Obstacle detection method, device, robot, equipment and medium

Abstract

The present disclosure proposes an obstacle detection method, device, robot, equipment and medium, the method comprising: obtaining the command speed and moving speed of a movable object at the detection time to obtain the candidate detection speed of the movable object at the detection time; obtaining the detection time set to which the detection time belongs, and obtaining the candidate detection speed set corresponding to the detection time set according to the candidate detection speed; obtaining the target detection speed of the movable object according to the candidate detection speed set; identifying whether there is an obstacle in the forward area of ​​the movable object according to the target detection speed to obtain the target obstacle detection result corresponding to the movable object. In a scene without visual information, obstacle detection of the movable object is realized, the accuracy of obstacle detection of the movable object is improved, the influence of obstacles on the walking of the movable object is reduced, the obstacle avoidance accuracy of the movable object is improved, and the flexibility and stability of the movable object are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of bionic robots, and in particular to an obstacle detection method, device, robot, equipment and medium. Background Art

[0002] With the development of technology, bionic robots are becoming more and more helpful to people's lives and work. In the process of walking, the bionic robot may encounter obstacles. In related technologies, a corresponding visual information acquisition module can be set for the bionic robot. The visual signals collected by the visual information acquisition module can be used to realize the obstacle avoidance of the bionic robot.

[0003] In this scenario, when the visual information acquisition module is not configured or operates abnormally, it may have a certain degree of impact on the bionic robot's obstacle avoidance. Summary of the invention

[0004] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, a first aspect of the present disclosure proposes an obstacle detection method.

[0006] A second aspect of the present disclosure provides an obstacle detection device.

[0007] A third aspect of the present disclosure provides a robot.

[0008] A fourth aspect of the present disclosure provides an electronic device.

[0009] A fifth aspect of the present disclosure provides a computer-readable storage medium.

[0010] In a first aspect, the present disclosure proposes an obstacle detection method, which includes: obtaining an instruction speed and a moving speed of a movable object at a detection time to obtain a candidate detection speed of the movable object at the detection time; obtaining a detection time set to which the detection time belongs, and obtaining a candidate detection speed set corresponding to the detection time set based on the candidate detection speeds; obtaining a target detection speed of the movable object based on the candidate detection speed set; and identifying whether there is an obstacle in a forward travel area of ​​the movable object based on the target detection speed to obtain a target obstacle detection result corresponding to the movable object.

[0011] In addition, the obstacle detection method proposed in the first aspect of the present disclosure may also have the following additional technical features:

[0012] According to one embodiment of the present disclosure, the step of acquiring the command speed and the moving speed of a movable object at a detection time to obtain a candidate detection speed of the movable object at the detection time includes: acquiring a speed control instruction of the movable object at the detection time, and determining the command speed of the movable object at the detection time according to the speed control instruction; acquiring a difference speed between the command speed and the moving speed, and determining the candidate detection speed of the movable object at the detection time according to the difference speed.

[0013] According to an embodiment of the present disclosure, obtaining the detection time set to which the detection time belongs, and obtaining the candidate detection speed set corresponding to the detection time set based on the candidate detection speeds, includes: obtaining multiple detection times within the detection time set; and forming the candidate detection speed set corresponding to the detection time set based on the candidate detection speeds at each detection time in the multiple detection times.

[0014] According to an embodiment of the present disclosure, acquiring the target detection speed of the movable object according to the candidate detection speed set includes: performing algorithmic processing on each candidate detection speed in the candidate detection speed set according to a preset target detection speed algorithm to obtain the processed target detection speed.

[0015] According to an embodiment of the present disclosure, identifying whether there is an obstacle in the front area of ​​the movable object according to the target detection speed to obtain a target obstacle detection result corresponding to the movable object includes: acquiring a detection speed threshold corresponding to the movable object; in response to the target detection speed being greater than or equal to the detection speed threshold, determining that the obstacle is identified to exist in the front area, and determining the existence of the obstacle in the front area as the target obstacle detection result; in response to the target detection speed being less than the detection speed threshold, determining that the obstacle is identified to not exist in the front area, and determining the existence of the obstacle in the front area as the target obstacle detection result.

[0016] According to an embodiment of the present disclosure, after identifying whether there is an obstacle in the front area of ​​the movable object according to the target detection speed to obtain the target obstacle detection result corresponding to the movable object, it also includes: in response to the target obstacle detection result indicating that the obstacle exists in the front area of ​​the movable object, obtaining a gait update curve of the movable object; according to the gait update curve, controlling the movable object to adjust to an obstacle avoidance gait to avoid the obstacle in the front area.

[0017] According to one embodiment of the present disclosure, the method further includes: in response to the target obstacle detection result indicating that the obstacle exists in the forward area, starting a gait switching process of the movable object, and acquiring the gait update curve of the movable object based on the gait switching process.

[0018] According to one embodiment of the present disclosure, after controlling the movable object to adjust to an obstacle avoidance gait according to the gait update curve to avoid the obstacle in the forward area, the method further includes: acquiring a historical gait of the movable object; in response to identifying that the movable object has crossed the obstacle, adjusting the movable object from the obstacle avoidance gait to the historical gait; in response to the holding time of the obstacle avoidance gait of the movable object being greater than or equal to a preset obstacle avoidance gait time threshold, adjusting the movable object from the obstacle avoidance gait to the historical gait.

