The specific process of the obstacle avoidance control method 200 in a preferred embodiment of the present invention is shown, which includes the process of comparing the detection parameters and the reference information of the reflection area. Figure 5 Detailed description.

[0050] In the obstacle avoidance control method 200, step S201 and step S202 are substantially the same as steps S101 and S102 in the obstacle avoidance control method 100, respectively, and are not described in detail here. In step S203, it is determined whether the error between the detection parameter of the preset type and the reference information of the reflection area exceeds the threshold value. Similar to the aforementioned embodiment, the detection parameter of the preset type and the reference information of the reflection area are parameters of the same type, such as the same reflection distance, or the same reflectivity and other specific information, so as to facilitate direct comparison of the error. Preferably, the reference information of the reflection area may include multiple types of parameters. When executing step S203, the reference information of the reflection area of ​​the same type as the detection parameter of the preset type may be directly called.

[0051] The threshold value of the error between the preset type of detection parameter and the reflection area reference information is set according to different parameter types, among which the parameter types with specific values ​​such as reflection distance and reflectivity can set the threshold value according to field tests.

[0052] For parameters without specific values, such as feature images, they can be set manually. Taking feature images as an example, the reference information of the reflection area can be the feature position marked in the image information obtained after the robot sensor obtains the scanning information of the reflection area, such as the feature pattern of the ground or wall, the marker located in the blind area, and the identifiable feature light source. In the actual operation of the robot, when the robot moves to a position close to the blind area, the sensor also obtains the feature image after obtaining the scanning information of the reflection area. The number of feature objects and the relative position relationship therein can be compared. When there is an obstacle within the blind area, the feature objects in the feature image obtained by the sensor will be missing or distorted. The feature image detected by the sensor can be compared with the feature image in the reference information of the reflection area, and a threshold can be set according to the degree of matching to determine whether there is an obstacle in the blind area.

[0053] In a specific embodiment, since the position of the robot may be different each time it moves to approach the blind spot, the relative position relationship with the reflection area will change, and the posture of the robot will also be slightly different, wherein the angle of the sensor will also affect the detection parameters, and the detection parameters corresponding to the reflection area will also change accordingly. Therefore, when comparing the detection parameters with the reference information of the reflection area, a certain deviation will be generated, affecting the comparison result, wherein the detection parameters such as the feature image and the point cloud information are more affected, but such detection parameters can usually reflect the obstacle information more comprehensively and can more intuitively judge the position of the obstacle. In step S204, when the error does not exceed the threshold, the robot is controlled to continue to move until it passes through the blind spot.

[0054] According to a preferred embodiment of the present invention, Figure 5 As shown, in step S205, when the error between the detection parameter and the reference information of the reflection area exceeds the threshold, the robot is controlled to reduce the movement speed. When the error exceeds the threshold, there may be obstacles in the blind area, and the robot is controlled to reduce the movement speed to avoid collision or brake with a large acceleration, which affects the stability of the robot. Further, in a preferred embodiment of the present invention, a waiting area is also set between the reflection area and the blind area, such as Figure 2 As shown, the waiting area is set at the intersection of the corner. When the robot is in the waiting area, the robot can be controlled to rotate to obtain the scanning information within the original blind area using the sensor. When the error between the detection parameter of the preset type and the reference information of the reflection area exceeds the threshold, it is judged that there may be an obstacle in the blind area. If the robot is controlled to slow down and stop in front of the blind area, a collision can be avoided, but there is a possibility of misjudgment. Or if there are two robots moving in both directions at the same time, the use of the docking control method may cause both robots to stop in front of the blind area, for example Figure 2 At both ends of the corner, the robot cannot continue to operate due to the presence of obstacles detected, affecting work efficiency.

[0055] In a preferred embodiment of the present invention, when the error between the detection parameter and the reference information of the reflection area exceeds the threshold, the robot is controlled to reduce the movement speed. In step S206, the robot is controlled to move to the waiting area. In this embodiment, the waiting area is set between the reflection area and the blind area. In step S207, the robot is adjusted in the waiting area to detect the blind area. For example, the robot is controlled to rotate in situ in the waiting area so that the sensor faces the original blind area (the blind area disappears in the waiting area). The scanning information in the blind area can be accurately obtained and the turning process is completed. According to the specific situation, when there is no obstacle in the blind area, the robot can continue to move directly. When the obstacle in the blind area is a movable obstacle, such as a walking person, the robot is controlled to wait in the waiting area for the movable obstacle in the blind area to pass the corner. When the obstacle in the blind area is a temporarily placed fixed obstacle, such as a table and chair placed by an artificial person, the robot can be controlled to plan an avoidance route according to the position of the obstacle to bypass the obstacle. Of course, for obstacles that cannot be passed, the robot can be controlled to alarm or re-plan the route to reach the destination by other routes.

