Obstacle avoidance methods, apparatuses, robots, and storage media

Abstract

The application relates to a barrier bypassing method, device, robot and storage medium. The method comprises the following steps: acquiring a first position range of an obstacle relative to a robot according to a sound wave sensor; judging whether the robot is in a preset scene based on the first position range, wherein the preset scene is a scene corresponding to the robot being unable to bypass the obstacle; if the robot is in the preset scene, the field of view angle of the sound wave sensor is reduced, a target position range of the obstacle relative to the robot is determined based on the reduced field of view angle, and the robot is controlled to bypass the obstacle and drive based on the target position range. Therefore, the robot can cope with any type of obstacle, is not limited by whether the obstacle is light-transmitting, and the driving safety of the robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a method and device for avoiding obstacles, a robot and a storage medium. BACKGROUND

[0002] Intelligent robots, such as sweeping robots, are increasingly widely used in family life and bring a lot of convenience to people. Due to narrow passages, irregular object placement, and people moving, intelligent robots inevitably encounter obstacles during walking.

[0003] Most of the existing obstacle avoidance technologies of intelligent robots are based on optical sensors, however, optical sensors cannot sense transparent obstacles such as glass, resulting in reduced walking safety. SUMMARY

[0004] Therefore, it is necessary to provide a method and device for avoiding obstacles, a robot and a storage medium capable of improving the walking safety of a robot in view of the above technical problems.

[0005] In one aspect, the present application provides a method for avoiding obstacles, the method comprising:

[0006] acquiring a first position range of an obstacle relative to a robot according to a sound wave sensor; determining whether the robot is in a preset scene based on the first position range, the preset scene being a scene corresponding to an obstacle that the robot cannot bypass; if the robot is in the preset scene, then reducing a field of view angle of the sound wave sensor, determining a target position range of the obstacle relative to the robot based on the reduced field of view angle, and controlling the robot to travel by bypassing the obstacle based on the target position range.

[0007] In another aspect, the present application provides a device for avoiding obstacles, comprising:

[0008] an acquisition module configured to acquire a first position range of an obstacle relative to a robot according to a sound wave sensor; a determination module configured to determine whether the robot is in a preset scene based on the first position range, the preset scene being a scene corresponding to an obstacle that the robot cannot bypass; and a control module configured to, if the robot is in the preset scene, reduce a field of view angle of the sound wave sensor, determine a target position range of the obstacle relative to the robot based on the reduced field of view angle, and control the robot to travel by bypassing the obstacle based on the target position range.

[0009] In some embodiments, the control module is specifically configured to: detect whether there is an obstacle in the adjusted field of view; if there is an obstacle, obtain a second position range of the obstacle relative to the robot according to the adjusted field of view, and determine whether the robot is still in the preset scene based on the second position range, if the robot is not in the preset scene, take the second position range as the target position range; if there is no obstacle, control the robot to rotate in place, and the robot is detected once for each preset angle, in the case of detecting an obstacle, obtain a third position range of the obstacle relative to the robot based on the adjusted field of view, obtain a plurality of third position ranges, find a third position range intersecting with the first position range from the plurality of third position ranges, obtain a plurality of to-be-merged position ranges, merge the plurality of to-be-merged position ranges to obtain a merged position range, and determine whether the robot is still in the preset scene based on the merged position range, if the robot is not in the preset scene, take the merged position range as the target position range.

[0010] In some embodiments, the adjusted field of view is a preset minimum field of view; the control module is specifically configured to: control the robot to rotate in place; when the acoustic sensor detects an obstacle, control the robot to stop rotating, and obtain a fourth position range according to the minimum field of view, determine whether the robot is still in the preset scene based on the fourth position range, if the robot is not in the preset scene, take the fourth position range as the target position range.

[0011] In some embodiments, if there are a plurality of fourth position ranges, the control module is further configured to: obtain a pre-planned walking path of the robot; based on the walking path, filter a fourth position range matching the walking path from the plurality of fourth position ranges, and take the filtered fourth position range as the target position range.

[0012] In some embodiments, the control module is specifically configured to: determine a rotation angle of the robot according to the adjusted field of view and the field of view before adjustment; control the robot to rotate in place according to the rotation angle, when the acoustic sensor detects an obstacle, control the robot to stop rotating, and obtain a fifth position range according to the adjusted field of view, determine whether the robot is still in the preset scene based on the fifth position range, if the robot is not in the preset scene, take the fifth position range as the target position range.

[0013] In some embodiments, the robot is provided with a positioning sensor, and the determining module is configured to: acquire a local walking map of the robot; determine a position of the robot according to the positioning sensor; project the robot and the obstacle into the local walking map according to the position of the robot and the first position range; if the local walking map indicates that the robot and the obstacle are both in the passage, acquire a first passage distance between the obstacle and the first side of the passage and a second passage distance between the obstacle and the second side of the passage, respectively; and if the first passage distance and the second passage distance are both smaller than the width of the robot, determine that the robot is in the preset scene.

[0014] In some embodiments, the control module is further configured to: control the robot to stop walking, or control the robot to slow down.

[0015] In some embodiments, the acquiring module is specifically configured to: acquire a first distance from the robot to the obstacle; and determine a first position range of the obstacle relative to the robot based on the first distance and a current field of view angle of the acoustic wave sensor, the first position range being an arc with the current field of view angle as a central angle and the first distance as a radius.

[0016] In another aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and the computer program is executed by a processor to implement the above-mentioned obstacle-avoiding method.

[0017] In another aspect, the present application also provides a computer program product. The computer program product comprises a computer program, and the computer program is executed by a processor to implement the above-mentioned obstacle-avoiding method.

