Robot navigation method and device, electronic device and computer readable storage medium

Abstract

The application provides a robot navigation method and device, electronic equipment and a computer readable storage medium, comprising: controlling a robot to move in a specified site; wherein a plurality of reflective structures are deployed in the specified site; if a reflective structure is scanned during movement, identifying the reflective structure parameters corresponding to the reflective structure; planning a first movement track of the robot according to the reflective structure parameters, and controlling the robot to move in the specified site based on the first movement track. The application can better assist the robot to move on a complex inspection road, thereby significantly improving the safety of the robot during movement.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot navigation method, apparatus, electronic device, and computer-readable storage medium. Background Technology

[0002] Currently, automated inspection robots need to complete more complex tasks and traverse more complex terrains. However, the inspection routes of existing automated inspection robots are relatively simple and limited, allowing them to move only on flat, hardened surfaces. They struggle to navigate narrow roads and sloping terrain. Even when automated inspection robots do manage to move on these types of roads, they are highly likely to tip over, potentially causing damage to the robot or injury to personnel. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a robot navigation method, device, electronic device and computer-readable storage medium, which can better assist the robot in moving on complex inspection roads, thereby significantly improving the safety of the robot during movement.

[0004] In a first aspect, embodiments of the present invention provide a robot navigation method, comprising: controlling a robot to move within a designated area; wherein, a plurality of reflective structures are deployed within the designated area; if the reflective structure is scanned during movement, identifying reflective structure parameters corresponding to the reflective structure; planning a first movement trajectory of the robot based on the reflective structure parameters, and controlling the robot to move within the designated area based on the first movement trajectory.

[0005] In one embodiment, the robot is equipped with a lidar; the step of identifying the reflective structure parameters corresponding to the reflective structure if the reflective structure is detected during movement includes: controlling the lidar to emit multiple detection signals; if the signal intensity of the reflected signal corresponding to the detection signal is greater than a preset intensity threshold, determining that the reflective structure has been detected during movement; identifying the reflective structure parameters corresponding to the reflective structure based on the reflected signal; wherein the reflective structure parameters include structure type and structure pose.

[0006] In one embodiment, the step of planning the robot's first movement trajectory based on the reflective structure parameters includes: determining the path type of the robot's travel path based on the structure type; wherein the path type includes a first path type and a second path type; if the travel path belongs to the first path type, planning the robot's first movement trajectory based on the structural position information in the structural pose; if the travel path belongs to the second path type, planning the robot's first movement trajectory based on the structural angle information in the structural pose.

[0007] In one embodiment, the reflective structure includes a first reflective structure and a second reflective structure, the distance between the first reflective structure and the second reflective structure being used to characterize the width of the travel path; the step of planning the robot's first movement trajectory based on the structural position information in the structural pose includes: determining a first distance between the robot and the first reflective structure based on the structural position information of the first reflective structure; and determining a second distance between the robot and the second reflective structure based on the structural position information of the second reflective structure; if the first distance and the second distance are equal, determining a first center path position between the first reflective structure and the second reflective structure, and using the first center path position as the robot's first movement trajectory.

[0008] In one embodiment, the method further includes: if the first distance and the second distance are not equal, determining a line connecting the center point of the first reflective structure and the center point of the second reflective structure, and determining a target reflective structure from the first reflective structure or the second reflective structure; determining a second movement trajectory of the robot based on the line and the robot's first current position; wherein the second movement trajectory is parallel to the line; controlling the robot to move towards the target reflective structure based on the second movement trajectory, and updating the first distance and the second distance during the movement until the first distance and the second distance are equal; determining a second center path position between the first reflective structure and the second reflective structure, and using the second center path position as the robot's first movement trajectory.

[0009] In one embodiment, the reflective structure includes a third reflective structure, and the structural angle information is used to characterize the slope of the travel path; the step of planning the first movement trajectory of the robot based on the structural angle information in the structural pose further includes: if the structural angle information is within a preset angle range, determining to move in the travel path; using the lidar to determine the second current position of the robot in the travel path; and controlling the robot to move in the travel path based on the second current position and a preset electronic map.