[0056] The present invention also includes an embodiment of a robot 1, such as Figure 6As shown, in this embodiment, the robot 1 includes a main body, a motion device 10, a sensor 20 and a control system 30, wherein the main body is the main structural frame of the robot 1, and all components in the robot 1 are fixed by the main body. The main body can be made of alloy material or organic material to have a fixed shape, and all components in the robot 1 are installed at corresponding positions in the main body. The motion device 10 is arranged on the main body and can be driven to drive the robot 1 to move. Preferably, the motion device 10 adopts a wheeled structure, such as a universal wheel driven by an electric motor, to ensure that the robot 1 is always parallel to the ground during movement, to ensure the stable operation of the robot 1, and to enable the robot to complete specific tasks such as distribution, handling, and cleaning.

[0057] The sensor 20 is fixedly mounted on the main body and has a fixed constraint relationship with the main body, and can scan the range in front of the motion path of the robot 1 to obtain image information, distance information or point cloud data, etc. According to different embodiments, the number of sensors 20 installed on the robot 1 is preferably multiple, so as to comprehensively obtain environmental information around the robot 1. Specifically, the sensor 20 can be a laser ranging device, a laser radar, an RGB camera, a depth camera, etc.

[0058] The control system 30 is arranged on the main body and communicates with the motion device 10 and the sensor 20. For example, the control system 30 is a processor, which communicates with the motion device 10 and the sensor 20 through a data line or wireless communication, and can control the motion device 10 and the sensor 20 to work, and receive obstacle information acquired by the sensor 20. The control system 30 in this embodiment can execute the obstacle avoidance control method in the aforementioned embodiment, and is used to control the robot 1 to move to the blind spot to avoid collision accidents.

[0059] According to a preferred embodiment of the present invention, the robot includes a housing for carrying items, a mobile chassis, a function controller for providing user operations, a bottom controller for map generation and path planning, and an element controller for controlling a mobile unit and an environment detection unit. The mobile chassis is provided with at least two sets of driving wheels, each set of driving wheels is located on one side of the mobile chassis. The element controller controls the travel speed of the driving wheels.

[0060] At least one turn signal unit may be provided at the bottom of the chassis, and each turn signal unit includes at least one turn signal. The mobile unit is provided with at least two sets of driving wheels, and each set of driving wheels is located on one side of the chassis. The element controller controls the travel speed of the driving wheel, and controls the turn signal in the turn signal unit to light up in a preset manner when the robot turns.

[0061] Specifically, among the driving wheels provided on the mobile unit, at least one group of driving wheels is used as the left driving wheel, and at the same time, at least one group of driving wheels is used as the right driving wheel, and the left driving wheel and the right driving wheel are located on opposite sides of the chassis. Optionally, the mobile unit may also include at least two groups of driven wheels, one group of driving wheels corresponding to one group of driven wheels, wherein at least one group of driven wheels is used as the left driven wheel, and at the same time, at least one group of driven wheels is used as the right driven wheel, and the left driven wheel and the right driven wheel are used to assist the left driving wheel and the right driving wheel in driving the robot's housing and chassis to move, thereby reducing the load pressure of the driving wheels.

[0062] In an embodiment of the present invention, the turn signal can be controlled to light up, and the reflection of the reflection area can be used as a feature object. When comparing detection parameters such as feature images, the projection of the turn signal in the reflection area can be used as a reference for determining whether there are other robot obstacles.

[0063] On the basis of the above technical solution, optionally, when the speed difference between the driving wheels on both sides of the chassis is greater than a preset value, the component controller controls the turn signal in the turn signal unit to light up in a preset manner.

[0064] In an embodiment of the present invention, the robot path planning method can be applied to any robot, specifically, to determine the positioning map of the current working area, wherein the positioning map is a map formed by the robot mapping its environment. In different embodiments of the present invention, the robot can be a delivery robot, such as a food delivery robot in a restaurant canteen, or a transfer robot in a storage environment, or a cleaning robot in a home commercial environment, etc. Specifically, the robot is equipped with a sensor and a modeling processor, and the modeling processor models the environment data collected by the sensor to construct an environment map. In a specific implementation, the sensor includes a laser radar, an ultrasonic sensor, and an infrared sensor, and the laser radar, ultrasonic sensor, and infrared sensor are used to collect data of the working area where the robot is located. The modeling processor uses the data collected by these sensors to create a map. In the process of creating the map, different map layers are generated by different sensors, such as a static layer, a dynamic obstacle layer, an ultrasonic layer map, a visual layer, etc., and these layers are fused to obtain a positioning map for positioning and navigating the robot.

[0065] When the robot is controlled to move to a certain destination, such as delivering food to a preset point within the robot's activity range, a path is planned according to the positioning map.

