Robot obstacle avoidance method and device and robot applying robot obstacle avoidance method and device

Abstract

The invention provides a robot obstacle avoidance method and device and a robot applying the robot, and the method can construct a grid map taking the robot as an original point, obtains environment data around the original point, updates a first identifier of each grid in the grid map based on the environment data, and obtains the first identifier of each grid in the grid map. And respectively updating the second identifier of each grid on the basis of the first identifier in the grid map, and judging whether an obstacle exists in the advancing path of the robot on the basis of the first identifier and / or the second identifier in the grid map, so as to repeatedly obtain the surrounding environment data after the advancing path of the robot is enabled to avoid the obstacle through a judgment result. According to the scheme provided by the invention, finer and more dynamic environment perception is provided through real-time updating of the multi-level identifiers in the grid map, the flexibility and the reliability are better, and obstacles can be detected and coped with more accurately, so that the robot can adapt to the surrounding environment in real time, and the obstacle avoidance capability of the robot is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot obstacle avoidance, and in particular relates to a robot obstacle avoidance method and device and a robot using the same. Background Art

[0002] With the rapid development of robotics technology, robots are playing an increasingly important role in various application scenarios, such as autonomous driving, industrial production, home services, etc. In these applications, the robot's obstacle avoidance ability is a key factor because it directly affects the robot's safety, efficiency, and practicality.

[0003] Currently, many robot obstacle avoidance systems mainly rely on grid maps and make real-time obstacle avoidance decisions based on grid maps. However, grid maps can only provide limited environmental information such as the distance and rough position of obstacles. It is difficult to accurately capture the complex characteristics of the environment, which limits the robot's movement space when it is in a narrow or close distance along a wall, and it is easy to misdetect collisions.

[0004] In addition, the map update mechanism in existing methods often lags behind, and environmental data and map markers cannot reflect the actual scene in a timely manner, which can easily cause the robot to react slowly when encountering rapidly changing obstacles, thereby affecting the accuracy of obstacle avoidance decisions. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention proposes a robot obstacle avoidance method, the method comprising:

[0006] Constructing a grid map with the robot as the origin, and acquiring environmental data around the origin; the grid map includes a plurality of grids that can simultaneously record a plurality of first identifiers and a second identifier;

[0007] updating a first identifier of each grid in the grid map based on the environmental data, and updating a second identifier of each grid based on the first identifier in the grid map;

[0008] Based on the first mark and / or the second mark in the grid map, determine whether there is an obstacle in the robot's travel path, so as to make the robot's travel path avoid the obstacle based on the judgment result, and repeat the step of "obtaining environmental data around the origin".

[0009] Specifically, the “updating the first identification of each grid in the grid map based on the environmental data” includes:

[0010] A first marker including obstacle point information and recording time information is generated on the grid map based on the obstacle point position in the environmental data, and the first marker generated first is selectively deleted based on the recording time information of each first marker in the grid map.

[0011] Furthermore, the “updating the second identifier of each grid based on the first identifier in the grid map” includes:

[0012] Second identifiers are generated in the grids where all the first identifiers currently recorded are located, and second identifiers in the grids where the first identifiers are not recorded are deleted.

[0013] Furthermore, the “updating the first identification of each grid in the grid map based on the environmental data, and updating the second identification of each grid based on the first identification in the grid map” also includes:

[0014] All previously generated first and second identifiers in the grid between the origin and each currently generated first identifier are deleted.

[0015] Optionally, the “determining whether there is an obstacle in the robot's travel path based on the first identifier and / or the second identifier in the grid map” includes:

[0016] Determining whether there is an obstacle in the robot's travel path based on the first identifier in the grid map;

[0017] or, determining whether there is an obstacle in the robot's travel path based on a second identifier in the grid map;

[0018] Or, determine whether there is an obstacle in the robot's path based on the second identifier in the grid map, and when the judgment result is yes, determine whether there is an obstacle in the robot's path again based on the first identifier in the grid map.

