A robot behavior planning method, device, equipment and storage medium

Abstract

The present application discloses a robot behavior planning method, device, equipment and storage medium, relating to the technical field of robots, including: obtaining a function flag bit for characterizing the currently set function of the user, and determining an out-of-bounds judgment method based on the function flag bit; when the function flag bit is the first function flag bit, judging whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result; when the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, executing a second out-of-bounds judgment method to obtain a second judgment result; when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, executing a third out-of-bounds judgment method to obtain a third judgment result; determining and executing a corresponding target robot behavior mode based on the judgment result. The present application improves the degree of intelligence and the working efficiency of the robot by setting multiple functions for the robot and setting the decision basis for the out-of-bounds behavior of the robot according to user preferences.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot behavior planning method, device, equipment and storage medium. Background Art

[0002] An intelligent lawn mower is a lightweight and intelligent gardening tool. After the user creates a lawn map using a mobile phone APP (Application), the robot can perform operations within the lawn area. However, the current intelligent lawn mowing robots have the following problems at the lawn boundary: 1. Since RTK (Real time kinematic) navigation may have errors and drifts, the positioning is not accurate enough, causing the robot to be unable to confirm whether it is within the allowed working range at the boundary line. Generally, a strategy of strictly executing out-of-bounds shutdown and alarm is adopted, which easily causes repeated starts and stops, leading to failures or affecting the operation efficiency; 2. The robot may be manually moved outside the boundary due to unexpected situations or temporary plan changes. Since it is impossible to judge the safety of the environment where the robot is located, and in the current solution, once the robot goes out of bounds, it will stop, so it cannot return to the lawn to continue the current task; 3. When the robot's motion control has overshoot, or due to structural size reasons, a part of the fuselage goes out of bounds and is misjudged, an incorrect out-of-bounds signal will be generated, resulting in shutdown, thus affecting the operation efficiency. Therefore, in the current products, if the robot goes out of bounds, it will stop for a few seconds, and directly execute alarm and shutdown after confirming going out of bounds. The robot has a low degree of intelligence and does not have the function of automatically returning to the lawn within an appropriate range, and cannot meet the user's requirement for the robot to return out of bounds and continue working, seriously affecting the operation efficiency of the lawn mowing robot. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a robot behavior planning method, device, equipment and storage medium, which can improve the degree of intelligence and the working efficiency of the robot. The specific solutions are as follows:

[0004] In a first aspect, the present application discloses a robot behavior planning method, including:

[0005] Obtain a function flag bit used to represent the currently set function of the user, and determine a corresponding out-of-bounds judgment method based on the function flag bit; the out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method;

[0006] When the function flag bit is the first function flag bit, judge whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result;

[0007] When the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result;

[0008] When the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, execute the third out-of-bounds judgment method to determine whether the robot is within the preset out-of-bounds distance threshold and obtain a third judgment result;

[0009] Determine and execute the corresponding target robot behavior mode based on the judgment result; the judgment result includes the first judgment result, the second judgment result, and the third judgment result.

[0010] Optionally, before obtaining the function flag bit for characterizing the currently set function by the user and determining the corresponding out-of-bounds judgment method based on the function flag bit, further include:

[0011] Apply for memory space in advance through the controller on the robot to store the grid map in the memory space;

[0012] Obtain the target information established by the user on the third-party application; the target information includes a map, a charging path, and a connection path;

[0013] Perform corresponding markings on the grid map based on the target information to obtain corresponding grid marking information.

[0014] Optionally, when the function flag bit is the first function flag bit, determining whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result includes:

[0015] When the function flag bit is the first function flag bit, obtain the current position information of the robot through the positioning module;

[0016] Determine the target position point of the current position information on the grid map;

[0017] Obtain the four grid points in front, behind, left, and right of the target position point, and determine whether all the grid points are within the preset boundary;

[0018] If all the grid points are within the preset boundary, determine that the first judgment result is that the robot is within the boundary;

[0019] If any number of the grid points among all the grid points are not within the preset boundary, initially determine that the first judgment result is that the robot is not within the boundary.

[0020] Optionally, when the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result, including:

[0021] When the first judgment result is that if any number of the grid points among all the grid points are not within the preset boundary, it is preliminarily determined that the first judgment result is that the robot is not within the boundary, it is determined that the first judgment result meets the preset misjudgment condition;

[0022] When the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, perform a preset dilation operation on the target position point corresponding to the robot to obtain a dilated grid area;

[0023] Judge whether all the grid points in the dilated grid area are not within the preset boundary;

[0024] If all the grid points in the dilated grid area are not within the preset boundary, it is determined that the second judgment result is that the robot is out of bounds;

[0025] If there are grid points within the preset boundary among all the grid points in the dilated grid area, it is determined that the second judgment result is that the robot is not out of bounds;

[0026] When the second judgment result is that the robot is not out of bounds, control the robot to continue to execute the current task.

[0027] Optionally, before obtaining the function flag bit used to characterize the user's current set function and determining the corresponding out-of-bounds judgment method based on the function flag bit, it further includes:

[0028] Obtain the corresponding sensing sensor information on the sensing sensors installed in different areas of the robot through the sensing area;

[0029] Use the spatial fusion filtering method to fuse all the obtained sensing sensor information to obtain the target sensing information.