[0019] According to a second aspect of the present disclosure, an obstacle detection device is provided, which includes: a first acquisition module, used to acquire an instruction speed and a moving speed of a movable object at a detection time, so as to obtain a candidate detection speed of the movable object at the detection time; a second acquisition module, used to acquire a detection time set to which the detection time belongs, and acquire a candidate detection speed set corresponding to the detection time set according to the candidate detection speed; a third acquisition module, used to acquire a target detection speed of the movable object according to the candidate detection speed set; and a detection module, used to identify whether there is an obstacle in a forward travel area of ​​the movable object according to the target detection speed, so as to obtain a target obstacle detection result corresponding to the movable object.

[0020] In addition, the obstacle detection device provided in the second aspect of the present disclosure may also have the following additional technical features:

[0021] According to one embodiment of the present disclosure, the first acquisition module is further used to: obtain a speed control instruction of the movable object at the detection time, and determine the instruction speed of the movable object at the detection time according to the speed control instruction; obtain a difference speed between the instruction speed and the moving speed, and determine the candidate detection speed of the movable object at the detection time according to the difference speed.

[0022] According to one embodiment of the present disclosure, the second acquisition module is further used to: acquire multiple detection times in the detection time set; and form the candidate detection speed set corresponding to the detection time set based on the candidate detection speeds at each detection time in the multiple detection times.

[0023] According to an embodiment of the present disclosure, the third acquisition module is further used to: perform algorithm processing on each candidate detection speed in the candidate detection speed set according to a preset target detection speed algorithm to obtain the processed target detection speed.

[0024] According to one embodiment of the present disclosure, the detection module is further used to: obtain a detection speed threshold corresponding to the movable object; in response to the target detection speed being greater than or equal to the detection speed threshold, determine that the obstacle is identified to exist in the forward area, and determine the existence of the obstacle in the forward area as the target obstacle detection result; in response to the target detection speed being less than the detection speed threshold, determine that the obstacle is identified to not exist in the forward area, and determine the existence of the obstacle in the forward area as the target obstacle detection result.

[0025] According to one embodiment of the present disclosure, the device also includes a gait update module, which is used to: obtain a gait update curve of the movable object in response to the target obstacle detection result indicating that the obstacle exists in the forward area of ​​the movable object; and control the movable object to adjust to an obstacle avoidance gait according to the gait update curve to avoid the obstacle in the forward area.

[0026] According to one embodiment of the present disclosure, the gait update module is also used to: in response to the target obstacle detection result indicating that the obstacle exists in the forward area, start the gait switching process of the movable object, and obtain the gait update curve of the movable object based on the gait switching process.

[0027] According to one embodiment of the present disclosure, the gait update module is further used to: obtain the historical gait of the movable object; in response to identifying that the movable object has crossed the obstacle, adjust the movable object from the obstacle avoidance gait to the historical gait; in response to the maintenance time of the obstacle avoidance gait of the movable object being greater than or equal to a preset obstacle avoidance gait time threshold, adjust the movable object from the obstacle avoidance gait to the historical gait.

[0028] A third aspect of the present disclosure provides a robot, which is used to implement the obstacle detection method provided in the first aspect.

[0029] A fourth aspect of the present disclosure proposes an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the obstacle detection method proposed in the first aspect above.

[0030] A fifth aspect of the present disclosure proposes a computer-readable storage medium. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the obstacle detection method proposed in the first aspect above.

[0031] The obstacle detection method and device proposed in the present disclosure obtain the command speed and moving speed of the movable object at the detection time, thereby obtaining the corresponding candidate detection speed, and then obtaining the corresponding candidate detection speed set according to the candidate detection speed at each detection time in the detection time set, and obtaining the target detection speed based on the candidate detection speed set, so as to identify whether there is an obstacle in the forward area according to the target detection speed, and obtain the corresponding target obstacle detection result. In the present disclosure, obstacle detection and identification are performed on the forward area of ​​the movable object by the target detection speed of the movable object, and in the scene without visual information, obstacle detection of the movable object is realized, the accuracy of obstacle detection of the movable object is improved, the obstacle detection method of the movable object is optimized, and the influence of obstacles on the walking of the movable object is reduced. In the scene of obstacle avoidance based on the target obstacle detection result, the obstacle avoidance accuracy of the movable object is improved, the probability of abnormal situation of the movable object due to being blocked by obstacles is reduced, and the flexibility and stability of the movement of the movable object are improved. In the scene of operation based on the movable object, the probability of the situation that the movable object cannot complete the operation due to obstacle blocking is reduced, and the stability of the operation of the movable object is improved.

[0032] It should be understood that the contents described in the present disclosure are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0034] Figure 1 A flowchart of an obstacle detection method according to an embodiment of the present disclosure;

[0035] Figure 2 is a flowchart of an obstacle detection method according to another embodiment of the present disclosure;

[0036] Figure 3 is a flowchart of an obstacle detection method according to another embodiment of the present disclosure;

[0037] Figure 4 (a) is a schematic diagram of a gait curve according to an embodiment of the present disclosure;

[0038] Figure 4(b) is a schematic diagram of a speed curve of a movable object according to an embodiment of the present disclosure;

[0039] Figure 4 (c) is a schematic diagram of an acceleration velocity curve of a movable object according to an embodiment of the present disclosure;

[0040] Figure 5 is a flowchart of an obstacle detection method according to another embodiment of the present disclosure;

[0041] Figure 6 Schematic diagram of the structure of an obstacle detection device according to an embodiment of the present disclosure;

[0042] Figure 7 A block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0044] An obstacle detection method, apparatus, robot, device, and medium proposed in an embodiment of the present disclosure are described below with reference to the accompanying drawings.

[0045] Figure 1 FIG. 1 is a flow chart of an obstacle detection method according to an embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0046] S101, acquiring a command speed and a moving speed of a movable object at a detection time to obtain a candidate detection speed of the movable object at the detection time.