[0019] Specifically, the “determining whether there is an obstacle in the robot's path based on the first identifier in the grid map” includes:

[0020] Generate a robot coverage outline within a future preset time period on the grid map based on the shape of the robot and the travel path of the robot, and determine whether there is a first mark in the robot coverage outline;

[0021] If yes, it is determined that there is an obstacle in the robot's path; if no, it is determined that there is no obstacle in the robot's path.

[0022] The “determining whether there is an obstacle in the robot's path based on the second identifier in the grid map” includes:

[0023] generating a robot coverage outline in a future preset time period in the grid map based on the shape of the robot and the travel path of the robot, and determining whether a second mark exists in a grid associated with the robot coverage outline;

[0024] If yes, it is determined that there is an obstacle in the robot's path; if no, it is determined that there is no obstacle in the robot's path.

[0025] Preferably, the method further comprises:

[0026] If there are a preset number of continuous grids with the second mark recorded within the preset range of the origin, it is determined whether there is an obstacle in the robot's travel path based only on the first mark in the grid map.

[0027] The present invention also proposes a robot obstacle avoidance device, the device comprising:

[0028] A construction module is used to construct a grid map with the robot as the origin, and obtain environmental data around the origin; the grid map includes a plurality of grids that can simultaneously record a plurality of first identifiers and a second identifier;

[0029] An updating module, configured to update a first identification of each grid in the grid map based on the environmental data, and to update a second identification of each grid based on the first identification in the grid map;

[0030] A judgment module is used to judge whether there is an obstacle in the robot's travel path based on the first identifier and / or the second identifier in the grid map, so as to make the robot's travel path avoid the obstacle based on the judgment result, and make the construction module repeat the preset step of "obtaining the environmental data around the origin".

[0031] The present invention also proposes a robot, which applies the robot obstacle avoidance method as described above.

[0032] The present invention has at least the following beneficial effects:

[0033] The solution proposed in the present invention improves the accuracy and flexibility of obstacle avoidance judgment by constructing a grid map and updating obstacle information in environmental data in real time, based on a dual judgment mechanism of a first identifier and a second identifier, so that the robot can flexibly select obstacle avoidance strategies according to different scenarios and needs, reduces the misjudgment rate, ensures the real-time nature of obstacle avoidance decisions, enables the robot to quickly adapt to a dynamically changing environment, and effectively realizes autonomous obstacle avoidance of the robot;

[0034] Furthermore, the solution proposed in the present invention only retains the newer obstacle point information, which helps to more accurately reflect the current environmental status and the position changes of obstacles, thereby improving the accuracy of obstacle avoidance decisions, and can simplify the obstacle avoidance judgment logic through the second identifier, so that the robot can generate the robot coverage outline within a preset time period in the future based on the shape and travel path, and judge whether there are obstacles based on this, thereby improving the accuracy and reliability of obstacle avoidance judgment, and can achieve accurate obstacle avoidance capabilities in a high-precision detection manner when there are large obstacles such as walls.

[0035] Therefore, the present invention provides a robot obstacle avoidance method, device and robot using the same. The solution proposed in the present invention provides more refined and dynamic environmental perception through real-time updating of multi-level identification in a grid map, has good flexibility and reliability, can more accurately detect and respond to obstacles, thereby enabling the robot to adapt to the surrounding environment in real time, significantly improving the robot's obstacle avoidance capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A schematic diagram of a method flow of a robot obstacle avoidance method provided in Example 1;

[0038] Figure 2 This is an example of a raster map;

[0039] Figure 3 This is an example diagram of determining an obstacle through the first identification;

[0040] Figure 4 This is an example diagram of determining an obstacle through a second identifier;

[0041] Figure 5 This is a schematic diagram of the module structure of the robot obstacle avoidance device provided in Example 2.

[0042] Reference numerals

[0043] 10-Building module; 20-Update module; 30-Judgment module. DETAILED DESCRIPTION

[0044] 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.

[0045] Hereinafter, various embodiments of the present invention will be described more fully. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but the present invention should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0046] Hereinafter, the term "include" or "may include" used in various embodiments of the present invention indicates the presence of disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0047] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0048] The expressions (such as "first", "second", etc.) used in various embodiments of the present invention may modify the various constituent elements in various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0049] It should be noted that in the present invention, unless otherwise clearly specified and defined, the terms such as "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationship herein are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] The terms used in various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present invention.