[0030] Optionally, execute the third out-of-bounds judgment method to determine whether the robot is within the preset out-of-bounds distance threshold and obtain a third judgment result, including:

[0031] Determine the reason for the position change of the robot based on the position change information of the robot and the sensing sensor information;

[0032] If the reason for the position change is external force interference, stop the machine and give an alarm;

[0033] If the reason for the position change is no external interference, then based on the target perception information and the preset area safety judgment method, determine whether the target position point of the robot is safe;

[0034] If the target position point is safe, then determine whether the robot is within the preset out-of-bounds distance threshold to obtain the third judgment result;

[0035] Correspondingly, determining and executing the corresponding target robot behavior mode based on the judgment result includes:

[0036] If the third judgment result is that the robot is within the preset out-of-bounds distance threshold, then obtain the position information of the safe point, and control the robot to travel to the safe point according to the preset path; wherein, the target position point when all the grid points are within the preset boundary is determined as the safe point.

[0037] Optionally, determining whether the target position point of the robot is safe based on the target perception information and the preset area safety judgment method includes:

[0038] Based on the target perception information, determine whether there are obstacle points in the perception range of the robot that hinder the movement of the robot;

[0039] If there are obstacle points that hinder the movement of the robot, then determine that the first safety judgment result is unsafe;

[0040] If there are no obstacle points that hinder the movement of the robot, then determine that the first safety judgment result is safe;

[0041] Based on the target perception information, determine whether there are impassable locations in the perception range of the robot;

[0042] If there are impassable locations, then determine that the second safety judgment result is unsafe;

[0043] If there are no impassable locations, then determine that the second safety judgment result is safe;

[0044] When both the first safety judgment result and the second safety judgment result are safe, determine that the target position point of the robot is safe;

[0045] When any one or more of the first safety judgment result and the second safety judgment result are unsafe, determine that the target position point of the robot is unsafe.

[0046] In a second aspect, the present application discloses a robot behavior planning device, including:

[0047] A flag bit acquisition module, configured to acquire a function flag bit for characterizing the currently set function of the user;

[0048] An out-of-bounds judgment method determination module, configured to determine a corresponding out-of-bounds judgment method based on the function flag bit; the out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method;

[0049] A first out-of-bounds judgment module, configured to, when the function flag bit is a first function flag bit, judge whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result;

[0050] A second out-of-bounds judgment module, configured to execute the second out-of-bounds judgment method to obtain a second judgment result when the function flag bit is a second function flag bit and the first judgment result meets a preset misjudgment condition;

[0051] A third out-of-bounds judgment module, configured to execute the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result when the function flag bit is a third function flag bit and the second judgment result is that the robot is out of bounds;

[0052] A behavior mode determination module, configured to determine and execute a corresponding target robot behavior mode based on the judgment results; the judgment results include the first judgment result, the second judgment result, and the third judgment result.

[0053] In a third aspect, the present application discloses an electronic device, including:

[0054] A memory, configured to store a computer program;

[0055] A processor, configured to execute the computer program to implement the steps of the robot behavior planning method disclosed above.

[0056] In a fourth aspect, the present application discloses a computer-readable storage medium, configured to store a computer program; wherein, when the computer program is executed by a processor, the robot behavior planning method disclosed above is implemented.

[0057] It can be seen that the present application provides a robot behavior planning method, including: obtaining a function flag bit for characterizing the currently set function of the user, and determining a corresponding out-of-bounds judgment method based on the function flag bit; the out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method; when the function flag bit is the first function flag bit, judging whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result; when the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, executing the second out-of-bounds judgment method to obtain a second judgment result; when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, executing the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result; determining and executing a corresponding target robot behavior mode based on the judgment result; the judgment result includes the first judgment result, the second judgment result, and the third judgment result. Thus, the present application sets multiple functions for the robot, sets the basis for the robot's out-of-bounds behavior decision according to the user's preference, enables the robot to execute corresponding behavior decisions according to the user's needs, and improves the intelligence level and the working efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0059] Figure 1 It is a flowchart of a robot behavior planning method disclosed in the present application;

[0060] Figure 2 It is a schematic diagram of the first-layer out-of-bounds judgment disclosed in the present application;

[0061] Figure 3 It is a schematic diagram of possible misjudgments of the first-layer out-of-bounds judgment disclosed in the present application;

[0062] Figure 4 It is a schematic diagram of the second-layer out-of-bounds judgment disclosed in the present application, taking the example of expanding 4 grids in four directions;

[0063] Figure 5 It is a flowchart of the robot boundary behavior planning algorithm disclosed in the present application;

[0064] Figure 6 It is a flowchart of a specific robot behavior planning method disclosed in the present application;

[0065] Figure 7 A schematic diagram of the robot safety point selection disclosed in this application;

[0066] Figure 8 A schematic diagram of the operation boundary when the user selects function 1 disclosed in the present application;

[0067] Figure 9 A schematic diagram of the structure of the robot behavior planning device provided for this application;

[0068] Figure 10 A structural diagram of an electronic device provided for this application. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] At present, the current intelligent lawn mowing robots have the following problems at the lawn boundary: the positioning is not accurate enough, so that the robot cannot confirm whether it is within the allowed working range at the boundary line, and strictly implements the strategy of stopping and alarming when out of bounds, resulting in repeated start and stop, thus causing failures or affecting work efficiency; once the robot is out of bounds, it cannot judge the safety of the robot's environment and will shut down, so it cannot return to the lawn to continue the current task; when the robot motion control overshoots, or when part of the body is out of bounds due to structural size reasons and misjudgment, an erroneous out-of-bounds signal will occur, causing shutdown, thereby affecting work efficiency. Therefore, in the current products, if the robot is out of bounds, it will shut down and wait for a few seconds, and directly execute alarm and shutdown after confirming that it is out of bounds. The robot has a low degree of intelligence and does not have the function of returning to the lawn by itself within an appropriate range. It cannot meet the user's demand for the robot to return to continue working after going out of bounds, which seriously affects the work efficiency of the lawn mowing robot. To this end, the present application provides a robot behavior planning method that can improve the degree of intelligence and the work efficiency of the robot.