[0066] Furthermore, the current position and target position of the robot are determined according to the positioning map. There are fixed obstacles within the robot's range of motion, such as tables, chairs, furniture, shelves, or building structures or fixed structures that serve as decorations. During the map construction process, obstacles at fixed positions can be acquired by sensors and marked. When planning a path, the position of the obstacle is determined according to the positioning map. The path is planned according to the current position, the target position, and the obstacle position.

[0067] Specifically, the target position is a position set by a user, or a position determined by a processing system of the robot to be moved to, wherein the target position can be the next position to be moved to during the movement process, or the position that the robot ultimately needs to reach.

[0068] The position of obstacles on the map can be located through the positioning map. Through this implementation, the robot can determine the position of obstacles and plan routes without changing the navigation accuracy. The current position is the real-time position information of the robot determined by the position sensor. However, active obstacles or fixed obstacles temporarily added by humans cannot be reflected in the positioning map in real time. During the normal movement of the robot, the sensor can be used to scan the range in front of the robot to obtain obstacle information, but due to the existence of blind spots, collision accidents may still occur. The obstacle avoidance control method in the aforementioned embodiment can use the reflection area to determine whether there are obstacles in the blind spot.

[0069] According to a preferred embodiment of the present invention, a computer-readable storage medium is further included, including computer executable commands stored thereon, and the executable commands implement the obstacle avoidance control method as described above when executed by a processor.

[0070] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot obstacle avoidance control method, wherein a reflection area is provided outside a blind area, and the reflection area can receive a light beam from an object in the blind area, the robot pre-stores reference information of the reflection area, the coordinates of the blind area are stored in a map of the robot's activity range and correspond to the reference information of the reflection area, and the coordinates of the blind area are related to the movement direction of the robot; The robot control method comprises: When the robot moves to a position close to the blind area, the scanning information of the reflection area is acquired by using the sensor of the robot; According to the scanning information of the reflection area, a detection parameter of a preset type is obtained; comparing the detection parameter of the preset type with the reflection area reference information; Control the movement of the robot according to the comparison result; A waiting area is provided between the reflection area and the blind area, and the step of controlling the movement of the robot according to the comparison result comprises: Determining whether an error between the detection parameter of the preset type and the reference information of the reflection area exceeds a threshold; When the error does not exceed the threshold, controlling the robot to continue moving until passing through the blind area; When the error exceeds a threshold value, the robot is controlled to reduce a movement speed, and the robot is controlled to move into the waiting area, and in the waiting area, the robot is adjusted in a direction to detect the blind area; The sensor of the robot includes a distance sensor, and the reflection area has a reflection surface; the reflection area reference information and the scanning information include one or more of point cloud information, reflectivity, and reflection distance.

2. The obstacle avoidance control method according to claim 1, wherein the coordinates of the blind spot include the vertex angle of the proximal end of the corner and the movement direction of the robot, and the proximal end of the corner represents the inner position of the rotation direction of the robot.

3. The obstacle avoidance control method according to claim 1, wherein in the step of comparing the detection parameters of the preset type with the reflection area reference information, the same type of detection parameters and the same type of reflection area reference information are compared.

4. The obstacle avoidance control method according to claim 1, wherein the reflection area reference information further includes a feature image, and the step of comparing the detection parameter of the preset type with the reflection area reference information comprises: The characteristic image detected by the sensor is compared with the characteristic image in the reflection area reference information, and a threshold is set according to the degree of matching.

5. The obstacle avoidance control method according to claim 1, wherein the blind spot is caused by a fixed obstacle at the proximal end of the corner blocking the robot's sensor, and the reflection area is arranged at the far end of the corner, and the robot's sensor can use the reflection area to expand the field of view.

6. The obstacle avoidance control method according to claim 1, wherein the reference information of the reflection area includes scanning information of the robot using a sensor to obtain the corresponding position of the reflection area when there is no dynamic obstacle in the blind area; the robot control method further comprises: The coordinates of the blind area and the corresponding reference information of the reflection area are pre-stored in a map of the robot's activity range.

7. The obstacle avoidance control method according to claim 1, wherein the sensor of the robot further includes a visual sensor.

8. The obstacle avoidance control method according to claim 1, wherein the reflection area comprises a plane mirror or a convex mirror, and wherein the reflection area reference information comprises an image or a reflectivity.

9. A robot comprising: main body; A motion device, which is disposed on the main body and can be driven to drive the main body to move; A sensor, wherein the sensor is disposed on the main body; and A control system, the control system communicates with the sensor and the motion device and is configured to be able to execute the obstacle avoidance control method according to any one of claims 1-8.

10. A computer-readable storage medium, comprising computer executable commands stored thereon, wherein the executable commands, when executed by a processor, implement the obstacle avoidance control method according to any one of claims 1 to 8.

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