[0052] Example 1

[0053] This embodiment proposes a robot obstacle avoidance method. Figure 1 , the method comprising:

[0054] S100: construct a grid map with the robot as the origin, and obtain environmental data around the origin.

[0055] Specifically, the grid map in this embodiment includes a plurality of grids that can record data, and each grid can simultaneously record a plurality of first identifiers and one second identifier.

[0056] S200: updating a first identifier of each grid in the grid map based on environmental data, and updating a second identifier of each grid based on the first identifier in the grid map.

[0057] refer to Figure 2In this embodiment, the first identifier includes an obstacle point identifier, the second identifier includes an obstacle area identifier, and the second identifier of each grid is generated based on the first identifier; wherein the obstacle point identifier is used to indicate specific obstacle point information, and the obstacle area identifier is used to indicate a grid where an obstacle exists, that is, a grid where an obstacle point identifier exists.

[0058] Specifically, in step S100, environmental data around the robot can be obtained through a laser radar, a camera or other sensors. In a specific embodiment, in the step, the distance between the robot and objects in the surrounding environment is scanned by a laser radar, so as to generate high-precision three-dimensional point cloud data, and the point cloud data is saved as an obstacle point identifier in the grid where it is located. The obstacle point identifier contains point cloud projection information that accurately indicates that there is an obstacle at a point in a grid in the grid map, that is, the "updating the first identifier of each grid in the grid map based on the environmental data" in step S200 includes:

[0059] Generating a first mark including obstacle point information on a grid map based on the obstacle point location in the environmental data;

[0060] The "updating the second identifier of each grid based on the first identifier in the grid map" in step S200 accordingly includes:

[0061] The second identifier is generated in the grid where all the first identifiers currently recorded are located, and the second identifier in the grid where the first identifier is not recorded is deleted.

[0062] Furthermore, the step S200 of “updating the first identification of each grid in the grid map based on the environmental data, and updating the second identification of each grid based on the first identification in the grid map” also includes:

[0063] Delete all previously generated first and second markers in the grid between the origin and each currently generated first marker.

[0064] It should be noted that the obstacle data obtained by the robot through laser radar scanning is the nearest obstacle data on the straight line extending from the robot as the origin to the direction of the obstacle. Therefore, there will be no other obstacles in the origin and obstacle point data. If there is obstacle point data in the range in the previous detection, it can be considered that the position of the obstacle has changed. Therefore, the method proposed in this embodiment can update the data in time to ensure the real-time nature of the data.

[0065] S300: judging whether there is an obstacle in the robot's travel path based on the first mark and / or the second mark in the grid map, so as to make the robot's travel path avoid the obstacle based on the judgment result.

[0066] Specifically, after step S300 is executed, the method proposed in this embodiment will repeatedly execute step S100 to update the environmental data around the origin.

[0067] It should be noted that the grid may include but is not limited to a rectangle, a hexagon or other shapes, and the user may adaptively select the grid shape according to application requirements, computational complexity and environmental characteristics.

[0068] Preferably, the first identifier also includes recording time information, so that the method proposed in this embodiment can selectively delete the first identifier generated first according to the recording time information to ensure the timeliness of the grid map;

[0069] Optionally, selective deletion of the first identification generated is achieved based on the number of first identifications that each grid can record simultaneously and / or the scanning interval time. For example, if the interval time of each scan is 1s and the number of first identifications that each grid can record simultaneously is 5, the method proposed in this embodiment can be preset to delete the first identification containing the recording time information whose time interval with the current time is greater than 5s.

[0070] Specifically, judging whether there is an obstacle in the robot's path based on the first identifier and / or the second identifier in the updated grid map in step S300 includes:

[0071] Determine whether there is an obstacle in the robot's travel path based on the first identifier in the grid map;

[0072] or, determining whether there is an obstacle in the robot's travel path based on a second identifier in the grid map;

[0073] Or, determine whether there is an obstacle in the robot's path based on the second identifier in the grid map, and when the determination result is yes, determine whether there is an obstacle in the robot's path again based on the first identifier in the grid map.