[0018] The obstacle-avoiding method, device, robot and storage medium provided by the embodiments of the present application can determine whether the robot is in a preset scene according to the first position range of the obstacle relative to the robot obtained by the acoustic wave sensor, and if the robot is in the preset scene, adjust the field of view angle of the acoustic wave sensor, determine a target position range of the obstacle relative to the robot based on the adjusted field of view angle, and control the robot to drive around the obstacle based on the target position range. Thus, the robot can cope with any type of obstacle without being limited by whether the obstacle is light-transmitting, and the driving safety of the robot is increased. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 FIG. 1 is a flowchart of an obstacle-avoiding method according to an embodiment of the present application;

[0020] Figure 2 FIG. 2 is a schematic diagram of an actual position of an obstacle according to an embodiment of the present application;

[0021] Figure 3 FIG. 3 is a schematic diagram of a first position range according to an embodiment of the present application.

[0022] Figure 4 a schematic diagram of a preset scene in an embodiment;

[0023] Figure 5 a schematic diagram of a map obtained after projecting the robot and the obstacle to a local walking map in an embodiment;

[0024] Figure 6 a schematic diagram of determining whether the robot is in a preset scene in an embodiment;

[0025] Figure 7 a schematic diagram of the robot rotating in an embodiment;

[0026] Figure 8 a schematic diagram of a flow of the obstacle avoidance method in another embodiment;

[0027] Figure 9 a schematic diagram of a flow of the obstacle avoidance method in another embodiment;

[0028] Figure 10 a schematic diagram of an internal structure of the robot in an embodiment. DETAILED DESCRIPTION

[0029] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0030] In the process of walking, the robot may encounter various obstacles. In general, the robot determines the position of the front obstacle through an optical sensor, such as an RGBD depth camera, an RGB monocular camera, a binocular camera, a laser radar, etc. After determining the position of the front obstacle, a decision is made to avoid the obstacle based on the position. However, some obstacles are light-transmitting obstacles, such as glass. The optical sensor cannot effectively perceive the light-transmitting obstacle, which leads to the robot being unable to determine the position of the light-transmitting obstacle through the optical sensor, and the robot may collide with the light-transmitting obstacle in the process of walking.

[0031] Considering that both light-transmitting obstacles and non-light-transmitting obstacles can be detected by a sound wave sensor, the present application proposes an obstacle avoidance method, which uses the sound wave sensor to detect the position of the front obstacle, and avoids the obstacle based on the position determined by the sound wave sensor. The obstacle avoidance method provided in the present application is not limited by light-transmitting obstacles and is suitable for any type of obstacle, which has higher safety performance.

[0032] The obstacle-avoiding method provided in the embodiments of the present application can be applied to any type of mobile robot, such as a cleaning robot, a food delivery robot, a sorting robot, and the like, and the embodiments of the present application are not limited thereto. The implementation process of the obstacle-avoiding method provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0033] In one embodiment, as shown in Figure 1 An obstacle-avoiding method is provided, which is applied to a robot, the robot is provided with a sound wave sensor, and the method comprises the following steps:

[0034] S102, obtaining a first position range of the obstacle relative to the robot according to the sound wave sensor.

[0035] It should be noted that, in addition to the sound wave sensor, the robot can also be provided with an optical sensor, and the optical sensor and the sound wave sensor detect the front obstacle in real time during the movement of the robot. When the optical sensor does not detect the obstacle, but the sound wave sensor detects the obstacle, it indicates that the front obstacle is a light-transmitting obstacle. At this time, the first position range of the obstacle relative to the robot is obtained according to the sound wave sensor.

[0036] It should be noted that: the sound wave sensor actively emits sound waves, and when the sound waves encounter an obstacle, the sound waves are reflected and return to the original path, which can be effectively detected by the sound wave sensor. However, as shown in Figure 2 The sound wave sensor can only detect a general range in which the obstacle is located. As to which small piece of the range the obstacle is located in, or whether the entire range is the obstacle, the sound wave sensor cannot know.

[0037] In optional embodiments, the sound wave sensor can be one or more, and the current viewing angle can be the viewing angle of one sound wave sensor, or the viewing angle formed by multiple sound wave sensors together, which is not limited herein.

[0038] In the present embodiment, the current viewing angle formed by one sound wave sensor is taken as an example.

[0039] In some embodiments, when the sound wave sensor detects the obstacle, the first distance from the robot to the obstacle and the current field angle of the sound wave sensor can be obtained, and based on the first distance and the current field angle, the first position range of the obstacle relative to the robot is determined, which is an arc with the current field angle as the central angle and the first distance as the radius.

[0040] In some embodiments, the first distance from the robot to the obstacle can be obtained as follows: The time interval between the emission of a sound wave by the acoustic sensor and the reception of the sound wave is obtained; the speed of sound is multiplied by this time interval to obtain the distance the sound wave travels; this distance is then divided by two to obtain the first distance from the robot to the obstacle. It should be noted that the above process for obtaining the first distance is only one possible implementation; other implementations can also be used to obtain the first distance from the robot to the obstacle, and this application does not limit this approach.

[0041] For example, see Figure 3 As shown, the first distance from the robot to the obstacle is L, and the current field of view of the acoustic sensor is α. Then, the arc with the acoustic sensor as the center, α as the central angle, and L as the radius will be used as the first position range of the obstacle relative to the robot.

[0042] S104. Based on the first position range, determine whether the robot is in the preset scene.

[0043] The preset scenario is one where the robot cannot bypass an obstacle. For example, it can be... Figure 4 The illustrated passageway scene serves as a preset scene.

[0044] In some embodiments, a local walking map of the robot can be acquired; the robot's position can be determined based on positioning sensors; the robot and obstacles can be projected onto the local walking map based on the robot's position and a first position range; if the local walking map indicates that both the robot and the obstacles are in a passage, a first passage distance between the obstacle and a first side of the passage, and a second passage distance between the obstacle and a second side of the passage can be acquired respectively; if both the first passage distance and the second passage distance are less than the robot's width, it can be determined that the robot is in a preset scene.