[0010] In one embodiment, the method further includes: if the reflective structure is not detected during movement, using the lidar to determine a third current position of the robot in the designated area; and controlling the robot to move in the designated area based on the third current position and a preset electronic map.

[0011] Secondly, embodiments of the present invention also provide a robot navigation device, comprising: a first control module for controlling a robot to move within a designated area; wherein multiple reflective structures are deployed within the designated area; a parameter recognition module for identifying reflective structure parameters corresponding to the reflective structure if the reflective structure is scanned during movement; and a second control module for planning a first movement trajectory of the robot based on the reflective structure parameters, and controlling the robot to move within the designated area based on the first movement trajectory.

[0012] Thirdly, embodiments of the present invention also provide an electronic device, including a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method described in any of the first aspects.

[0013] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method described in any of the first aspects.

[0014] This invention provides a robot navigation method, device, electronic device, and computer-readable storage medium. The method controls a robot to move within a designated area, where multiple reflective structures are deployed. If a reflective structure is detected during movement, its corresponding parameters are identified, and a first movement trajectory is planned based on these parameters. Finally, the robot is controlled to move within the designated area based on this first movement trajectory. This method utilizes multiple reflective structures within the designated area, allowing the robot to plan a first movement trajectory based on the reflective structure parameters when it detects a structure. This improves navigation accuracy on complex paths and effectively assists the robot in moving along such paths. Controlling the robot based on the planned first movement path significantly enhances safety during movement.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a robot navigation method provided in an embodiment of the present invention;

[0019] Figure 2a A top view showing the relative position of a robot and a reflective structure, provided in an embodiment of the present invention;

[0020] Figure 2b A side view showing the relative position of a robot and a reflective structure, provided in an embodiment of the present invention;

[0021] Figure 3 This is a top view showing the relative position of the robot and the reflective structure according to another embodiment of the present invention;

[0022] Figure 4a This is a top view showing the relative position of the robot and the reflective structure according to another embodiment of the present invention;

[0023] Figure 4b This is a side view showing the relative position of the robot and the reflective structure according to another embodiment of the present invention;

[0024] Figure 5 A flowchart illustrating another robot navigation method provided in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of a robot navigation device provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Currently, existing automated inspection robots have the problem of difficulty in navigating narrow roads and sloping roads. Based on this, the present invention provides a robot navigation method, device, electronic device, and computer-readable storage medium, which can better assist the robot in moving on complex inspection roads, thereby significantly improving the safety of the robot during movement.

[0029] To facilitate understanding of this embodiment, a robot navigation method disclosed in this invention will first be described in detail, see [link to relevant documentation]. Figure 1 The diagram shows a flowchart of a robot navigation method, which mainly includes the following steps S102 to S106:

[0030] Step S102: Control the robot to move within a designated area. The designated area can be a specific inspection area, and multiple reflective structures are deployed within it. These reflective structures can include reflective panels or reflective pillars. Optionally, if obstacles, narrow roads, or sloping roads exist within the designated area, reflective panels or reflective pillars can be attached to the sides of the obstacles, narrow roads, or sloping roads. In one embodiment, if no reflective structure is detected during movement, the robot can be controlled to move within the designated area using existing navigation methods; if a reflective structure is detected during movement, the robot is controlled to move within the designated area according to steps S104 to S106.

[0031] Step S104: If a reflective structure is detected during movement, identify the corresponding reflective structure parameters. These parameters include structure type and structure pose. The structure type characterizes the road type, and the structure pose includes structure position information and / or structure angle information. The structure position information reflects the width of the road, and the structure angle information reflects the slope. In one embodiment, the robot is equipped with a lidar that emits detection signals. The robot then determines whether a reflective structure has been detected based on the reflected signals, and if a reflective structure has been detected, identifies its structure type and pose based on the reflected signals.