[0071] The embodiment of the present invention discloses a robot behavior planning method, see Figure 1 As shown, the method includes:

[0072] Step S11: Obtain a function flag bit used to represent the function currently set by the user, and determine a corresponding out-of-bounds judgment method based on the function flag bit.

[0073] In this embodiment, a function flag bit for characterizing the currently set function of the user is obtained, and a corresponding out-of-bounds judgment method is determined based on the function flag bit. The out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method. It can be understood that to meet the different security level requirements of users, the user can select 3 functions on the APP, corresponding to three boundary behaviors: 1. Function 1: strictly execute in-bound work; 2. Function 2: set the body to expand and allow continued work near the boundary; 3. Set an out-of-bounds distance threshold, within which it can return by itself. The security levels of the above three functions decrease gradually. When executing the boundary behavior planning algorithm, the function will be set according to the user's preference, and then the actual action of the robot will be determined by judging the function flag bit.

[0074] It should be noted that before obtaining the function flag bit for characterizing the currently set function of the user, the controller on the robot pre-allocates memory space to store the grid map; obtains the target information established by the user on the third-party application; the target information includes a map, a charging return path, and a connected path; based on the target information, corresponding markings are made on the grid map to obtain corresponding grid marking information. It can be understood that the charging return path is, for example, a path connecting a point on a lawn to a fixed charging pile; the connected path is, for example, a cross-lawn path connecting points in two lawns.

[0075] The intelligent lawn mowing robot has three major functional modules: a sensing module, a positioning module, and a planning and control module; the planning and control module includes a path planning module and a motion control module. The controller will pre-allocates memory space to store the grid map. After the user uses the APP to control the robot to establish a lawn map, a charging return path, and a connected path, the planning module will mark the corresponding grid and then perform path planning; the positioning module includes but is not limited to RTK, inertial devices, and odometers, and mainly provides the position information of the robot after fusion filtering. The priority of the RTK satellite signal is the highest. In the case of poor or no RTK signal, the robot will not work. In addition, when the robot is running normally, it will choose to work within a safe range.

[0076] Step S12: When the function flag bit is the first function flag bit, judge whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result.

[0077] In this embodiment, after determining the corresponding out-of-bounds judgment method based on the function flag bit, when the function flag bit is the first function flag bit, the first out-of-bounds judgment method is used to judge whether the robot is out of bounds to obtain a first judgment result. Specifically, when the function flag bit is the first function flag bit, the positioning module is used to obtain the current position information of the robot; the target position point of the current position information on the grid map is determined; the four grid points before, after, left, and right of the target position point are obtained, and it is judged whether all the grid points are within the preset boundary; if all the grid points are within the preset boundary, it is determined that the first judgment result is that the robot is within the boundary; if any number of the grid points among all the grid points are not within the preset boundary, it is preliminarily determined that the first judgment result is that the robot is not within the boundary.

[0078] For example Figure 2 As shown, the light shaded area on the upper side is within the boundary, the unshaded area on the lower side is outside the boundary, the dark shaded areas are four grids, and the five-pointed star represents the grid where the robot is currently located (i.e., the target position point). When the function flag bit is the first function flag bit, the controller will take the four grids before, after, left, and right of the current position of the robot (the target position point) in the grid coordinate system and compare them with the marked feasible path or range (the green area in the figure is the feasible range, and the white area is the unfeasible range). Considering the possible error of RTK, if all these four grids are within the boundary, it is determined that the robot is within the boundary; otherwise, if one or more grids are outside the boundary, it is preliminarily determined that the robot is out of bounds. This is the first layer of out-of-bounds judgment.

[0079] Step S13: When the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result.

[0080] In this embodiment, after determining the corresponding out-of-bounds judgment method based on the function flag bit, when the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, the second out-of-bounds judgment method is executed to obtain a second judgment result. Specifically, when the first judgment result is that if any number of the grid points among all the grid points are not within the preset boundary, it is preliminarily determined that the first judgment result is that the robot is not within the boundary, it is determined that the first judgment result meets the preset misjudgment condition; when the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, a preset dilation operation is performed on the target position point corresponding to the robot to obtain a dilated grid area; it is judged whether all the grid points in the dilated grid area are not within the preset boundary; if all the grid points in the dilated grid area are not within the preset boundary, it is determined that the second judgment result is that the robot is out of bounds; if there are grid points within the preset boundary among all the grid points in the dilated grid area, it is determined that the second judgment result is that the robot is not out of bounds; when the second judgment result is that the robot is not out of bounds, the robot is controlled to continue to execute the current task.