[0074] See also Figure 3-4 , wherein “determining whether there is an obstacle in the robot's path based on the first identifier in the grid map” specifically includes:

[0075] Generate a robot coverage outline in a future preset time period on a grid map based on the shape of the robot and the travel path of the robot, and determine whether there is a first mark representing obstacle information in the robot coverage outline;

[0076] If there is a first mark representing obstacle information in the robot coverage contour, it is judged that there is an obstacle in the robot's travel path. At this time, the method proposed in this embodiment will adjust the robot's travel path accordingly; if there is no first mark representing obstacle information in the robot coverage contour, it is judged that there is no obstacle in the robot's travel path.

[0077] “Judging whether there is an obstacle in the robot’s path based on the second identifier in the grid map” specifically includes:

[0078] Generate a robot coverage outline in a future preset time period in a grid map based on the shape of the robot and the travel path of the robot, and determine whether there is a second mark representing obstacle information in the grid associated with the robot coverage outline;

[0079] If a second marker representing obstacle information exists in the grid associated with the robot coverage contour, it is determined that there is an obstacle in the robot's travel path. At this time, the method proposed in this embodiment will adjust the robot's travel path accordingly; if there is no second marker representing obstacle information in the grid associated with the robot coverage contour, it is determined that there is no obstacle in the robot's travel path.

[0080] Furthermore, the method proposed in this embodiment also includes:

[0081] If there are a preset number of continuous grids with the second mark recorded within the preset range of the origin, it is determined whether there is an obstacle in the robot's travel path based only on the first mark in the grid map.

[0082] Therefore, when there are large obstacles such as walls near the robot, the method proposed in this embodiment can enable the robot to continue to maintain high-precision detection to ensure that the robot can achieve accurate obstacle avoidance.

[0083] Example 2

[0084] This embodiment proposes an obstacle avoidance device for implementing the obstacle avoidance method proposed in Embodiment 1, see Figure 5 , the device comprises:

[0085] A construction module 10 is used to construct a grid map with the robot as the origin, and obtain environmental data around the origin; the grid map includes a plurality of grids that can simultaneously record a plurality of first identifiers and a second identifier;

[0086] An updating module 20, configured to update a first identifier of each grid in the grid map based on the environmental data, and to update a second identifier of each grid based on the first identifier in the grid map;

[0087] The judgment module 30 is used to judge whether there is an obstacle in the robot's travel path based on the first identifier and / or the second identifier in the grid map, so as to make the robot's travel path avoid the obstacle based on the judgment result, and make the construction module 10 repeat the preset step of "obtaining environmental data around the origin".

[0088] Specifically, the grid map constructed by the construction module 10 includes multiple grids that can record data, and each grid can simultaneously record multiple first identifiers and one second identifier; the grid can include but is not limited to rectangles, hexagons or other shapes, and the user can adaptively select the grid shape according to application requirements, computational complexity and environmental characteristics.

[0089] In this embodiment, the first identifier includes an obstacle point identifier, the second identifier includes an obstacle area identifier, and the second identifier of each grid is generated based on the first identifier; wherein the obstacle point identifier is used to indicate specific obstacle point information, and the obstacle area identifier is used to indicate a grid where an obstacle exists, that is, a grid where an obstacle point identifier exists.

[0090] Specifically, the construction module 10 can obtain environmental data around the robot through a laser radar, a camera or other sensors, and the update module 20 can generate a first identifier containing obstacle point information on a grid map based on the obstacle point position in the environmental data, generate a second identifier in the grid where all the first identifiers currently recorded are located, and delete the second identifier in the grid where the first identifier is not recorded;

[0091] Furthermore, the updating module 20 may also delete all previously generated first identifiers and second identifiers in the grid between the origin and each currently generated first identifier.

[0092] Preferably, the first identifier also includes recording time information. Therefore, the method proposed in this embodiment can selectively delete the first identifier generated first according to the recording time information to ensure the timeliness of the grid map.

[0093] Optionally, the selective deletion of the first identification generated first is achieved based on the number of first identifications that can be recorded simultaneously by each grid and / or the scanning interval time.