[0032] Step S106: Plan the robot's first movement trajectory based on the reflective structure parameters, and control the robot to move within the designated area based on the first movement trajectory. In one embodiment, the corresponding trajectory planning logic can be selected first based on the structure type. For example, if the structure type indicates that the travel path belongs to a first path type (narrow road), then the robot's first movement trajectory is planned based on the structure position information; if the structure type indicates that the travel path belongs to a second path type (uphill / downhill road), then the robot's first movement trajectory is planned based on the structure angle information, and then the robot is controlled to traverse the travel path based on the first movement trajectory.

[0033] The robot navigation method provided in this invention deploys multiple reflective structures in a designated area. When the robot scans the reflective structure, it can plan a first movement trajectory based on the parameters of the reflective structure, thereby improving navigation accuracy on complex paths. This can better assist the robot in moving on complex paths. Controlling the robot to move based on the planned first movement path can significantly improve the safety of the robot during movement.

[0034] To facilitate understanding of the aforementioned step S104, this embodiment of the invention provides an implementation method for identifying the parameters of a reflective structure if a reflective structure is detected during movement. Specifically:

[0035] (1) Control the lidar to emit multiple detection signals. If the signal strength of the reflected signal corresponding to any detection signal is greater than a preset intensity threshold, it is determined that a reflective structure has been scanned during the movement. In practical applications, lidar can be multi-line lidar (such as 16-line lidar). It is understandable that, compared to ordinary ground or wall surfaces, reflective structures have a stronger reflective intensity. Therefore, multi-line lidar emits multiple detection signals. If the signal strength of the reflected signal corresponding to any detection signal is greater than a preset intensity threshold, it can be determined that multiple reflective structures have been scanned.

[0036] (2) Identify the reflective structure parameters corresponding to the reflective structure based on the reflected signals. In one embodiment, the width of the reflective structure can be determined by the horizontal scanning of the lidar, and the height of the reflective structure can be determined based on the intensity of the reflected signal in the vertical direction. Based on the width and height, the area and shape of the reflective structure can be determined. Optionally, a mapping relationship between area, shape, and structure type can be pre-configured, thereby determining the corresponding structure type based on the calculated area and shape. In another embodiment, the detection distance corresponding to each reflected signal can be calculated based on the time of receiving the reflected signal, and then the structural position information and structural angle information of the reflective structure can be determined based on the detection distance.

[0037] In one implementation, the path of the reflective structure can be determined based on the structural location information. If it is, the robot's first movement trajectory is planned according to the reflective structure parameters. Otherwise, the robot will be controlled to move within the designated area according to the existing navigation method.

[0038] In another implementation, if no reflective structure is detected during movement, the robot will still be controlled to move within the designated area according to existing navigation methods. For ease of understanding, this embodiment of the invention provides an implementation method for controlling a robot to move within a designated area when no reflective structure is detected during movement: If no reflective structure is detected during movement, a lidar is used to determine the robot's third current position within the designated area, and the robot is controlled to move within the designated area based on this third current position and a preset electronic map. In specific implementation, when the lidar does not detect a reflective structure, the robot can use the lidar to determine its current third current position, then match it with a preset electronic map to plan a third movement path based on the preset electronic map, control the robot to move according to the third movement path, and update the third current position in real time during movement.

[0039] In another implementation, if a reflective structure is detected during movement, the robot's first movement trajectory can be planned based on the identified reflective structure parameters. Specifically, see steps 1 to 3 below:

[0040] Step 1: Determine the path type of the robot's travel path based on the structure type. The path type includes a first path type and a second path type. The first path type is a narrow road, and the second path type is an uphill or downhill road. In one implementation, the mapping relationship between structure type and path type can be pre-configured, or the mapping relationship between the area and shape of the reflective structure and the path type can be directly configured, thereby determining whether the travel path is a narrow road or an uphill or downhill road based on the scanned reflective structure.