[0047] In some industrial scenarios, robots can be used to enter certain areas to perform operations. For example, robots can enter bridges and tunnels that are difficult for people to reach to perform maintenance operations. Robots can also enter dangerous areas such as the deep sea and craters to collect data.

[0048] In this scenario, the robot can change its working position by walking in the area. During the robot's walking, there may be obstacles on its way forward that hinder its walking. In this scenario, the robot needs to detect the obstacles on its way forward and cross them.

[0049] Optionally, robots that can walk and move in the area can be marked as movable objects, wherein the movable objects can be bionic robots, such as foot robots, or other types of movable robots, which are not specifically limited here.

[0050] In the embodiment of the present disclosure, relevant analysis may be performed on the moving speed of the movable object, and then it may be identified whether there are obstacles in the forward travel area of ​​the movable object that hinder its movement based on the analysis result.

[0051] Optionally, the current time can be marked as the detection time of the movable object. The movable object is provided with a corresponding speed controller, and the speed controller can realize speed control of the movable object through instruction information. In this scenario, the instruction sent by the speed controller at the detection time can be obtained, and the speed carried in the instruction can be marked as the instruction speed corresponding to the movable object.

[0052] Accordingly, there may be a certain degree of difference between the actual moving speed of the movable object and the command speed. In this scenario, the actual walking speed of the movable object can be collected by a preset speed sensor or other speed information collection device, wherein the actual walking speed of the movable object collected at the detection time can be marked as the moving speed of the movable object at the detection time.

[0053] Furthermore, the command speed and the moving speed are algorithmically processed based on a preset algorithm, and then a speed value for obstacle detection is obtained according to the result of the algorithm processing, which is marked as a candidate detection speed of the movable object at the detection time.

[0054] S102, obtaining a detection time set to which the detection time belongs, and obtaining a candidate detection speed set corresponding to the detection time set according to the candidate detection speeds.

[0055] In the embodiment of the present disclosure, a plurality of detection times may be set for the movable object, and detection and identification are performed on whether there are obstacles in the forward travel area of ​​the movable object according to the candidate detection speeds of the plurality of detection times.

[0056] A set consisting of multiple detection times may be marked as a detection time set, and a set consisting of candidate detection speeds at each detection time in the detection time set may be marked as a candidate detection speed set corresponding to the detection time set.

[0057] S103, obtaining a target detection speed of a movable object according to the candidate detection speed set.

[0058] In the disclosed embodiment, a brief abnormal situation may occur while the robot is walking. When the abnormal situation occurs, the candidate detection speed collected at the corresponding detection time may affect the accuracy of the obstacle detection result to a certain extent.

[0059] In this scenario, each candidate detection speed in the candidate detection speed set can be further processed based on a preset algorithm, and the speed value obtained by the algorithm processing result can be marked as the target detection speed of the movable object, thereby realizing the detection of obstacles in the forward area according to the target detection speed.

[0060] S104, identifying whether there is an obstacle in the forward area of ​​the movable object according to the target detection speed, so as to obtain a target obstacle detection result corresponding to the movable object.

[0061] In the embodiment of the present disclosure, the target area that the movable object needs to walk to at the next moment can be marked as the forward area of ​​the movable object.

[0062] Optionally, a preset obstacle recognition and detection strategy can be obtained, and the target detection speed can be analyzed according to the strategy, so as to identify whether there is an obstacle in the forward area of ​​the movable object according to the analysis result, and then obtain the corresponding obstacle detection result and mark it as the target obstacle detection result of the movable object.

[0063] The obstacle detection method proposed in the present disclosure obtains the command speed and moving speed of the movable object at the detection time, thereby obtaining the corresponding candidate detection speed, and then obtains the corresponding candidate detection speed set according to the candidate detection speed at each detection time in the detection time set, and obtains the target detection speed based on the candidate detection speed set, so as to identify whether there is an obstacle in the forward area according to the target detection speed, and obtain the corresponding target obstacle detection result. In the present disclosure, obstacle detection and identification are performed on the forward area of ​​the movable object by the target detection speed of the movable object, and in the scene without visual information, obstacle detection of the movable object is realized, the accuracy of obstacle detection of the movable object is improved, the obstacle detection method of the movable object is optimized, and the influence of obstacles on the walking of the movable object is reduced. In the scene of obstacle avoidance based on the target obstacle detection result, the obstacle avoidance accuracy of the movable object is improved, the probability of abnormal situation of the movable object due to being blocked by obstacles is reduced, and the flexibility and stability of the movement of the movable object are improved. In the scene of performing operations based on the movable object, the probability of the movable object being unable to complete the operation due to obstacle blocking is reduced, and the stability of the movable object in performing operations is improved.

[0064] In the above-mentioned embodiment, the acquisition of the target obstacle detection result of the movable object can be combined with Figure 2 Further understanding, Figure 2 FIG. 1 is a flow chart of an obstacle detection method according to another embodiment of the present disclosure. Figure 2 As shown, the method includes:

[0065] S201, obtaining a speed control instruction of a movable object at a detection time, and determining a command speed of the movable object at the detection time according to the speed control instruction.

[0066] In the embodiment of the present disclosure, the speed instruction sent by the speed controller of the movable device at the detection time can be marked as the speed control instruction at the detection time, wherein the speed control instruction carries the speed value that the speed controller wants the movable speed to reach, and the speed value is the command speed of the movable object.

[0067] S202, obtaining a difference speed between the instruction speed and the moving speed, and determining a candidate detection speed of the movable object at the detection time according to the difference speed.