[0045] The map of the area corresponding to a circle centered on the robot with a preset radius can be used as a local walking map. It should be noted that the definition and acquisition method of this local walking map are merely an example, and this application embodiment does not limit it. For example, projecting the robot and obstacles onto the local walking map yields... Figure 5 The map shown.

[0046] The positioning sensor can be a single-line laser positioning sensor, a multi-line laser positioning sensor, a visual positioning sensor, an indoor positioning sensor based on radio frequency identification (RFID) technology, a positioning sensor based on signal strength method, an infrared positioning sensor, an ultrasonic positioning sensor, etc. The embodiments of this application do not limit the type of positioning sensor, as long as it can realize the positioning function.

[0047] The position of the robot can be coordinates of the robot, and the first position range can be coordinates of each point in the area occupied by the obstacle. The coordinates of each point in the local walking map can be obtained, the robot can be projected into the local walking map according to the relationship between the coordinates of the robot and the coordinates of each point in the local walking map, and the obstacle can be projected into the local walking map according to the relationship between the coordinates of each point in the area occupied by the obstacle and the coordinates of each point in the local walking map.

[0048] The robot and the obstacle are projected into the local walking map, and the positions of the robot and the obstacle in the local walking map are queried. If the robot and the obstacle are both in the passage, the first passage distance between the left edge of the obstacle and the left side of the passage and the second passage distance between the right edge of the obstacle and the right side of the passage can be obtained. If the first passage distance and the second passage distance are both less than the width of the robot, it is determined that the robot is in the preset scene. Here, the left side and the right side can be defined based on the walking direction of the robot.

[0049] For example, referring to FIG. 6, Figure 6 as shown, Figure 6 The schematic diagram obtained by projecting the robot and the obstacle into the local walking map is shown in FIG. 6. It is assumed that Figure 6 the width of the robot is d1, the first passage distance between the left edge of the obstacle and the left side of the passage is d2, and the second passage distance between the right edge of the obstacle and the right side of the passage is d3. Since d2 and d3 are both less than d1, it can be seen that the robot cannot travel around the obstacle, and it is determined that the robot is in the preset scene.

[0050] In the case where the robot is in the preset scene, S106 is continued to be executed.

[0051] S106, the field of view angle of the sound wave sensor is reduced, the target position range of the obstacle relative to the robot is determined based on the reduced field of view angle, and the robot is controlled to travel around the obstacle based on the target position range.

[0052] In some embodiments, in the case where it is determined that the robot is in the preset scene, the robot can be controlled to stop walking, and S106 is executed again, or the robot can be controlled to slow down, and S106 is executed again. The speed after slowing down is not limited in the embodiments of the present application.

[0053] For example, assuming that the initial value of the field of view angle of the acoustic wave sensor is α, the first position range determined based on α, the judgment result of the robot thereon is that the robot cannot bypass the obstacle, at this time, the robot is controlled to stop walking, and the field of view angle of the acoustic wave sensor is adjusted to be smaller, that is, β, the second position range of the obstacle relative to the robot is determined based on the first distance of the robot to the obstacle and the field of view angle β, assuming that the judgment result of the robot thereon is that the robot can bypass the obstacle, the second position range is taken as the target position range, and the robot is controlled to bypass the obstacle to travel based on the target position range.

[0054] The bypassing method provided in the embodiments of the present application can obtain the first position range of the obstacle relative to the robot based on the acoustic wave sensor, determine whether the robot is in a preset scene based on the first position range, the preset scene being a scene in which the robot cannot bypass the obstacle, if the robot is in the preset scene, adjust the field of view angle of the acoustic wave sensor to be smaller, determine the target position range of the obstacle relative to the robot based on the adjusted field of view angle, and control the robot to bypass the obstacle to travel based on the target position range. In this way, the robot can cope with any type of obstacle, is not limited by whether the obstacle is light-transmitting, and the safety of the robot in traveling is increased.

[0055] In some embodiments, determining the target position range of the obstacle relative to the robot based on the adjusted field of view angle comprises:

[0056] determining whether there is an obstacle in the adjusted field of view angle, if there is an obstacle, obtaining the second position range of the obstacle relative to the robot according to the adjusted field of view angle, and determining whether the robot is still in the preset scene based on the second position range, if the robot is not in the preset scene, taking the second position range as the target position range, if there is no obstacle, controlling the robot to rotate in place, detecting the obstacle once every time the robot rotates a preset angle, in the case of detecting the obstacle, obtaining the third position range of the obstacle relative to the robot based on the adjusted field of view angle, obtaining a plurality of third position ranges, finding the third position range intersecting with the first position range from the plurality of third position ranges, obtaining a plurality of to-be-merged position ranges, merging the plurality of to-be-merged position ranges to obtain a merged position range, determining whether the robot is still in the preset scene based on the merged position range, and if the robot is not in the preset scene, taking the merged position range as the target position range.

[0057] In some embodiments, in the case of determining that the robot is in the preset scene based on the first position range, the robot can be controlled to stop walking, and subsequent actions are performed, or the robot can be controlled to slow down, and subsequent actions are performed, which is not limited in the embodiments of the present application.

[0058] Exemplarily, in a case that it is determined that the robot is in the preset scene based on the first position range, the robot is controlled to stop walking, the field of view angle of the sound wave sensor is reduced in the current orientation, and the sound wave sensor is controlled to detect whether there is an obstacle in the reduced field of view angle. If there is an obstacle, the distance between the robot and the obstacle is calculated according to the data output by the sound wave sensor, the second position range of the obstacle relative to the robot is determined based on the distance and the reduced field of view angle, and the second position range is determined in a similar manner to the first position range, which will not be described herein again. Based on the second position range, it is determined whether the robot is in the preset scene. If not, the second position range is taken as a target position range, and the robot is controlled to drive around the obstacle based on the target position range.