[0041] Step 2: If the travel path belongs to the first path type, plan the robot's first movement trajectory based on the structural position information in the structural pose. On narrow roads, the reflective structure includes a first reflective structure and a second reflective structure. The distance between the first and second reflective structures is used to characterize the width of the travel path. For example, a first reflector and a second reflector are placed on both sides of a narrow road. The distance between the first and second reflectors can also be called the reflector mounting width, which is consistent with the path width.

[0042] Based on this, this embodiment of the invention provides an implementation method for planning the first movement trajectory of a robot according to the structural position information in the structural pose, as shown in steps 2.1 to 2.6 below:

[0043] Step 2.1: Determine the first distance between the robot and the first reflective structure based on the structural position information of the first reflective structure; and determine the second distance between the robot and the second reflective structure based on the structural position information of the second reflective structure. In one embodiment, the first distance between the robot and the first reflective structure can be determined based on the structural position information of the first reflective structure and the current position of the robot; similarly, the second distance between the robot and the second reflective structure can be determined based on the structural position information of the first reflective structure and the current position of the robot.

[0044] Step 2.2: If the first distance and the second distance are equal, determine the position of the first center path between the first reflective structure and the second reflective structure, and use the position of the first center path as the robot's first movement trajectory. For example, see... Figure 2a A top view showing the relative positions of a robot and a reflective structure, and Figure 2b The diagram shows a side view of the relative position of a robot and a reflective structure, wherein a first distance and a second distance are equal. The distance between the two and the position of the first center route can be determined based on the structural position information of the first reflective structure and the position information of the second reflective structure. By fusing the positioning of a multi-line lidar, the position of the first center route is determined as the first movement trajectory, thereby controlling the robot to pass through narrow roads in a centered manner.

[0045] Step 2.3: If the first distance and the second distance are not equal, determine the line connecting the center point of the first reflective structure and the center point of the second reflective structure, and determine the target reflective structure from either the first or second reflective structure. For example, see [link to example]. Figure 3 The diagram shows another top view of the relative positions of the robot and the reflective structure. In this view, the first distance and the second distance are not equal. It is assumed that the first distance is greater than the second distance, that is, the first reflective structure is farther away from the robot. Therefore, the first reflective structure is identified as the target reflective structure.

[0046] Step 2.4: Based on the connecting line and the robot's first current position, determine the robot's second movement trajectory. The starting point of the second movement trajectory is the robot's first current position, and the second movement trajectory is parallel to the connecting line.

[0047] Step 2.5: Based on the second movement trajectory, control the robot to move towards the target reflective structure, and update the first distance and the second distance during the movement until the first distance and the second distance are equal. In practical applications, control the robot to start from the first current position, move along the second movement trajectory towards the target reflective structure, calculate the first distance and the second distance in real time during the movement, stop moving when the first distance and the second distance are equal, and control the robot to move towards the midpoint between the first reflective structure and the second reflective structure.

[0048] Step 2.6: Determine the position of the second center path between the first reflective structure and the second reflective structure, and use the position of the second center path as the robot's first movement trajectory. In practical applications, the first distance and the second distance are equal at this time. The specific process of determining the first movement trajectory based on this is described in step 2.2 above, and will not be repeated here in this embodiment of the invention.

[0049] Step 3: If the travel path belongs to the second path type, plan the robot's first movement trajectory based on the structural angle information in the structural pose. On uphill and downhill roads, the reflective structure includes a third reflective structure, and the structural angle information is used to characterize the slope of the travel path, such as... Figure 4a Another top view showing the relative positions of the robot and the reflective structure, and Figure 4b The side view showing the relative position of the robot and the reflective structure is illustrated below. Based on this, this embodiment of the invention provides an implementation method for planning the robot's first movement trajectory according to the structural angle information in the structural pose, as shown in steps 3.1 to 3.2 below:

[0050] Step 3.1: If the structural angle information is within the preset angle range, determine to move along the travel path. In practical applications, the third reflective structure can be attached to the ground, so the angle of the third reflective structure is the slope of the travel path. Considering that the robot may have difficulty moving safely on steep inclines or declines, the slope is detected. If the slope exceeds the preset angle range, it is determined not to traverse the travel path; conversely, if the slope is within the preset angle range, it is determined to traverse the travel path.