[0068] In the disclosed embodiment, there may be a difference between the actual moving speed of the movable object and the instruction speed carried in its instruction, and the difference between the two can be marked as the difference speed between the instruction speed and the moving speed.

[0069] Among them, the differential speed can be determined based on the difference between the instruction speed and the moving speed. In this scenario, the speed difference between the instruction speed and the moving speed can be obtained, and the speed difference can be determined as the differential speed between the two. The absolute value of the speed difference can also be obtained, and the absolute value can be determined as the differential speed between the two.

[0070] Further, the acquired difference speed is determined as a candidate detection speed of the movable object at the detection time.

[0071] S203, obtaining multiple detection times in the detection time set, and forming a candidate detection speed set corresponding to the detection time set according to the candidate detection speed at each detection time in the multiple detection times.

[0072] In the disclosed embodiment, candidate detection speeds for each of the multiple detection times in the detection time set may be obtained, and each candidate detection speed may be constructed based on a set construction method in related technologies, thereby obtaining a candidate detection speed set composed of the candidate detection speeds for each of the multiple detection times.

[0073] S204, performing algorithm processing on each candidate detection speed in the candidate detection speed set according to a preset target detection speed algorithm to obtain a processed target detection speed.

[0074] As a possible implementation method, the target detection speed algorithm can be set according to the accumulation algorithm in the relevant technology. In this scenario, each candidate detection speed in the candidate detection speed set can be accumulated based on the target detection speed algorithm to obtain the accumulated value of each candidate detection speed, wherein the accumulated value can be used as the target detection speed used for obstacle recognition detection.

[0075] As an example, the algorithm formula for the accumulation process can be as follows:

[0076]

[0077] In the above formula, v cmd represents the command velocity of the movable object, v est represents the moving speed of the movable object, t represents the first detection time in the detection time set of the movable object, and t+2 represents the last detection time in the detection time set.

[0078] In this example, the detection time set spans 2 seconds. It can be understood that within the 2-second time range, data collection of the command speed and the movement speed is performed based on the preset 500 Hz control frequency, and the candidate detection speeds of the 1000 detection times within the 2-second time range are obtained, and then the target detection speed corresponding to the 2-second time range is obtained.

[0079] As another possible implementation method, the target detection speed algorithm can be set according to the mean algorithm in the relevant technology. In this scenario, the mean algorithm can be performed on each candidate detection speed in the candidate detection speed set based on the target detection speed algorithm, and then the average speed between the candidate detection speeds can be obtained according to the result of the algorithm processing, which is used as the target detection speed of the movable object.

[0080] It should be noted that the target detection speed algorithm can also be constructed based on other data processing algorithms, which are not specifically limited here.

[0081] S205, identifying whether there is an obstacle in the forward area of ​​the movable object according to the target detection speed, so as to obtain a target obstacle detection result corresponding to the movable object.

[0082] Optionally, a detection speed threshold corresponding to the movable object is obtained.

[0083] In the disclosed embodiment, there is a corresponding detection speed threshold for the target detection speed, wherein relevant historical data or relevant simulation data of the movable object can be analyzed and processed, and then a threshold corresponding to the detection speed is constructed based on the acquired data analysis results through a preset threshold setting method, thereby obtaining the detection speed threshold corresponding to the movable object.

[0084] In some implementations, in response to the target detection speed being greater than or equal to the detection speed threshold, it is determined that an obstacle exists in the forward travel area, and the presence of the obstacle in the forward travel area is determined as the target obstacle detection result.

[0085] In an embodiment of the present disclosure, when the target detection speed is greater than or equal to the detection speed threshold, it can be determined that, based on the current gait setting, the movable object may not be able to perform normal walking operations in its corresponding forward area. It can be understood that there are obstacles in the forward area in the current scene that hinder the movable object from performing normal walking operations.

[0086] It can be determined that an obstacle of a movable object is identified in the forward area in the current scene, and further, the identification result can be determined as a target obstacle detection result corresponding to the movable object.

[0087] In some other implementations, in response to the target detection speed being less than the detection speed threshold, it is determined that no obstacle exists in the forward travel area, and the absence of the obstacle in the forward travel area is determined as the target obstacle detection result.

[0088] In the disclosed embodiment, when the target detection speed is less than a preset detection speed threshold, it can be determined that, based on the current gait setting, the movable object can perform normal walking operations in its corresponding forward area. It can be understood that there are no objects that affect the walking of the movable object in the forward area in the current scene.

[0089] In this scenario, it can be determined that no obstacle that hinders the movable object from walking is identified in the forward area of ​​the current scenario. Further, the identification result can be determined as the target obstacle detection result corresponding to the movable object.

[0090] The obstacle detection method proposed in the present invention detects and identifies obstacles in the forward area of ​​the movable object through the target detection speed of the movable object, realizes obstacle detection of the movable object in the scene without visual information, improves the accuracy of obstacle detection of the movable object, optimizes the obstacle detection method of the movable object, and reduces the influence of obstacles on the walking of the movable object.

[0091] In the embodiment of the present disclosure, after obtaining the target obstacle detection result, if there is a movable object, it may be necessary to perform gait switching processing, which can be combined with Figure 3 understand, Figure 3 FIG. 1 is a flow chart of an obstacle detection method according to another embodiment of the present disclosure. Figure 3 As shown, the method includes:

[0092] S301 , in response to a target obstacle detection result indicating that an obstacle exists in a forward travel area of ​​a movable object, a gait update curve of the movable object is obtained.