[0059] Exemplarily, if the detection result of the sound wave sensor is that there is no obstacle in the reduced field of view angle, the robot is controlled to rotate left or right from the current orientation, and the obstacle is detected once every 5 degrees of rotation. In a case that the obstacle is detected, the third position range of the obstacle relative to the robot is obtained based on the reduced field of view angle. Since the rotation of the robot can be 360 degrees, in a case that there is an obstacle behind the robot, multiple third position ranges can be obtained, so that the obstacle behind the robot is mistaken for an obstacle in front. In order to avoid this situation, embodiments of the present application propose that after multiple third position ranges are obtained, each third position range is compared with the first position range. If there is an intersection between the third position range and the first position range, the third position range is taken as a to-be-merged position range. In a case that multiple to-be-merged position ranges are found from the multiple third position ranges, the multiple to-be-merged position ranges are merged to obtain a merged position range. Based on the merged position range, it is determined whether the robot is still in the preset scene. If the robot is not in the preset scene, the merged position range is taken as a target position range. Based on the target position range, the robot is controlled to drive around the obstacle.

[0060] In the above embodiments, a specific implementation process of how to determine the target position range of the obstacle relative to the robot based on the reduced field of view angle is provided. Considering that the robot can mistake the side wall of the channel or the obstacle behind for an obstacle in front during rotation, thereby causing misjudgment, embodiments of the present application propose that the third position ranges related to the obstacle in front are screened from the obtained multiple third position ranges, these third position ranges are merged to obtain a merged position range, and subsequent operations are performed based on the merged position range. The detection accuracy of the robot for the obstacle in front is improved.

[0061] In some embodiments, the adjusted field of view is a preset minimum field of view; and the target position range of the obstacle relative to the robot is determined based on the adjusted field of view, including: controlling the robot to rotate in place; when the acoustic sensor detects the obstacle, controlling the robot to stop rotating, and obtaining a fourth position range based on the minimum field of view, and determining whether the robot is still in the preset scene based on the fourth position range, and if the robot is not in the preset scene, taking the fourth position range as the target position range.

[0062] In some embodiments, the adjusted field of view is a preset minimum field of view; and the target position range of the obstacle relative to the robot is determined based on the adjusted field of view, including: controlling the robot to rotate in place; when the acoustic sensor detects the obstacle, controlling the robot to stop rotating, and obtaining a fourth position range based on the minimum field of view, and determining whether the robot is still in the preset scene based on the fourth position range, and if the robot is not in the preset scene, taking the fourth position range as the target position range.

[0063] It is to be understood that the rotation in the present application can be a step-by-step rotation of 360 degrees to the right from the center line of the current field of view range (or a rotation of half of the current field of view range to the left and then a rotation of the full angle of the current field of view range to the right), or a step-by-step rotation of 360 degrees to the left (or a rotation of the full angle of the current field of view range to the left). Or a rotation of 360 degrees to the right from the left boundary of the current field of view range or a rotation of 360 degrees to the left from the right boundary of the current field of view range (or a rotation of the full angle of the current field of view range to the left). Herein, no limitation is made.

[0064] Exemplarily, Figure 7 A schematic diagram of the robot rotating and detecting the obstacle is shown. When the robot rotates to the orientation shown in the middle figure, the obstacle can be detected. At this time, the robot can be controlled to stop rotating, and a fourth position range is determined based on the current orientation, the distance between the robot and the obstacle, and the reduced field of view. In Figure 7 In the schematic scene, since the fourth position range only occupies a small part of the passage, the robot can bypass it, and therefore the fourth position range can be taken as the target position range.

[0065] In another optional embodiment, obstacles can exist on both sides of the robot, and the robot can be caused to rotate first left or first right from the current center line, and when an obstacle is detected, the robot is controlled to stop rotating and continue rotating in the opposite direction until another obstacle on the other side is detected.

[0066] Subsequently, a fourth position range is determined based on the orientation of the robot at the time when the robot detects the obstacle, the distance between the robot and the obstacle, and the reduced field of view angle.

[0067] In some embodiments, since the rotation of the robot can be 360 degrees, in the case where obstacles exist on the left side, the right side, and the back side of the robot, multiple fourth position ranges can be obtained. In order to avoid the robot mistaking the obstacles on the left side, the right side, and the back side as obstacles in front, embodiments of the present application propose that a walking path planned in advance by the robot can be obtained; based on the walking path, a fourth position range matching the walking path is selected from the multiple fourth position ranges, and the selected fourth position range is taken as a target position range. Based on the target position range, the robot is controlled to travel around the obstacle.

[0068] In the above embodiments, in the case where it is determined that the robot is in a preset scene based on the first position range, the field of view angle of the sound wave sensor is directly adjusted to a preconfigured minimum field of view angle, and then the robot is controlled to rotate in place until the sound wave sensor can detect an obstacle, at which time the rotation is stopped, and a fourth position range of the obstacle relative to the robot is determined based on the distance between the robot and the obstacle, the current orientation of the robot, and the minimum field of view angle, and subsequent operations are performed based on the fourth position range. This makes the robot capable of coping with any type of obstacle, regardless of whether the obstacle is light-transmissive, thereby increasing the safety of the robot in travel.

[0069] In some embodiments, determining a target position range of the obstacle relative to the robot based on the reduced field of view angle includes:

[0070] According to the reduced field of view angle and the field of view angle before being reduced, a rotation angle of the robot is determined; the robot is controlled to rotate in place according to the rotation angle, and when the sound wave sensor detects an obstacle, the robot is controlled to stop rotating, and a fifth position range is obtained according to the reduced field of view angle, and based on the fifth position range, it is determined whether the robot is still in the preset scene, and if the robot is not in the preset scene, the fifth position range is taken as the target position range.