[0051] Step 3.2: Determine the robot's second current position within the travel path using LiDAR, and control the robot to move along the travel path based on the second current position and a preset electronic map. In one embodiment, the robot's second current position can be located using LiDAR and then matched with a preset electronic map. Based on the preset electronic map, the robot's movement trajectory within the travel path can be planned, and the robot can be controlled to traverse the travel path. Optionally, the distance between the robot and the reflective structures on both sides can be detected in real time to control the robot to center its movement along the travel path.

[0052] To facilitate understanding of the foregoing embodiments, this invention provides an application example of a robot navigation method, see [link to example]. Figure 5 The diagram shows another robot navigation method, which mainly includes the following steps S502 to S510:

[0053] Step S502: Positioning is achieved using lidar.

[0054] Step S504: Determine whether the lidar has detected the reflector. If yes, proceed to step S506; otherwise, proceed to step S502.

[0055] Step S506: Determine whether the reflector is located on the path to be traversed. If yes, proceed to step S508; otherwise, proceed to step S502.

[0056] Step S508: Determine the structure type and orientation of the reflector.

[0057] Step S510: Generate a movement trajectory based on the structure type and structure pose.

[0058] The robot navigation method provided in this invention uses reflectors or reflective posts attached to complex terrain, combined with laser positioning, to inform the robot that it is about to pass through narrow terrain. Furthermore, by calculating the position and angle of the reflectors or reflective posts, the type of complex terrain is obtained, and a movement trajectory is derived to pass through the complex terrain.

[0059] Regarding the robot navigation method provided in the foregoing embodiments, this invention provides a robot navigation device, see [link to previous embodiment]. Figure 6 The diagram shows the structure of a robot navigation device, which mainly includes the following parts:

[0060] The first control module 602 is used to control the robot to move within a designated area; wherein, multiple reflective structures are deployed within the designated area;

[0061] The parameter recognition module 604 is used to identify the reflective structure parameters corresponding to the reflective structure if a reflective structure is scanned during the movement.

[0062] The second control module 606 is used to plan the first movement trajectory of the robot according to the reflective structure parameters, and control the robot to move within the designated area based on the first movement trajectory.

[0063] The robot navigation device provided in this embodiment of the invention deploys multiple reflective structures in a designated area. When the robot scans the reflective structure, it can plan a first movement trajectory based on the parameters of the reflective structure, thereby improving the navigation accuracy on complex paths. This can better assist the robot in moving on complex paths. Controlling the robot to move based on the planned first movement path can significantly improve the safety of the robot during movement.

[0064] In one embodiment, the robot is equipped with a lidar; the parameter recognition module 604 is further configured to: control the lidar to emit multiple detection signals; if the signal strength of the reflected signal corresponding to the detection signal is greater than a preset intensity threshold, determine that a reflective structure has been scanned during the movement; and identify the reflective structure parameters corresponding to the reflective structure based on the reflected signal; wherein the reflective structure parameters include the structure type and the structure pose.

[0065] In one embodiment, the second control module 606 is further configured to: determine the path type of the robot's travel path according to the structure type; wherein the path type includes a first path type and a second path type; if the travel path belongs to the first path type, plan the robot's first movement trajectory according to the structural position information in the structural pose; if the travel path belongs to the second path type, plan the robot's first movement trajectory according to the structural angle information in the structural pose.

[0066] In one embodiment, the reflective structure includes a first reflective structure and a second reflective structure, and the distance between the first reflective structure and the second reflective structure is used to characterize the width of the travel path; the second control module 606 is further configured to: determine a first distance between the robot and the first reflective structure based on the structural position information of the first reflective structure; and determine a second distance between the robot and the second reflective structure based on the structural position information of the second reflective structure; if the first distance and the second distance are equal, determine a first center path position between the first reflective structure and the second reflective structure, and use the first center path position as the robot's first movement trajectory.