[0081] It can be understood that after judging whether the robot is out of bounds through the first out-of-bounds judgment method to obtain the first judgment result, this judgment will cause some misjudgments. For example Figure 3 As shown in the figure, the light shaded area on the upper side is within the boundary, the non-shaded area on the lower side is outside the boundary, and the dark shaded areas are four grid points; if only one of these four grid points is outside the boundary, the robot may actually still be within the boundary or on the boundary. In this case, when the function flag bit is the second function flag bit, the second out-of-bounds judgment method needs to be executed. According to the target perception information obtained by fusing multi-sensor perception by the perception module, it is judged whether the position of the robot is safe. The second layer of out-of-bounds judgment allows a certain range of drift of RTK, that is, a dilation operation is performed on the fuselage. The user can set the dilation according to the size of the robot's cutter head and the size of the grid map, that is, dilate multiple grid ranges centered on the position of the robot, and use the dilated grid area as the judgment basis. As Figure 4 shown in the figure, the shaded area on the right is the dilated grid area, the shaded area on the left is within the boundary, and the white non-shaded area on the right is outside the boundary. When all these grid points are outside the boundary, it is determined that the robot is truly out of bounds. On the contrary, as long as one grid point falls within the boundary or on the boundary, the robot will still perform the established task.

[0082] Step S14: When the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, execute the third out-of-bounds judgment method to judge whether the robot is within the preset out-of-bounds distance threshold and obtain a third judgment result.

[0083] In this embodiment, after determining the corresponding out-of-bounds judgment method based on the function flag bit, when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, the third out-of-bounds judgment method is executed to determine whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result. Specifically, the reason for the position change of the robot is determined based on the position change information of the robot and the sensing sensor information; if the reason for the position change is external force interference, the machine is stopped and an alarm is issued; if the reason for the position change is no external force interference, it is determined whether the target position point of the robot is safe based on the target sensing information and a preset area safety judgment method; if the target position point is safe, it is determined whether the robot is within the preset out-of-bounds distance threshold to obtain the third judgment result.

[0084] It can be understood that when the robot is determined to be truly out of bounds in the second-layer judgment, the robot needs to return to within the boundary to continue working. First, the fusion information of the sensing module is used to determine whether the environment where the robot is located is safe. If the position is changed due to external force interference such as handling, the machine is stopped and an alarm is issued. In the case of no external force interference, the robot will perform the action of returning to within the boundary. When returning to within the boundary, the previously cached safe point is set as the target position, and the robot travels at a low speed until it reaches the safe point. During this process, if an obstacle is encountered, obstacle avoidance planning will be performed according to the sensing information, so that the robot bypasses the obstacle and returns to the safe point. If a feasible path cannot be planned, the machine is stopped and an alarm is issued. Based on the real-time environment and positioning, the boundary behavior is planned and decided. For example, it is determined whether the robot is safe through the multi-sensor fusion information of the sensing module, and then it is determined whether it is out of bounds and the out-of-bounds range through the grid map, and according to the user's requirements, decisions are made on behaviors such as strictly executing work within the boundary, allowing continued work near the boundary, or automatically returning within a certain range outside the boundary.

[0085] Step S15: Determine and execute the corresponding target robot behavior mode based on the judgment result.

[0086] In this embodiment, after obtaining the judgment result, the corresponding target robot behavior mode is determined and executed based on the judgment result; the judgment result includes the first judgment result, the second judgment result, and the third judgment result. It can be understood that, for example Figure 5As shown, when the first judgment result is that the robot is within the boundary, the robot works normally; when the first judgment result is that the robot is not within the boundary, if the function flag bit is the second function flag bit or the third function flag bit, the second out-of-bounds judgment method and / or the third out-of-bounds judgment method are continued to be executed. If the function flag bit is the first function flag bit, the machine stops and alarms; when the second judgment result is that the robot has not gone out of bounds, the robot works normally. When the second judgment result is that the robot has gone out of bounds, if the function flag bit is the second function flag bit, the machine stops and alarms. If the function flag bit is the third function flag bit, the third out-of-bounds judgment method is executed; when the third judgment result is that the robot is not within the preset out-of-bounds distance threshold, the robot stops and alarms. When the third judgment result is that the robot is within the preset out-of-bounds distance threshold, it is judged whether the robot is safe. If it is safe, the robot drives back to the safe point within the boundary. If it is not safe, it is judged whether the robot is interfered by an external force. If it is interfered by an external force, the machine stops and alarms. If it is not interfered by an external force, it avoids obstacles and moves forward to return to the safe point within the boundary.

[0087] This application can plan the behavior of the intelligent lawn mower at the boundary according to the user's selection; it can judge whether the robot goes out of bounds through the grid map, the inflated fuselage and the double-layer judgment; it makes decisions and plans the boundary behavior through the fusion of perception and positioning; it can handle the situation of RTK drift or the robot's wrong movement / stop outside the boundary, enabling the robot to make decisions on behaviors such as strictly executing work within the boundary, allowing continuous work near the boundary, or automatically returning within a certain range outside the boundary according to the user's needs, meeting the user's demand for a higher degree of intelligence of the lawn mowing robot.

[0088] It can be seen that the present application provides a robot behavior planning method, including: obtaining a function flag bit for characterizing the currently set function of the user, and determining a corresponding out-of-bounds judgment method based on the function flag bit; the out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method; when the function flag bit is the first function flag bit, judging whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result; when the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, executing the second out-of-bounds judgment method to obtain a second judgment result; when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, executing the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result; determining and executing a corresponding target robot behavior mode based on the judgment result; the judgment result includes the first judgment result, the second judgment result, and the third judgment result. Thus, the present application sets multiple functions for the robot, sets the basis for the robot's out-of-bounds behavior decision according to the user's preference, enables the robot to execute corresponding behavior decisions according to the user's needs, and improves the degree of intelligence and the working efficiency of the robot.