[0093] In the embodiment of the present disclosure, when the target obstacle detection result indicates that there is an obstacle in the forward area, it can be determined that based on the current gait setting, the movable object cannot perform obstacle avoidance operations such as crossing or bypassing the obstacle. In this scenario, the gait of the movable object needs to be switched.

[0094] Optionally, in response to the target obstacle detection result indicating that there is an obstacle in the forward area, a gait switching process of the movable object is started, and a gait update curve of the movable object is obtained based on the gait switching process.

[0095] In the disclosed embodiment, the movable object has a set gait curve, and the movable object can move based on the set gait curve, wherein the gait curve can be set based on the human walking posture, or can be set based on the human crossing or bypassing posture, which is not specifically limited here.

[0096] In a scenario where there is an obstacle in the forward area and the movable object needs to switch gait, the gait curve that needs to be updated for the movable object can be marked as the gait update curve of the movable object. Optionally, the movable object has a preset gait switching process. When an obstacle is identified in the forward area, the gait switching process can be started. The new gait curve is calculated and set through the gait switching process, thereby obtaining a new gait update curve for the movable object to switch.

[0097] As an example, the gait curve of the movable object is set to be a Bezier curve (Bézier Curve, Bezier curve) composed of 6 position control points. The shape of the gait curve can be determined based on the 6 position control points, such as Figure 4 As shown in (a), through Figure 4 The six position control points shown in (a) can determine the movement trajectory of the foot end of the movable object, thereby obtaining the gait curve of the movable object. The movable object can be based on Figure 4 (a) shows a gait curve in which the foot is moved backward, then upward, and then forward again to achieve walking under the gait curve.

[0098] like Figure 4 As shown, Figure 4 Also includes Figure 4 (b) and Figure 4 (c) such as Figure 4 As shown in (b), Figure 4 (b) shows the movable object based on Figure 4 (a) The gait curve corresponding to the moving speed when moving, and Figure 4 (c) Figure 4 (c) shows the movable object based on Figure 4The curve corresponding to the acceleration when the gait curve (a) moves is given by Figure 4 (b) and Figure 4 (c) It can be seen that both the moving speed and acceleration are smooth curves. In this scenario, based on Figure 4 (a) Figure 4 (b) and Figure 4 (c) The movable object that moves along the curve shown can move based on a stable and coherent state.

[0099] In this example, the De Casteljau algorithm can be used to calculate and draw the Bézier Curve. It can be understood that the De Casteljau algorithm can perform linear interpolation on each group of adjacent position control points to generate a new point set, and then use the interpolated new points as control points for the next recursive process to continue linear interpolation. In this scenario, the above process can be repeated until only one point is left, and the remaining point can be determined as the corresponding trajectory point on the Bézier Curve.

[0100] S302: According to the gait update curve, the movable object is controlled to adjust to an obstacle avoidance gait to avoid obstacles in the forward area.

[0101] In the disclosed embodiment, after obtaining a new gait update curve of the movable object, the gait of the movable object can be switched according to the gait update curve, and obstacle avoidance processing can be performed for obstacles in the forward area according to the new gait after the switch. In this scenario, the new gait after the switch can be marked as the obstacle avoidance gait of the movable object.

[0102] The obstacle avoidance gait of the movable object may be a crossing gait, a detour gait, or other gaits capable of avoiding obstacles in the forward area, which are not specifically limited here.

[0103] As a possible implementation method, in a scenario where the obstacle avoidance gait is a striding gait, based on the gait update curve corresponding to the striding gait, the movable object can be adjusted from the currently set gait to the striding gait corresponding to the curve. It can be understood that when the movable object moves based on the striding gait, the leg lifting height at the foot end and the forward stride length can stride over obstacles in the forward area, and then continue to move after crossing the obstacle.

[0104] As another possible implementation method, in a scenario where the obstacle avoidance gait is a circumventing gait, based on the gait update curve corresponding to the circumventing gait, the movable object can be adjusted from the currently set gait to the circumventing gait corresponding to the curve. It can be understood that when the movable object moves based on the circumventing gait, the leg lifting height, leg lifting angle, forward step length and forward step direction at the foot end can bypass obstacles in the forward area, and then continue to move after bypassing the obstacles.

[0105] In the disclosed embodiment, after the movable object passes through an obstacle, its gait may be adjusted again, and optionally, the historical gait of the movable object may be obtained.

[0106] In the disclosed embodiment, the gait of the movable object before adjusting to the obstacle avoidance gait may be marked as the historical gait of the movable object, wherein the historical gait may be a walking gait or other movable gaits, which is not specifically limited here.

[0107] In some implementations, in response to identifying that the movable object has traversed an obstacle, the movable object is adjusted from the obstacle avoidance gait to the historical gait.

[0108] In the disclosed embodiment, whether the movable object has crossed an obstacle can be identified based on a preset identification strategy. When it is identified that the movable object has crossed the obstacle, it can be determined that the movable object in the current scene does not need to continue to move using the obstacle avoidance gait, and the movable object can be adjusted from the obstacle avoidance gait to the previous historical gait.

[0109] As an example, obstacle recognition can be performed on the corresponding area in the opposite direction of the moving direction of the movable object according to a preset recognition strategy. When a complete obstacle is recognized in the area, it can be determined that the current movable object has crossed the obstacle.

[0110] Furthermore, the obstacle avoidance gait may be switched for the movable object that has crossed the obstacle, and the obstacle avoidance gait after crossing the obstacle may be adjusted to the previous historical gait, and the movable object continues to move.

[0111] In some other implementations, in response to the obstacle avoidance gait of the movable object being maintained for a duration greater than or equal to a preset obstacle avoidance gait duration threshold, the movable object is adjusted from the obstacle avoidance gait to the historical gait.