[0067] In one embodiment, the second control module 606 is further configured to: if the first distance and the second distance are not equal, determine the line connecting the center point of the first reflective structure and the center point of the second reflective structure, and determine the target reflective structure from the first reflective structure or the second reflective structure; determine the second movement trajectory of the robot based on the line and the robot's first current position; wherein the second movement trajectory is parallel to the line; control the robot to move towards the target reflective structure based on the second movement trajectory, and update the first distance and the second distance during the movement until the first distance and the second distance are equal; determine the position of the second center route between the first reflective structure and the second reflective structure, and use the position of the second center route as the robot's first movement trajectory.

[0068] In one embodiment, the reflective structure includes a third reflective structure, and the structure angle information is used to characterize the slope of the travel path; the second control module 606 is further configured to: determine to move in the travel path if the structure angle information is within a preset angle range; determine the second current position of the robot in the travel path using a lidar; and control the robot to move in the travel path based on the second current position and a preset electronic map.

[0069] In one embodiment, the first control module 602 is further configured to: if no reflective structure is detected during movement, use a lidar to determine the third current position of the robot in the designated area; and control the robot to move within the designated area based on the third current position and a preset electronic map.

[0070] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0071] This invention provides an electronic device, specifically, the electronic device includes a processor and a storage device; the storage device stores a computer program, and the computer program, when run by the processor, executes the method described in any of the above embodiments.

[0072] Figure 7 The present invention provides a schematic diagram of the structure of an electronic device 100, which includes a processor 70, a memory 71, a bus 72 and a communication interface 73. The processor 70, the communication interface 73 and the memory 71 are connected through the bus 72. The processor 70 is used to execute executable modules, such as computer programs, stored in the memory 71.

[0073] The memory 71 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 73 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0074] Bus 72 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0075] The memory 71 is used to store programs. After receiving an execution instruction, the processor 70 executes the programs. The method executed by the device for defining the flow process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 70 or implemented by the processor 70.

[0076] The processor 70 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 70 or by instructions in software form. The processor 70 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 71. Processor 70 reads the information in memory 71 and, in conjunction with its hardware, completes the steps of the above method.

[0077] The computer program product of the readable storage medium provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the foregoing method embodiments. For specific implementation, please refer to the foregoing method embodiments, which will not be repeated here.

[0078] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0079] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method of robot navigation, characterized by, The robot is provided with a laser radar, comprising: controlling the robot to move in a specified site; wherein a plurality of reflective structures are deployed in the specified site; if the reflective structure is scanned during movement, identifying the reflective structure parameters corresponding to the reflective structure, the reflective structure parameters including structure type and structure pose, the structure type being used to represent the road type of the travel road, the structure pose including structure position information and / or structure angle information, the structure position information reflecting the width of the travel road, and the structure angle information reflecting the slope of the travel road; planning a first movement trajectory of the robot according to the reflective structure parameters, and controlling the robot to move in the specified site based on the first movement trajectory; the step of identifying the reflective structure parameters corresponding to the reflective structure if the reflective structure is scanned during movement, comprising: controlling the laser radar to emit a plurality of detection signals, and if the signal strength of the reflection signal corresponding to the detection signal is greater than a preset strength threshold, determining that the reflective structure is scanned during movement; identifying the reflective structure parameters corresponding to the reflective structure according to the reflection signal, including: determining the width of the reflective structure through laser radar lateral scanning, determining the height of the reflective structure according to the intensity of the reflection signal in the vertical direction, determining the area and shape of the reflective structure based on the width and height, and determining the structure type according to the mapping relationship between the pre-configured area, shape and structure type; and calculating the detection distance corresponding to the reflection signal according to the time when the reflection signal is received, and determining the structure position information and structure angle information of the reflective structure according to the detection distance.