[0071] In some embodiments, the rotation angle of the robot can be determined based on the reduced field of view angle and the field of view angle before being reduced, and the rotation angle can cause the reduced field of view angle range to be within the field of view angle range before being reduced during the rotation of the robot.

[0072] Exemplarily, in a case where it is determined that the robot is in the preset scene based on the first position range, the robot is controlled to stop walking and to rotate in place by a rotation angle to the left or to the right, and in the rotating process, the front obstacle is detected in real time, and in a case where the obstacle is detected, the robot is controlled to stop rotating, and based on the orientation of the robot at this time, the distance between the robot and the obstacle, and the adjusted field of view angle, a fifth position range of the obstacle relative to the robot is determined, and based on the fifth position range, it is determined whether the robot is still in the preset scene, and if the robot is not in the preset scene, the fifth position range is taken as a target position range. Based on the target position range, the robot is controlled to drive around the obstacle.

[0073] In some embodiments, the step of controlling the robot to drive around the obstacle based on the target position range comprises: projecting the robot and the obstacle into a local walking map according to the position of the robot and the target position range, respectively acquiring a distance between a left edge of the obstacle and a left side of the passage and a distance between a right edge of the obstacle and a right side of the passage, comparing the two distances with the width of the robot respectively, finding out a distance greater than the width of the robot from the two distances, and taking a side corresponding to the distance as a side on which the robot walks when driving around the obstacle.

[0074] In the above embodiments, the rotation angle of the robot is determined based on the adjusted field of view angle and the field of view angle before adjustment, the robot is controlled to rotate in place by the rotation angle, when the obstacle is detected by the sound wave sensor, the fifth position range is acquired according to the adjusted field of view angle, based on the fifth position range, it is determined whether the robot is still in the preset scene, and if the robot is not in the preset scene, the fifth position range is taken as the target position range. This makes the robot capable of coping with any type of obstacle and not limited by whether the obstacle is light-transmitting, and increases the driving safety of the robot.

[0075] In some embodiments, referring to Figure 8 As shown in the figure, a method for driving around an obstacle is provided, comprising:

[0076] S801, acquiring a first distance from the robot to the obstacle; based on the first distance and a current field of view angle of the sound wave sensor, determining a first position range of the obstacle relative to the robot, the first position range being an arc with the current field of view angle as a central angle and the first distance as a radius.

[0077] S802, acquire a local walking map of the robot; determine a position of the robot according to a positioning sensor; project the robot and the obstacle into the local walking map according to the position of the robot and the first position range; if the local walking map indicates that the robot and the obstacle are both in the passage, acquire a first passage distance between the obstacle and the first side of the passage and a second passage distance between the obstacle and the second side of the passage respectively; if the first passage distance and the second passage distance are both less than the width of the robot, determine that the robot is in the preset scene.

[0078] S803, if the robot is in the preset scene, reduce the field of view angle of the sound wave sensor. The reduced field of view angle is a preset minimum field of view angle. Control the robot to rotate in place; when the sound wave sensor detects the obstacle, control the robot to stop rotating, and acquire a fourth position range according to the minimum field of view angle, judge whether the robot is still in the preset scene based on the fourth position range, if the robot is not in the preset scene, take the fourth position range as the target position range.

[0079] S804, control the robot to drive around the obstacle based on the target position range.

[0080] The obstacle avoidance method provided by the embodiments of the present application acquires a first position range of the obstacle relative to the robot according to the sound wave sensor; judges whether the robot is in a preset scene based on the first position range, the preset scene is a scene corresponding to an obstacle that cannot be avoided by the robot; if the robot is in the preset scene, reduces the field of view angle of the sound wave sensor, determines a target position range of the obstacle relative to the robot based on the reduced field of view angle, and controls the robot to drive around the obstacle based on the target position range. The robot can cope with any type of obstacle, is not limited by whether the obstacle is light-transmitting, and the driving safety of the robot is increased.

[0081] In some embodiments, referring to FIG. 1, Figure 9 As shown in FIG. 1, the sound wave sensor can be an ultrasonic sensor. When the ultrasonic sensor detects that there is an obstacle in front during the walking of the robot, the ultrasonic beam angle is reduced, the beam angle here can also be understood as the field of view angle, and the exact position of the obstacle is determined by rotating in place. Based on the exact position, the local planning judges whether it can pass normally, that is, whether the robot can avoid the obstacle, if it still cannot avoid the obstacle, calls for manual solution of the current predicament, if it can avoid the obstacle, normally avoids the obstacle and passes.

[0082] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0083] Based on the same inventive concept, the embodiments of the present application also provide an obstacle-avoiding device for implementing the above-mentioned obstacle-avoiding method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more obstacle-avoiding device embodiments provided below can refer to the limitations of the obstacle-avoiding method in the above, and will not be repeated here.

[0084] In one embodiment, an obstacle-avoiding device is provided, comprising:

[0085] The acquisition module is configured to acquire, by the sound wave sensor, a first position range of the obstacle relative to the robot; the judgment module is configured to judge, based on the first position range, whether the robot is in a preset scene, the preset scene being a scene in which the robot cannot bypass the obstacle; and the control module is configured to, if the robot is in the preset scene, reduce the field of view angle of the sound wave sensor, determine a target position range of the obstacle relative to the robot based on the reduced field of view angle, and control the robot to travel by bypassing the obstacle based on the target position range.

[0086] In some embodiments, the control module is specifically configured to: detect whether there is an obstacle in the adjusted field of view; if there is an obstacle, obtain a second position range of the obstacle relative to the robot according to the adjusted field of view, and determine whether the robot is still in the preset scene based on the second position range, if the robot is not in the preset scene, take the second position range as the target position range; if there is no obstacle, control the robot to rotate in place, and the robot is detected once for each preset angle, in the case of detecting an obstacle, obtain a third position range of the obstacle relative to the robot based on the adjusted field of view, obtain a plurality of third position ranges, find a third position range intersecting with the first position range from the plurality of third position ranges, obtain a plurality of to-be-merged position ranges, merge the plurality of to-be-merged position ranges to obtain a merged position range, and determine whether the robot is still in the preset scene based on the merged position range, if the robot is not in the preset scene, take the merged position range as the target position range.