[0112] In the disclosed embodiment, after adjusting the movable object to the obstacle avoidance gait, time statistics can be performed on the scene in which the movable object is set to the obstacle avoidance gait, and the counted duration can be marked as the maintenance duration of the obstacle avoidance gait of the movable object.

[0113] Optionally, when the movable object crosses over an obstacle or bypasses an obstacle, the obstacle crossing operation implemented based on the obstacle avoidance gait has a corresponding operation duration, and whether the movable object has crossed the obstacle can be identified based on the duration.

[0114] Among them, the acquired maintenance time of the obstacle avoidance gait of the movable object can be compared with the preset obstacle avoidance gait time threshold. When the comparison result indicates that the maintenance time of the obstacle avoidance gait is greater than or equal to the preset obstacle avoidance gait time threshold, it can be determined that the current movable object can cross the obstacle based on the distance moved forward by the obstacle avoidance gait, and then it can be determined that the movable object in the current scene has crossed the detected obstacle.

[0115] Furthermore, when it is recognized that the movable object has crossed the obstacle, the movable object can be adjusted from the obstacle avoidance gait to the historical gait and continue walking.

[0116] The obstacle detection method proposed in the present disclosure detects and identifies obstacles in the forward area of ​​the movable object through the target detection speed of the movable object, realizes obstacle detection of the movable object in the scenario without visual information, improves the accuracy of obstacle detection of the movable object, optimizes the obstacle detection method of the movable object, reduces the influence of obstacles on the walking of the movable object, improves the obstacle avoidance accuracy of the movable object in the scenario of avoiding obstacles based on the target obstacle detection result, reduces the probability of abnormal situations caused by the movable object being blocked by obstacles, improves the flexibility and stability of the movement of the movable object, and reduces the probability of the movable object being unable to complete the operation due to obstacle blocking in the scenario of operating based on the movable object, thereby improving the stability of the movable object in operating.

[0117] To better understand the above embodiments, Figure 5 , Figure 5 FIG. 1 is a flow chart of an obstacle detection method according to another embodiment of the present disclosure. Figure 5 As shown, the method includes:

[0118] S501, whether an obstacle is identified in the forward area of ​​the movable object. In the disclosed embodiment, the moving speed and the command speed of the movable object at the detection time can be collected to obtain the difference speed between the two, thereby obtaining the candidate detection speed of the movable object at the detection time.

[0119] Furthermore, a target detection speed corresponding to the movable object is obtained according to the candidate detection speed set, so as to identify whether there is an obstacle in the forward travel area of ​​the movable object according to the target detection speed.

[0120] The movable object may be a bionic robot, such as a quadruped robot, or may be other types of movable robots, which are not specifically limited here.

[0121] S502: If an obstacle is identified in the forward area of ​​the movable object, the movable object is adjusted to a crossing gait.

[0122] In the disclosed embodiment, if it is identified that there is an obstacle in the forward travel area of ​​the movable object, it can be determined that the movable object in the current gait setting cannot cross the obstacle.

[0123] Optionally, the movable object may be adjusted to a crossing gait in the obstacle avoidance gait, and the movable object may cross the obstacle based on the crossing gait.

[0124] S503: If no obstacle is identified in the forward area of ​​the movable object, the movable object is kept in the historical gait.

[0125] Optionally, if it is identified that there is no obstacle in the forward travel area of ​​the movable object, the movable object can continue to move based on the currently set gait, wherein the currently set gait of the movable object can be marked as the historical gait of the movable object.

[0126] The historical gait may be a walking gait or other moving gaits, which is not specifically limited here.

[0127] S504: Identify whether the movable object has crossed the obstacle.

[0128] Optionally, if it is recognized that the movable object has crossed an obstacle, the movable object is adjusted to a historical gait.

[0129] And, if it is recognized that the movable object has not crossed the obstacle, the movable object is kept moving based on the crossing gait until it is recognized that the movable object has crossed the obstacle, and then it is adjusted to the previous historical gait.

[0130] The obstacle detection method proposed in the present disclosure detects and identifies obstacles in the forward area of ​​the movable object through the target detection speed of the movable object, realizes obstacle detection of the movable object in the scenario without visual information, improves the accuracy of obstacle detection of the movable object, optimizes the obstacle detection method of the movable object, reduces the influence of obstacles on the walking of the movable object, improves the obstacle avoidance accuracy of the movable object in the scenario of avoiding obstacles based on the target obstacle detection result, reduces the probability of abnormal situations caused by the movable object being blocked by obstacles, improves the flexibility and stability of the movement of the movable object, and reduces the probability of the movable object being unable to complete the operation due to obstacle blocking in the scenario of operating based on the movable object, thereby improving the stability of the movable object in operating.

[0131] Corresponding to the obstacle detection methods proposed in the above-mentioned embodiments, an embodiment of the present disclosure further proposes an obstacle detection device. Since the obstacle detection device proposed in the embodiment of the present disclosure corresponds to the obstacle detection methods proposed in the above-mentioned embodiments, the implementation method of the above-mentioned obstacle detection method is also applicable to the obstacle detection device proposed in the embodiment of the present disclosure, and will not be described in detail in the following embodiments.