2. The method of claim 1, wherein, the step of planning the first movement trajectory of the robot according to the reflective structure parameters, comprising: determining the path type of the travel path where the robot is located according to the structure type; wherein the path type includes a first path type and a second path type; if the travel path belongs to the first path type, planning the first movement trajectory of the robot according to the structure position information in the structure pose; if the travel path belongs to the second path type, planning the first movement trajectory of the robot according to the structure angle information in the structure pose.

3. The method of claim 2, wherein, the reflective structure includes a first reflective structure and a second reflective structure, and the distance between the first reflective structure and the second reflective structure is used to represent the travel path width; the step of planning the first movement trajectory of the robot according to the structure position information in the structure pose, comprising: determining the first distance between the robot and the first reflective structure according to the structure position information of the first reflective structure, and determining the second distance between the robot and the second reflective structure according to the structure position information of the second reflective structure; if the first distance and the second distance are equal, determining the first center line position between the first reflective structure and the second reflective structure, and taking the first center line position as the first movement trajectory of the robot.

4. The method of claim 3, wherein, the method further comprises: if the first distance is not equal to the second distance, determining a line connecting a center point of the first retroreflective structure and a center point of the second retroreflective structure, and determining a target retroreflective structure from the first retroreflective structure or the second retroreflective structure; determining a second movement trajectory of the robot based on the line and a first current position of the robot, wherein the second movement trajectory is parallel to the line; controlling the robot to move towards the target retroreflective structure based on the second movement trajectory, and updating the first distance and the second distance during the movement until the first distance is equal to the second distance; determining a second center route position between the first retroreflective structure and the second retroreflective structure, and taking the second center route position as the first movement trajectory of the robot.

5. The method of claim 2, wherein, the retroreflective structure includes a third retroreflective structure, and the structure angle information is used to represent a slope of a travel path; and the step of planning the first movement trajectory of the robot according to the structure angle information in the structure pose further includes: if the structure angle information is within a preset angle range, determining to move in the travel path; determining a second current position of the robot in the travel path by using the laser radar; controlling the robot to move in the travel path based on the second current position and a preset electronic map.

6. The method of claim 1, wherein, The method further includes: if the retroreflective structure is not scanned during the movement, determining a third current position of the robot in the designated site by using the laser radar; controlling the robot to move in the designated site based on the third current position and a preset electronic map.

7. A robot navigation device, characterized in that The robot is provided with a laser radar, and includes: a first control module configured to control the robot to move in a designated site; wherein the designated site is deployed with a plurality of retroreflective structures; a parameter identification module configured to, if the retroreflective structure is scanned during the movement, identify retroreflective structure parameters corresponding to the retroreflective structure, the retroreflective structure parameters including a structure type and a structure pose, the structure type being used to represent a road type of a travel road, the structure pose including structure position information and / or structure angle information, the structure position information reflecting a width of the travel road, and the structure angle information reflecting a slope of the travel road; a second control module configured to plan a first movement trajectory of the robot according to the retroreflective structure parameters, and control the robot to move in the designated site based on the first movement trajectory; The parameter identification module is specifically configured to: control the laser radar to emit a plurality of detection signals, and if a signal strength of a reflection signal corresponding to the detection signal is greater than a preset strength threshold, determine that the retroreflective structure is scanned during the movement; According to the reflection signal, a corresponding reflection structure parameter of the reflection structure is identified, including: laser radar lateral scanning to determine the width of the reflection structure, according to the intensity of the reflection signal in the vertical direction to determine the height of the reflection structure, based on the width and the height to determine the area and shape of the reflection structure, according to the pre-configured mapping relationship between the area, shape and structure type to determine the structure type; and according to the time when the reflection signal is received to calculate the detection distance corresponding to the reflection signal, according to the detection distance to determine the structure position information and structure angle information of the reflection structure.

8. An electronic device, comprising: The processor and the memory are included, the memory stores computer executable instructions capable of being executed by the processor, and the processor executes the computer executable instructions to implement the method in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions, and when the computer executable instructions are called and executed by the processor, the computer executable instructions cause the processor to implement the method in any one of claims 1 to 6.

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