[0089] See Figure 6 As shown, the embodiment of the present invention discloses a robot behavior planning method. Compared with the previous embodiment, this embodiment further describes and optimizes the technical solution.

[0090] Step S21: Obtain the corresponding sensing sensor information on the sensing sensors installed in different areas of the robot through the sensing area.

[0091] In this embodiment, the corresponding sensing sensor information on the sensing sensors installed in different areas of the robot is obtained through the sensing area. It can be understood that the intelligent lawn mowing robot has three major functional modules: a sensing module, a positioning module, and a planning and control module. The sensing module (i.e., the sensing area) includes but is not limited to sensing sensors such as lidar, millimeter-wave radar, ultrasonic radar, and cameras. The above sensors are respectively installed in different areas of the robot to obtain the sensing information of the robot in different spatial dimensions. During the use of the robot, the corresponding sensing sensor information on each sensing sensor is obtained.

[0092] Step S22: Use the spatial fusion filtering method to fuse all the obtained sensing sensor information to obtain the target sensing information.

[0093] In this embodiment, after obtaining the corresponding sensing sensor information on the sensing sensors installed in different areas of the robot through the sensing area, the obtained all the sensing sensor information is fused by using a spatial fusion filtering method to obtain target sensing information. It can be understood that the sensing information is fused by means of spatial fusion and filtering, and obstacles are identified and whether the working area is safe is judged according to the obtained target sensing information after fusion. It should be noted that the confidence levels of the sensing sensor information obtained from the sensing sensors on the robot are different when the spatial fusion filtering method is executed.

[0094] Step S23: Obtain a function flag bit for characterizing the currently set function of the user, and determine a corresponding out-of-bounds judgment method based on the function flag bit.

[0095] Step S24: When the function flag bit is the first function flag bit, judge whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result.

[0096] Step S25: When the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result.

[0097] Step S26: When the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, execute the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result.

[0098] In this embodiment, after determining a corresponding out-of-bounds judgment method based on the function flag bit, when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, execute the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result. Specifically, determine the reason for the position change of the robot based on the position change information of the robot and the sensing sensor information; if the reason for the position change is no external force interference, judge whether the target position point of the robot is safe based on the target sensing information and a preset area safety judgment method; if the target position point is safe, judge whether the robot is within the preset out-of-bounds distance threshold to obtain the third judgment result.

[0099] It can be understood that the specific steps for determining whether the target position point of the robot is safe based on the target perception information and the preset area safety judgment method are as follows: Judging whether there are obstacle points that hinder the movement of the robot within the perception range of the robot based on the target perception information; if there are obstacle points that hinder the movement of the robot, determining that the first safety judgment result is unsafe; if there are no obstacle points that hinder the movement of the robot, determining that the first safety judgment result is safe; Judging whether there are impassable locations within the perception range of the robot based on the target perception information; if there are impassable locations, determining that the second safety judgment result is unsafe; if there are no impassable locations, determining that the second safety judgment result is safe; When both the first safety judgment result and the second safety judgment result are safe, determining that the target position point of the robot is safe; when any one or more of the first safety judgment result and the second safety judgment result are unsafe, determining that the target position point of the robot is unsafe.

[0100] It should be noted that there are the following two criteria for determining whether the environment where the robot is located is safe: 1. Whether there are obstacles that hinder movement within the perception range, including but not limited to movable people or objects such as people, animals, stones, tree stumps, etc.; 2. Whether there are impassable locations within the perception range, including but not limited to immovable locations such as potholes, ponds, steps, fences, fences, etc. The environment where the robot is located is determined to be safe only when there are no obstacles that hinder movement and no impassable locations within the perception range of the robot. Once any one or both of the above two criteria are not met, the environment where the robot is located is determined to be unsafe.

[0101] Step S27: If the third judgment result is that the robot is within the preset out-of-bounds distance threshold, obtain the position information of the safe point, and control the robot to travel to the safe point along the preset path.

[0102] In this embodiment, after judging whether the robot is within the preset out-of-bounds distance threshold and obtaining the third judgment result, if the third judgment result is that the robot is within the preset out-of-bounds distance threshold, obtain the position information of the safe point, and control the robot to travel to the safe point along the preset path; among them, the target position point when all the grid points are within the preset boundary is determined as the safe point. It should be noted that when executing the out-of-bounds judgment method, the safety point information of the robot will be cached synchronously and overwritten and updated in each control cycle, that is, there is only one safe point. As Figure 7 shown, the safe point is the position where the robot is located when the four grids in the first-layer out-of-bounds judgment simultaneously meet the in-bounds condition and will be marked as the safe point.

[0103] It is understandable that if the user selects Function 1, in order to reduce the probability of the first layer going out of bounds and ensure that the robot can complete the operation to the greatest extent, when the user establishes the lawn, the operation map in the grid map will be reduced by one circle compared to the actual boundary map. As Figure 8 shown, the large circle shadow represents the actual boundary, the small circle shadow represents the operation boundary, and the area without shadow represents out of bounds. In this way, it can be ensured to the greatest extent that the full-coverage operation within the lawn is not affected by the boundary, and the edge trimming can basically cover the actual map boundary. In Function 1 mode, the out-of-bounds judgment of the robot only performs the out-of-bounds judgment of the first layer; in Function 2 mode, the out-of-bounds judgment of the robot performs until the out-of-bounds judgment of the second layer. If it actually goes out of bounds, the machine will stop and alarm; in Function 3 mode, when the out-of-bounds judgment of the second layer is true, the robot can also return within the boundary within the distance threshold set by the user and continue to execute the task.