[0132] Figure 6 FIG. 1 is a schematic diagram of the structure of an obstacle detection device according to an embodiment of the present disclosure. Figure 6 As shown, the obstacle detection device 600 includes a first acquisition module 61, a second acquisition module 62, a third acquisition module 63 and a detection module 64, wherein:

[0133] A first acquisition module 61 is used to acquire the command speed and the moving speed of the movable object at the detection time to obtain a candidate detection speed of the movable object at the detection time;

[0134] A second acquisition module 62 is used to acquire the detection time set to which the detection time belongs, and acquire a candidate detection speed set corresponding to the detection time set according to the candidate detection speeds;

[0135] A third acquisition module 63, configured to acquire a target detection speed of a movable object according to a candidate detection speed set;

[0136] The detection module 64 is used to identify whether there is an obstacle in the forward area of ​​the movable object according to the target detection speed, so as to obtain a target obstacle detection result corresponding to the movable object.

[0137] In the disclosed embodiment, the first acquisition module 61 is also used to: obtain the speed control instruction of the movable object at the detection time, and determine the instruction speed of the movable object at the detection time according to the speed control instruction; obtain the difference speed between the instruction speed and the moving speed, and determine the candidate detection speed of the movable object at the detection time according to the difference speed.

[0138] In the disclosed embodiment, the second acquisition module 62 is further used to: acquire multiple detection times in the detection time set; and compose a candidate detection speed set corresponding to the detection time set according to the candidate detection speeds at each detection time in the multiple detection times.

[0139] In the disclosed embodiment, the third acquisition module 63 is further used to: perform algorithm processing on each candidate detection speed in the candidate detection speed set according to a preset target detection speed algorithm to obtain a processed target detection speed.

[0140] In the disclosed embodiment, the detection module 64 is further used to: obtain a detection speed threshold corresponding to the movable object; in response to a target detection speed being greater than or equal to the detection speed threshold, determine that an obstacle is identified in the forward area, and determine the existence of an obstacle in the forward area as a target obstacle detection result; in response to a target detection speed being less than the detection speed threshold, determine that an obstacle is identified in the forward area, and determine the absence of an obstacle in the forward area as a target obstacle detection result.

[0141] In the embodiment of the present disclosure, the device also includes a gait update module, which is used to: obtain a gait update curve of the movable object in response to the target obstacle detection result indicating that there is an obstacle in the forward area of ​​the movable object; and control the movable object to adjust to an obstacle avoidance gait according to the gait update curve to avoid the obstacles in the forward area.

[0142] In the disclosed embodiment, the gait update module is further used to: in response to the target obstacle detection result indicating that there is an obstacle in the forward area, start the gait switching process of the movable object, and obtain the gait update curve of the movable object based on the gait switching process.

[0143] In the disclosed embodiment, the gait update module is further used to: obtain the historical gait of the movable object; in response to identifying that the movable object has crossed an obstacle, adjust the movable object from the obstacle avoidance gait to the historical gait; in response to the maintenance time of the obstacle avoidance gait of the movable object being greater than or equal to a preset obstacle avoidance gait time threshold, adjust the movable object from the obstacle avoidance gait to the historical gait.

[0144] The obstacle detection device proposed in the present disclosure obtains the command speed and moving speed of the movable object at the detection time, thereby obtaining the corresponding candidate detection speed, and then obtains the corresponding candidate detection speed set according to the candidate detection speed at each detection time in the detection time set, and obtains the target detection speed based on the candidate detection speed set, so as to identify whether there is an obstacle in the forward area according to the target detection speed, and obtain the corresponding target obstacle detection result. In the present disclosure, obstacle detection and identification is performed on the forward area of ​​the movable object by the target detection speed of the movable object, and in the scene without visual information, obstacle detection of the movable object is realized, the accuracy of obstacle detection of the movable object is improved, the obstacle detection method of the movable object is optimized, and the influence of obstacles on the walking of the movable object is reduced. In the scene of obstacle avoidance based on the target obstacle detection result, the obstacle avoidance accuracy of the movable object is improved, the probability of abnormal situation of the movable object due to being blocked by obstacles is reduced, and the flexibility and stability of the movement of the movable object are improved. In the scene of performing operations based on the movable object, the probability of the movable object being unable to complete the operation due to obstacle blocking is reduced, and the stability of the movable object in performing operations is improved.

[0145] In order to achieve the above embodiments, the present disclosure further provides a robot, wherein the robot is used to implement the obstacle detection method proposed in the above embodiments.

[0146] To achieve the above embodiments, the present disclosure also provides an electronic device, a computer-readable storage medium, and a computer program product.

[0147] Figure 7 is a block diagram of an electronic device 700 according to an embodiment of the present disclosure, as shown in Figure 7 As shown, the electronic device 700 includes a memory 701, a processor 702, and a computer program stored in the memory 701 and executable on the processor 702. When the processor 702 executes the program instructions, the obstacle detection method provided in the above embodiment is implemented.

[0148] The obstacle detection method proposed in the present disclosure obtains the command speed and moving speed of the movable object at the detection time, thereby obtaining the corresponding candidate detection speed, and then obtains the corresponding candidate detection speed set according to the candidate detection speed at each detection time in the detection time set, and obtains the target detection speed based on the candidate detection speed set, so as to identify whether there is an obstacle in the forward area according to the target detection speed, and obtain the corresponding target obstacle detection result. In the present disclosure, obstacle detection and identification are performed on the forward area of ​​the movable object by the target detection speed of the movable object, and in the scene without visual information, obstacle detection of the movable object is realized, the accuracy of obstacle detection of the movable object is improved, the obstacle detection method of the movable object is optimized, and the influence of obstacles on the walking of the movable object is reduced. In the scene of obstacle avoidance based on the target obstacle detection result, the obstacle avoidance accuracy of the movable object is improved, the probability of abnormal situation of the movable object due to being blocked by obstacles is reduced, and the flexibility and stability of the movement of the movable object are improved. In the scene of performing operations based on the movable object, the probability of the movable object being unable to complete the operation due to obstacle blocking is reduced, and the stability of the movable object in performing operations is improved.