[0087] In some embodiments, the adjusted field of view is a preset minimum field of view; the control module is specifically configured to: control the robot to rotate in place; when the acoustic sensor detects an obstacle, control the robot to stop rotating, and obtain a fourth position range according to the minimum field of view, determine whether the robot is still in the preset scene based on the fourth position range, if the robot is not in the preset scene, take the fourth position range as the target position range.

[0088] In some embodiments, if there are a plurality of fourth position ranges, the control module is further configured to: obtain a pre-planned walking path of the robot; based on the walking path, filter a fourth position range matching the walking path from the plurality of fourth position ranges, and take the filtered fourth position range as the target position range.

[0089] In some embodiments, the control module is specifically configured to: determine a rotation angle of the robot according to the adjusted field of view and the field of view before adjustment; control the robot to rotate in place according to the rotation angle, when the acoustic sensor detects an obstacle, control the robot to stop rotating, and obtain a fifth position range according to the adjusted field of view, determine whether the robot is still in the preset scene based on the fifth position range, if the robot is not in the preset scene, take the fifth position range as the target position range.

[0090] In some embodiments, the robot is provided with a positioning sensor, and the determining module is configured to: acquire a local walking map of the robot; determine a position of the robot according to the positioning sensor; project the robot and the obstacle into the local walking map according to the position of the robot and the first position range; if the local walking map indicates that the robot and the obstacle are both in the passage, acquire a first passage distance between the obstacle and the first side of the passage and a second passage distance between the obstacle and the second side of the passage respectively; and if the first passage distance and the second passage distance are both less than the width of the robot, determine that the robot is in the preset scene.

[0091] In some embodiments, the control module is further configured to: control the robot to stop walking, or control the robot to slow down.

[0092] In some embodiments, the acquiring module is specifically configured to: acquire a first distance from the robot to the obstacle; and determine a first position range of the obstacle relative to the robot based on the first distance and a current field of view angle of the acoustic sensor, the first position range being an arc with the current field of view angle as a central angle and the first distance as a radius.

[0093] The above-mentioned various modules in the obstacle circumventing device can be realized by software, hardware, and combinations thereof, in whole or in part. The above-mentioned various modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so as to be called and executed by a processor to perform the operations corresponding to the above-mentioned various modules.

[0094] In one embodiment, a robot is provided, and an internal structure diagram of the robot can be as shown in Figure 10 The robot includes a processor, a memory, and a network interface connected through a system bus. The processor of the robot is configured to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the robot is configured to store positioning data. The network interface of the robot is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement an obstacle circumventing method.

[0095] In some embodiments, a robot is provided, and includes an optical sensor, an acoustic sensor, a memory, and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0096] According to the sound wave sensor, a first position range of the obstacle relative to the robot is acquired; based on the first position range, it is judged whether the robot is in a preset scene, the preset scene being a scene in which the robot cannot bypass the obstacle; if the robot is in the preset scene, the field of view angle of the sound wave sensor is reduced, based on the reduced field of view angle, a target position range of the obstacle relative to the robot is determined, and based on the target position range, the robot is controlled to bypass the obstacle to travel.

[0097] In one embodiment, when the processor executes the computer program, the following steps are also implemented: it is detected whether there is an obstacle in the reduced field of view angle; if there is an obstacle, a second position range of the obstacle relative to the robot is acquired according to the reduced field of view angle, and based on the second position range, it is judged whether the robot is still in the preset scene; if the robot is not in the preset scene, the second position range is taken as the target position range; if there is no obstacle, the robot is controlled to rotate in place, the robot detects the obstacle once every time the robot rotates a preset angle, in the case that the obstacle is detected, a third position range of the obstacle relative to the robot is acquired based on the reduced field of view angle, a plurality of third position ranges are obtained, a third position range intersecting with the first position range is searched from the plurality of third position ranges, a plurality of to-be-merged position ranges are obtained, the plurality of to-be-merged position ranges are merged to obtain a merged position range, based on the merged position range, it is judged whether the robot is still in the preset scene; if the robot is not in the preset scene, the merged position range is taken as the target position range.

[0098] In one embodiment, when the processor executes the computer program, the following steps are also implemented: the robot is controlled to rotate in place; when the sound wave sensor detects the obstacle, the robot is controlled to stop rotating, and a fourth position range is acquired according to the minimum field of view angle, based on the fourth position range, it is judged whether the robot is still in the preset scene; if the robot is not in the preset scene, the fourth position range is taken as the target position range.

[0099] In one embodiment, when the processor executes the computer program, the following steps are also implemented: a walking path planned in advance by the robot is acquired; based on the walking path, a fourth position range matching the walking path is screened from the plurality of fourth position ranges, and the screened fourth position range is taken as the target position range.

[0100] In one embodiment, the processor, when executing the computer program, further implements the following steps: determining a rotation angle of the robot according to the reduced field of view and the field of view before being reduced; controlling the robot to rotate in place according to the rotation angle, stopping the robot from rotating when the acoustic wave sensor detects the obstacle, and obtaining a fifth position range according to the reduced field of view; determining whether the robot is still in the preset scene based on the fifth position range, and taking the fifth position range as the target position range if the robot is not in the preset scene.

[0101] In one embodiment, the processor, when executing the computer program, further implements the following steps: obtaining a local walking map of the robot; determining a position of the robot according to the positioning sensor; projecting the robot and the obstacle into the local walking map according to the position of the robot and the first position range; if the local walking map indicates that the robot and the obstacle are both in the passage, obtaining a first passage distance between the obstacle and the first side of the passage and a second passage distance between the obstacle and the second side of the passage respectively; and determining that the robot is in the preset scene if the first passage distance and the second passage distance are both smaller than the width of the robot.