[0104] In addition, by using the method of fusing vision and IMU through VIO to locate and map, and obtaining the real-time position of the robot, as well as the distance and angle information from the boundary, etc., the influence caused by RTK drift can be weakened, but it is relatively complex and difficult to implement in outdoor scenarios.

[0105] This application can set the decision basis for out-of-bounds behavior according to user preferences; the classification of boundary behaviors is more detailed and clear, and the degree of intelligence is higher; it solves the problem of limited out-of-bounds behavior, and the operation efficiency of the robot is higher; the operation is simple, and the user can operate the robot by setting the function mode in the App in advance.

[0106] For the specific content of the above steps S23 to S25, reference can be made to the corresponding content disclosed in the foregoing embodiments, and details will not be elaborated here.

[0107] It can be seen that in the embodiment of this application, the perception area is used to obtain the corresponding perception sensor information on the perception sensors installed in different areas of the robot; the spatial fusion filtering method is used to fuse all the obtained perception sensor information to obtain the target perception information; the function flag bit used to represent the currently set function by the user is obtained, and the corresponding out-of-bounds judgment method is determined based on the function flag bit; when the function flag bit is the first function flag bit, it is judged whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain the first judgment result; when the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, the second out-of-bounds judgment method is executed to obtain the second judgment result; when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, the third out-of-bounds judgment method is executed to judge whether the robot is within the preset out-of-bounds distance threshold and obtain the third judgment result; if the third judgment result is that the robot is within the preset out-of-bounds distance threshold, the position information of the safe point is obtained, and the robot is controlled to travel to the safe point according to the preset path, which improves the degree of intelligence and the working efficiency of the robot.

[0108] See Figure 9 As shown, the embodiment of the present application also correspondingly discloses a robot behavior planning device, including:

[0109] A flag bit acquisition module 11, configured to acquire a function flag bit for characterizing the currently set function of the user;

[0110] An out-of-bounds judgment method determination module 12, configured to determine a corresponding out-of-bounds judgment method based on the function flag bit; the out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method;

[0111] A first out-of-bounds judgment module 13, configured to, when the function flag bit is a first function flag bit, judge whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result;

[0112] A second out-of-bounds judgment module 14, configured to, when the function flag bit is a second function flag bit and the first judgment result meets a preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result;

[0113] A third out-of-bounds judgment module 15, configured to, when the function flag bit is a third function flag bit and the second judgment result is that the robot is out of bounds, execute the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result;

[0114] A behavior mode determination module 16, configured to determine and execute a corresponding target robot behavior mode based on the judgment result; the judgment result includes the first judgment result, the second judgment result, and the third judgment result.

[0115] It can be seen that the present application includes: obtaining a function flag bit for characterizing the currently set function of the user, and determining a corresponding out-of-bounds judgment method based on the function flag bit; the out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method; when the function flag bit is the first function flag bit, determining whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result; when the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, executing the second out-of-bounds judgment method to obtain a second judgment result; when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, executing the third out-of-bounds judgment method to determine whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result; determining and executing a corresponding target robot behavior mode based on the judgment result; the judgment result includes the first judgment result, the second judgment result, and the third judgment result. Thus, the present application sets multiple functions for the robot, sets the basis for the robot's out-of-bounds behavior decision according to the user's preference, enables the robot to execute corresponding behavior decisions according to the user's needs, and improves the degree of intelligence and the working efficiency of the robot.

[0116] In some specific embodiments, the flag bit obtaining module 11 specifically includes:

[0117] A memory space application unit, configured to pre-apply a memory space through a controller on the robot, so as to store a grid map in the memory space;

[0118] A target information obtaining unit, configured to obtain target information established by the user on a third-party application; the target information includes a map, a charging path, and a connection path;

[0119] A grid marking information obtaining unit, configured to perform corresponding markings on the grid map based on the target information to obtain corresponding grid marking information;

[0120] A sensing sensor information obtaining unit, configured to obtain corresponding sensing sensor information on sensing sensors installed in different regions of the robot through a sensing region;

[0121] An information fusion unit, configured to fuse all the obtained sensing sensor information by using a spatial fusion filtering method to obtain target sensing information;

[0122] A function flag bit determining unit, configured to obtain a function flag bit for characterizing the currently set function of the user.

[0123] In some specific embodiments, the out-of-bounds judgment method determining module 12 specifically includes:

[0124] An out-of-bounds judgment method determination unit, configured to determine a corresponding out-of-bounds judgment method based on the function flag bit; the out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method.

[0125] In some specific embodiments, the first out-of-bounds judgment module 13 specifically includes:

[0126] A current position information acquisition unit, configured to obtain the current position information of the robot through a positioning module when the function flag bit is a first function flag bit;

[0127] A target position point determination unit, configured to determine a target position point of the current position information on the grid map;

[0128] A grid point acquisition unit, configured to acquire four grid points before, after, left, and right of the target position point;

[0129] A first grid point judgment unit, configured to judge whether all the grid points are within a preset boundary;

[0130] A first determination unit, configured to determine that the first judgment result is that the robot is within the boundary if all the grid points are within the preset boundary;

[0131] A second determination unit, configured to preliminarily determine that the first judgment result is that the robot is out of the boundary if any number of the grid points among all the grid points are not within the preset boundary.