[0149] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0150] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0151] The program code for implementing the method itself can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0152] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0153] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0154] The systems and techniques described herein can be implemented in a computing system that includes a backend component (e.g., as a data server), or a computing system that includes a middleware component (e.g., an application server), or a computing system that includes a frontend component (e.g., a user computer with a graphical user interface or a grid browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by digital data communication of any form or medium (e.g., a communication grid). Examples of communication grids include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain grid.

[0155] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication grid. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server for a distributed system, or a server combined with a blockchain.

[0156] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0157] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0158] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present disclosure belong.

[0159] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0160] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0161] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0162] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0163] The storage medium mentioned above may be a read-only memory, a disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present disclosure. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present disclosure.

[0164] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0165] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An obstacle detection method, characterized in that: The method comprises: Acquire the command speed and the moving speed of the movable object at the detection time to obtain a candidate detection speed of the movable object at the detection time; Acquire the detection time set to which the detection time belongs, and acquire the candidate detection speed set corresponding to the detection time set according to the candidate detection speeds; Acquire a target detection speed of the movable object according to the candidate detection speed set; Identify whether there is an obstacle in the forward area of ​​the movable object according to the target detection speed, so as to obtain a target obstacle detection result corresponding to the movable object; The acquiring of the command speed and the moving speed of the movable object at the detection time to obtain the candidate detection speed of the movable object at the detection time includes: Acquire a speed control instruction of the movable object at the detection time, and determine the instruction speed of the movable object at the detection time according to the speed control instruction; A difference speed between the instruction speed and the moving speed is acquired, and the candidate detection speed of the movable object at the detection time is determined according to the difference speed.

2. The method according to claim 1, characterized in that The acquiring the detection time set to which the detection time belongs, and acquiring the candidate detection speed set corresponding to the detection time set according to the candidate detection speeds, includes: Acquire multiple detection times in the detection time set; The candidate detection speed set corresponding to the detection time set is formed according to the candidate detection speeds at each detection time in the multiple detection times.

3. The method according to claim 1, characterized in that The acquiring the target detection speed of the movable object according to the candidate detection speed set includes: The candidate detection speeds in the candidate detection speed set are processed according to a preset target detection speed algorithm to obtain the processed target detection speed.

4. The method according to claim 1, characterized in that: The step of identifying whether there is an obstacle in the forward travel area of ​​the movable object according to the target detection speed to obtain a target obstacle detection result corresponding to the movable object includes: Obtaining a detection speed threshold corresponding to the movable object; In response to the target detection speed being greater than or equal to the detection speed threshold, determining that the obstacle exists in the forward travel area, and determining the obstacle exists in the forward travel area as the target obstacle detection result; and / or, In response to the target detection speed being less than the detection speed threshold, it is determined that the obstacle is not present in the forward travel area, and the absence of the obstacle in the forward travel area is determined as the target obstacle detection result.

5. The method according to any one of claims 1 to 4, characterized in that After identifying whether there is an obstacle in the forward area of ​​the movable object according to the target detection speed to obtain the target obstacle detection result corresponding to the movable object, the method further includes: In response to the target obstacle detection result indicating that the obstacle exists in the forward travel area of ​​the movable object, acquiring a gait update curve of the movable object; According to the gait update curve, the movable object is controlled to adjust to an obstacle avoidance gait, so as to perform obstacle avoidance processing on the obstacle in the forward travel area.

6. The method according to claim 5, characterized in that The method further comprises: In response to the target obstacle detection result indicating that the obstacle exists in the forward travel area, a gait switching process of the movable object is started, and the gait update curve of the movable object is acquired based on the gait switching process.

7. The method according to claim 5, characterized in that After controlling the movable object to adjust to an obstacle avoidance gait according to the gait update curve so as to avoid the obstacle in the forward travel area, the method further includes: Obtaining a historical gait of the movable object; In response to recognizing that the movable object has passed over the obstacle, adjusting the movable object from the obstacle avoidance gait to the historical gait; In response to a maintenance time length of the obstacle avoidance gait of the movable object being greater than or equal to a preset obstacle avoidance gait time length threshold, adjusting the movable object from the obstacle avoidance gait to the historical gait.

8. An obstacle detection device, characterized in that: The device comprises: A first acquisition module, configured to acquire a command speed and a moving speed of a movable object at a detection time, so as to obtain a candidate detection speed of the movable object at the detection time; A second acquisition module is used to acquire the detection time set to which the detection time belongs, and acquire a candidate detection speed set corresponding to the detection time set according to the candidate detection speeds; A third acquisition module, configured to acquire a target detection speed of the movable object according to the candidate detection speed set; A detection module, configured to identify whether there is an obstacle in the forward travel area of ​​the movable object according to the target detection speed, so as to obtain a target obstacle detection result corresponding to the movable object; Wherein, the first acquisition module is further used for: Acquire a speed control instruction of the movable object at the detection time, and determine the instruction speed of the movable object at the detection time according to the speed control instruction; A difference speed between the instruction speed and the moving speed is acquired, and the candidate detection speed of the movable object at the detection time is determined according to the difference speed.

9. A robot, characterized in that: The robot is used to implement the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: processor; a memory for storing executable instructions for the processor; The processor is configured to execute instructions to implement the method as claimed in any one of claims 1 to 7.

11. A computer-readable storage medium, when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method according to any one of claims 1 to 7.

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