[0102] In one embodiment, the processor, when executing the computer program, further implements the following steps: controlling the robot to stop walking, or controlling the robot to slow down.

[0103] In one embodiment, the processor, when executing the computer program, further implements the following steps: obtaining a first distance from the robot to the obstacle; determining a first position range of the obstacle relative to the robot based on the first distance and a current field of view of the acoustic wave sensor, the first position range being an arc with the current field of view as a central angle and the first distance as a radius.

[0104] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program, when executed by a processor, implements the following steps: obtaining a first position range of an obstacle relative to a robot according to an acoustic wave sensor; determining whether the robot is in a preset scene based on the first position range, the preset scene being a scene in which the robot cannot bypass the obstacle; if the robot is in the preset scene, reducing a field of view of the acoustic wave sensor, determining a target position range of the obstacle relative to the robot based on the reduced field of view, and controlling the robot to travel by bypassing the obstacle based on the target position range.

[0105] In an embodiment, the computer program, when executed by the processor, further implements the following steps: detecting whether there is an obstacle in the reduced field of view; if there is an obstacle, obtaining a second position range of the obstacle relative to the robot according to the reduced field of view, and determining whether the robot is still in the preset scene based on the second position range, if the robot is not in the preset scene, taking the second position range as the target position range; if there is no obstacle, controlling the robot to rotate in place, and detecting the obstacle every preset angle of rotation of the robot, in the case of detecting the obstacle, obtaining a third position range of the obstacle relative to the robot based on the reduced field of view, obtaining a plurality of third position ranges, finding a third position range intersecting with the first position range from the plurality of third position ranges, obtaining a plurality of to-be-merged position ranges, merging the plurality of to-be-merged position ranges to obtain a merged position range, and determining whether the robot is still in the preset scene based on the merged position range, if the robot is not in the preset scene, taking the merged position range as the target position range.

[0106] In an embodiment, the computer program, when executed by the processor, further implements the following steps: controlling the robot to rotate in place; when the acoustic wave sensor detects an obstacle, controlling the robot to stop rotating, and obtaining a fourth position range according to the minimum field of view, determining whether the robot is still in the preset scene based on the fourth position range, if the robot is not in the preset scene, taking the fourth position range as the target position range.

[0107] In an embodiment, the computer program, when executed by the processor, further implements the following steps: obtaining a walking path of the robot planned in advance; based on the walking path, screening a fourth position range matching the walking path from the plurality of fourth position ranges, and taking the screened fourth position range as the target position range.

[0108] In an embodiment, the computer program, when executed by the processor, further implements the following steps: determining a rotation angle of the robot according to the reduced field of view and the field of view before being reduced; controlling the robot to rotate in place according to the rotation angle, when the acoustic wave sensor detects an obstacle, controlling the robot to stop rotating, and obtaining a fifth position range according to the reduced field of view, determining whether the robot is still in the preset scene based on the fifth position range, if the robot is not in the preset scene, taking the fifth position range as the target position range.

[0109] In one embodiment, the computer program, when executed on the processor, further implements the following steps: obtaining a local walking map of the robot; determining a position of the robot according to the positioning sensor; projecting the robot and the obstacle into the local walking map according to the position of the robot and the first position range; if the local walking map indicates that both the robot and the obstacle are in the passage, obtaining a first passage distance between the obstacle and the first side of the passage and a second passage distance between the obstacle and the second side of the passage respectively; and determining that the robot is in the preset scene if both the first passage distance and the second passage distance are smaller than the width of the robot.

[0110] In one embodiment, the computer program, when executed on the processor, further implements the following steps: controlling the robot to stop walking, or controlling the robot to slow down.

[0111] In one embodiment, the computer program, when executed on the processor, further implements the following steps: obtaining a first distance from the robot to the obstacle; and determining a first position range of the obstacle relative to the robot based on the first distance and a current field of view angle of the acoustic wave sensor, the first position range being an arc with the current field of view angle as a central angle and the first distance as a radius.

[0112] In one embodiment, a computer program product is provided, comprising a computer program which, when executed on a processor, implements the following steps: obtaining a first position range of an obstacle relative to a robot according to an acoustic wave sensor; determining whether the robot is in a preset scene based on the first position range, the preset scene being a scene in which the robot cannot bypass the obstacle; if the robot is in the preset scene, adjusting a field of view angle of the acoustic wave sensor, determining a target position range of the obstacle relative to the robot based on the adjusted field of view angle, and controlling the robot to drive around the obstacle based on the target position range.

[0113] In an embodiment, the computer program, when executed by the processor, further implements the following steps: detecting whether there is an obstacle in the reduced field of view; if there is an obstacle, obtaining a second position range of the obstacle relative to the robot according to the reduced field of view, and determining whether the robot is still in the preset scene based on the second position range, if the robot is not in the preset scene, taking the second position range as the target position range; if there is no obstacle, controlling the robot to rotate in place, and detecting the obstacle every preset angle of rotation of the robot, in the case of detecting the obstacle, obtaining a third position range of the obstacle relative to the robot based on the reduced field of view, obtaining a plurality of third position ranges, finding a third position range intersecting with the first position range from the plurality of third position ranges, obtaining a plurality of to-be-merged position ranges, merging the plurality of to-be-merged position ranges to obtain a merged position range, and determining whether the robot is still in the preset scene based on the merged position range, if the robot is not in the preset scene, taking the merged position range as the target position range.