[0132] In some specific embodiments, the second out-of-bounds judgment module 14 specifically includes:

[0133] A third determination unit, configured to determine that the first judgment result meets a preset misjudgment condition when the first judgment result is that if any number of the grid points among all the grid points are not within the preset boundary, then preliminarily determine that the first judgment result is that the robot is out of the boundary;

[0134] An expansion unit, configured to perform a preset expansion operation on the target position point corresponding to the robot when the function flag bit is a second function flag bit and the first judgment result meets the preset misjudgment condition, so as to obtain an expanded grid area;

[0135] A second grid point judgment unit, configured to judge whether all the grid points in the expanded grid area are not within the preset boundary;

[0136] A fourth determination unit, configured to determine that the second judgment result is that the robot is out of the boundary if all the grid points in the expanded grid area are not within the preset boundary;

[0137] A fifth determination unit, configured to determine that the second determination result is that the robot is not out of bounds if there is a grid point within the preset limit among all the grid points in the expanded grid area;

[0138] A task execution unit, configured to control the robot to continue executing the current task when the second determination result is that the robot is not out of bounds.

[0139] In some specific embodiments, the third out-of-bounds determination module 15 specifically includes:

[0140] A position change reason determination unit, configured to determine the reason for the position change of the robot based on the position change information of the robot and the perception sensor information;

[0141] A shutdown and alarm unit, configured to shut down and alarm if the reason for the position change is external interference;

[0142] An obstacle point determination unit, configured to determine whether there is an obstacle point that hinders the movement of the robot within the perception range of the robot based on the target perception information if the reason for the position change is no external interference;

[0143] A first safety determination unit, configured to determine that the first safety determination result is unsafe if there is an obstacle point that hinders the movement of the robot;

[0144] A second safety determination unit, configured to determine that the first safety determination result is safe if there is no obstacle point that hinders the movement of the robot;

[0145] An impassable location determination unit, configured to determine whether there is an impassable location within the perception range of the robot based on the target perception information;

[0146] A third safety determination unit, configured to determine that the second safety determination result is unsafe if there is an impassable location;

[0147] A fourth safety determination unit, configured to determine that the second safety determination result is safe if there is no impassable location;

[0148] A first target position point safety determination unit, configured to determine that the target position point of the robot is safe when both the first safety determination result and the second safety determination result are safe;

[0149] A second target position point safety determination unit, configured to determine that the target position point of the robot is unsafe when any one or more of the first safety determination result and the second safety determination result are unsafe;

[0150] An out-of-bounds distance threshold determination unit, configured to determine whether the robot is within the preset out-of-bounds distance threshold if the target position point is safe, so as to obtain the third determination result.

[0151] In some specific embodiments, the behavior mode determination module 16 specifically includes:

[0152] A robot travel unit, configured to obtain the position information of a safe point and control the robot to travel to the safe point along a preset path if the third determination result is that the robot is within the preset out-of-bounds distance threshold; wherein, the target position point when all the grid points are within the preset boundary is determined as the safe point;

[0153] A behavior mode determination unit, configured to determine and execute a corresponding target robot behavior mode based on the determination result.

[0154] Furthermore, an embodiment of the present application also provides an electronic device. Figure 10 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment, and the content in the figure should not be regarded as any limitation on the scope of use of the present application.

[0155] Figure 10 It is a schematic structural diagram of an electronic device 20 provided by an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the robot behavior planning method disclosed in any of the foregoing embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0156] In this embodiment, the power supply 23 is used to provide a working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of the present application, and no specific limitation is imposed on it here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and no specific limitation is made here.

[0157] In addition, as a carrier for resource storage, the memory 22 may be a read-only memory, a random access memory, a disk, or an optical disc, etc., and the resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be short-term storage or permanent storage.

[0158] Among them, the operating system 221 is used to manage and control each hardware device and computer program 222 on the electronic device 20, and it can be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the robot behavior planning method executed by the electronic device 20 disclosed in any of the foregoing embodiments, the computer program 222 may further include computer programs that can be used to complete other specific tasks.

[0159] Furthermore, an embodiment of the present application also discloses a storage medium in which a computer program is stored. When the computer program is loaded and executed by a processor, the steps of the robot behavior planning method disclosed in any of the foregoing embodiments are implemented.

[0160] In this specification, the various embodiments are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference can be made to the description of the method part for related parts.

[0161] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0162] The above has introduced in detail a robot behavior planning method, device, equipment and storage medium provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A robot behavior planning method is characterized in that it includes: Obtaining a function flag bit for characterizing the currently set function of the user, and determining a corresponding out-of-bounds judgment method based on the function flag bit; The out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method; When the function flag bit is the first function flag bit, judging whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result; When the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result; When the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, execute the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result; Determine and execute a corresponding target robot behavior mode based on the judgment result; The judgment result includes the first judgment result, the second judgment result, and the third judgment result.

2. The robot behavior planning method according to claim 1, wherein Before obtaining the function flag bit for characterizing the currently set function of the user and determining a corresponding out-of-bounds judgment method based on the function flag bit, it further includes: Pre-applying a memory space through a controller on the robot to store a grid map in the memory space; Obtaining target information established by the user on a third-party application; the target information includes a map, a charging path, and a connection path; Performing corresponding markings on the grid map based on the target information to obtain corresponding grid marking information.

3. The robot behavior planning method according to claim 2, wherein The step of when the function flag bit is the first function flag bit, judging whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result includes: When the function flag bit is the first function flag bit, obtaining the current position information of the robot through a positioning module; Determining a target position point of the current position information on the grid map; Obtaining four grid points in the front, back, left, and right of the target position point, and judging whether all the grid points are within a preset boundary; If all the grid points are within the preset boundary, determining that the first judgment result is that the robot is within the boundary; If any number of the grid points among all the grid points are not within the preset boundary, preliminarily determining that the first judgment result is that the robot is not within the boundary.

4. The robot behavior planning method according to claim 3, wherein The step of when the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result includes: When the first judgment result is that if any number of the grid points among all the grid points are not within the preset boundary, preliminarily determining that the first judgment result is that the robot is not within the boundary, determining that the first judgment result meets the preset misjudgment condition; When the function flag bit is the second function flag bit and the first judgment result meets the preset misjudgment condition, performing a preset dilation operation on the target position point corresponding to the robot to obtain a dilated grid area; Determine whether all the grid points in the expanded grid area are not within the preset boundary; If all the grid points in the expanded grid area are not within the preset boundary, determine that the second judgment result is that the robot is out of bounds; If there are grid points within the preset boundary among all the grid points in the expanded grid area, determine that the second judgment result is that the robot is not out of bounds; When the second judgment result is that the robot is not out of bounds, control the robot to continue to execute the current task.

5. The robot behavior planning method according to claim 3 or 4, characterized in that Before obtaining the function flag bit for characterizing the currently set function of the user and determining the corresponding out-of-bounds judgment method based on the function flag bit, it further includes: Obtain the corresponding sensing sensor information on the sensing sensors installed in different areas of the robot through the sensing area; Use the spatial fusion filtering method to fuse all the obtained sensing sensor information to obtain the target sensing information.

6. The robot behavior planning method according to claim 5, wherein Executing the third out-of-bounds judgment method to judge whether the robot is within the preset out-of-bounds distance threshold and obtaining a third judgment result, including: Determine the reason for the position change of the robot based on the position change information of the robot and the sensing sensor information; If the reason for the position change is external force interference, stop the machine and give an alarm; If the reason for the position change is no external force interference, judge whether the target position point of the robot is safe based on the target sensing information and the preset area safety judgment method; If the target position point is safe, judge whether the robot is within the preset out-of-bounds distance threshold to obtain the third judgment result; Correspondingly, determining and executing the corresponding target robot behavior mode based on the judgment result, including: If the third judgment result is that the robot is within the preset out-of-bounds distance threshold, obtain the position information of the safe point, and control the robot to travel to the safe point along the preset path; wherein, the target position point when all the grid points are within the preset boundary is determined as the safe point.

7. The robot behavior planning method according to claim 6, wherein Judging whether the target position point of the robot is safe based on the target sensing information and the preset area safety judgment method, including: Judge whether there are obstacle points in the sensing range of the robot that hinder the movement of the robot based on the target sensing information; If there are obstacle points that hinder the movement of the robot, determine that the first safety judgment result is unsafe; If there are no obstacle points that hinder the movement of the robot, determine that the first safety judgment result is safe; Judge whether there are impassable locations in the sensing range of the robot based on the target sensing information; If there are impassable locations, determine that the second safety judgment result is unsafe; If there are no impassable locations, determine that the second safety judgment result is safe; When both the first safety judgment result and the second safety judgment result are safe, determine that the target position point of the robot is safe; When any one or more of the first safety judgment result and the second safety judgment result are unsafe, it is determined that the target position point of the robot is unsafe.

8. A robot behavior planning device, characterized in that, It includes: A flag bit acquisition module, configured to acquire a function flag bit for characterizing the currently set function of the user; An out-of-bounds judgment method determination module, configured to determine a corresponding out-of-bounds judgment method based on the function flag bit; The out-of-bounds judgment method includes a first out-of-bounds judgment method, a second out-of-bounds judgment method, and a third out-of-bounds judgment method; A first out-of-bounds judgment module, configured to, when the function flag bit is the first function flag bit, judge whether the robot is out of bounds based on the first out-of-bounds judgment method to obtain a first judgment result; A second out-of-bounds judgment module, configured to, when the function flag bit is the second function flag bit and the first judgment result meets a preset misjudgment condition, execute the second out-of-bounds judgment method to obtain a second judgment result; A third out-of-bounds judgment module, configured to, when the function flag bit is the third function flag bit and the second judgment result is that the robot is out of bounds, execute the third out-of-bounds judgment method to judge whether the robot is within a preset out-of-bounds distance threshold and obtain a third judgment result; A behavior mode determination module, configured to determine and execute a corresponding target robot behavior mode based on the judgment result; The judgment result includes the first judgment result, the second judgment result, and the third judgment result.

9. An electronic device, characterized in that, It includes: A memory, configured to store a computer program; A processor, configured to execute the computer program to implement the steps of the robot behavior planning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, For storing a computer program; wherein, when the computer program is executed by the processor, it implements the robot behavior planning method according to any one of claims 1 to 7.

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