[0114] In an embodiment, the computer program, when executed by the processor, further implements the following steps: controlling the robot to rotate in place; when the acoustic wave sensor detects an obstacle, controlling the robot to stop rotating, and obtaining a fourth position range according to the minimum field of view, determining whether the robot is still in the preset scene based on the fourth position range, if the robot is not in the preset scene, taking the fourth position range as the target position range.

[0115] In an embodiment, the computer program, when executed by the processor, further implements the following steps: obtaining a walking path of the robot planned in advance; based on the walking path, screening a fourth position range matching the walking path from the plurality of fourth position ranges, and taking the screened fourth position range as the target position range.

[0116] In an embodiment, the computer program, when executed by the processor, further implements the following steps: determining a rotation angle of the robot according to the reduced field of view and the field of view before being reduced; controlling the robot to rotate in place according to the rotation angle, when the acoustic wave sensor detects an obstacle, controlling the robot to stop rotating, and obtaining a fifth position range according to the reduced field of view, determining whether the robot is still in the preset scene based on the fifth position range, if the robot is not in the preset scene, taking the fifth position range as the target position range.

[0117] In one embodiment, the computer program, when executed by the processor, further implements the following steps: obtaining a local walking map of the robot; determining a position of the robot according to the positioning sensor; projecting the robot and the obstacle into the local walking map according to the position of the robot and the first position range; if the local walking map indicates that both the robot and the obstacle are in the passage, obtaining a first passage distance between the obstacle and the first side of the passage and a second passage distance between the obstacle and the second side of the passage, respectively; and determining that the robot is in the preset scene if both the first passage distance and the second passage distance are less than the width of the robot.

[0118] In one embodiment, the computer program, when executed by the processor, further implements the following steps: controlling the robot to stop walking, or controlling the robot to slow down.

[0119] In one embodiment, the computer program, when executed by the processor, further implements the following steps: obtaining a first distance from the robot to the obstacle; determining a first position range of the obstacle relative to the robot based on the first distance and a current field of view angle of the sound wave sensor, the first position range being an arc with the current field of view angle as a central angle and the first distance as a radius.

[0120] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0121] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0122] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of navigating around an obstacle, the method comprising: The method is applied to a robot on which a sound wave sensor is mounted, and the method comprises the following steps: acquiring a first position range of an obstacle relative to the robot according to the sound wave sensor; judging whether the robot is in a preset scene based on the first position range, the preset scene being a scene in which the robot cannot bypass the obstacle; if the robot is in the preset scene, then reducing a field of view angle of the sound wave sensor, determining a target position range of the obstacle relative to the robot based on the reduced field of view angle, and controlling the robot to travel by bypassing the obstacle based on the target position range; the step of determining the target position range of the obstacle relative to the robot based on the reduced field of view angle comprises the following steps: detecting whether there is an obstacle in the reduced field of view angle; if there is an obstacle, then acquiring a second position range of the obstacle relative to the robot according to the reduced field of view angle, and judging whether the robot is still in the preset scene based on the second position range, if the robot is not in the preset scene, then taking the second position range as the target position range; the robot is mounted with a positioning sensor, and the step of judging whether the robot is in the preset scene based on the first position range comprises the following steps: acquiring a local walking map of the robot; determining a position of the robot according to the positioning sensor; projecting the robot and the obstacle into the local walking map according to the position of the robot and the first position range; if the local walking map indicates that the robot and the obstacle are both in a passageway, then acquiring a first passageway distance between the obstacle and a first side of the passageway, and a second passageway distance between the obstacle and a second side of the passageway; if the first passageway distance and the second passageway distance are both smaller than a width of the robot, then determining that the robot is in the preset scene; the step of acquiring the first position range of the obstacle relative to the robot according to the sound wave sensor comprises the following steps: acquiring a first distance from the robot to the obstacle; determining the first position range of the obstacle relative to the robot based on the first distance and a current field of view angle of the sound wave sensor, the first position range being an arc with the current field of view angle as a central angle and the first distance as a radius.

2. The method of claim 1, wherein, the method further comprises the following steps: if there is no obstacle, then controlling the robot to rotate in place, the robot detecting the obstacle once every time the robot rotates a preset angle, in the case of detecting the obstacle, acquiring a third position range of the obstacle relative to the robot based on the reduced field of view angle, obtaining a plurality of third position ranges, finding a third position range intersecting with the first position range from the plurality of third position ranges, obtaining a plurality of to-be-merged position ranges, merging the plurality of to-be-merged position ranges to obtain a merged position range, judging whether the robot is still in the preset scene based on the merged position range, if the robot is not in the preset scene, then taking the merged position range as the target position range.

3. The method of claim 1, wherein, The reduced field of view is a preset minimum field of view; The method further comprises: Controlling the robot to rotate in place; When the acoustic sensor detects the obstacle, controlling the robot to stop rotating and obtaining a fourth position range according to the minimum field of view, determining whether the robot is still in the preset scene based on the fourth position range, and if the robot is not in the preset scene, taking the fourth position range as the target position range.

4. The method of claim 3, wherein, If there are multiple fourth position ranges, the method further comprises: Obtaining a walking path of the robot planned in advance; Based on the walking path, screening a fourth position range matching the walking path from the multiple fourth position ranges, and taking the screened fourth position range as the target position range.

5. The method of claim 1, wherein, The method further comprises: Determining a rotation angle of the robot according to the reduced field of view and the field of view before being reduced; Controlling the robot to rotate in place according to the rotation angle, controlling the robot to stop rotating when the acoustic sensor detects the obstacle, and obtaining a fifth position range according to the reduced field of view, determining whether the robot is still in the preset scene based on the fifth position range, and if the robot is not in the preset scene, taking the fifth position range as the target position range.

6. The method according to any one of claims 2-5, characterized in that, Before controlling the acoustic sensor to rotate in place, the method further comprises: Controlling the robot to stop walking, or controlling the robot to slow down.

7. A robot comprising: An optical sensor, an acoustic sensor, a memory, and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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