[0094] Specifically, the judgment module 30 may judge whether there is an obstacle in the robot's travel path based on the first identifier in the grid map;

[0095] or, determining whether there is an obstacle in the robot's travel path based on a second identifier in the grid map;

[0096] Or, determine whether there is an obstacle in the robot's path based on the second identifier in the grid map, and when the determination result is yes, determine whether there is an obstacle in the robot's path again based on the first identifier in the grid map.

[0097] Among them, “determining whether there is an obstacle in the robot's path based on the first mark in the grid map” specifically includes:

[0098] Generate a robot coverage outline in a future preset time period on a grid map based on the shape of the robot and the travel path of the robot, and determine whether there is a first mark representing obstacle information in the robot coverage outline;

[0099] If there is a first mark representing obstacle information in the robot coverage contour, it is judged that there is an obstacle in the robot's travel path. At this time, the method proposed in this embodiment will adjust the robot's travel path accordingly; if there is no first mark representing obstacle information in the robot coverage contour, it is judged that there is no obstacle in the robot's travel path.

[0100] “Judging whether there is an obstacle in the robot’s path based on the second identifier in the grid map” specifically includes:

[0101] Generate a robot coverage outline in a future preset time period in a grid map based on the shape of the robot and the travel path of the robot, and determine whether there is a second mark representing obstacle information in the grid associated with the robot coverage outline;

[0102] If a second marker representing obstacle information exists in the grid associated with the robot coverage contour, it is determined that there is an obstacle in the robot's travel path. At this time, the method proposed in this embodiment will adjust the robot's travel path accordingly; if there is no second marker representing obstacle information in the grid associated with the robot coverage contour, it is determined that there is no obstacle in the robot's travel path.

[0103] Furthermore, if there are a preset number of continuous grids with the second mark recorded within the preset range of the origin, the judgment module 30 can judge whether there is an obstacle in the robot's travel path based only on the first mark in the grid map.

[0104] Therefore, when there are large obstacles such as walls near the robot, the method proposed in this embodiment can enable the robot to continue to maintain high-precision detection to ensure that the robot can achieve accurate obstacle avoidance.

[0105] Example 3

[0106] This embodiment proposes a robot for implementing the obstacle avoidance method proposed in Embodiment 1.

[0107] In summary, the present invention provides a robot obstacle avoidance method, device and robot using the same. The solution proposed in the present invention provides more refined and dynamic environmental perception through real-time updating of multi-level identification in a grid map, has good flexibility and reliability, can more accurately detect and respond to obstacles, thereby enabling the robot to adapt to the surrounding environment in real time, significantly improving the robot's obstacle avoidance capability.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot obstacle avoidance method, characterized in that: The method comprises: Constructing a grid map with the robot as the origin, and acquiring environmental data around the origin; the grid map includes a plurality of grids that can simultaneously record a plurality of first identifiers and a second identifier; updating a first identifier of each grid in the grid map based on the environmental data, and updating a second identifier of each grid based on the first identifier in the grid map; Based on the first mark and / or the second mark in the grid map, it is determined whether there is an obstacle in the robot's travel path, so that the robot's travel path avoids the obstacle based on the determination result, and the step of "obtaining environmental data around the origin" is repeated.

2. The method according to claim 1, characterized in that: The “updating the first identification of each grid in the grid map based on the environmental data” includes: A first marker including obstacle point information and recording time information is generated on the grid map based on the obstacle point position in the environmental data, and the first marker generated first is selectively deleted based on the recording time information of each first marker in the grid map.

3. The method according to claim 2, characterized in that The “updating the second identification of each grid based on the first identification in the grid map” includes: Second identifiers are generated in the grids where all the first identifiers currently recorded are located, and second identifiers in the grids where the first identifiers are not recorded are deleted.

4. The method according to claim 2, characterized in that: The “updating the first identification of each grid in the grid map based on the environmental data, and respectively updating the second identification of each grid based on the first identification in the grid map” also includes: All previously generated first and second identifiers in the grid between the origin and each currently generated first identifier are deleted.

5. The method according to claim 3 or 4, characterized in that: The “determining whether there is an obstacle in the robot's path based on the first identifier and / or the second identifier in the grid map” includes: Determining whether there is an obstacle in the robot's travel path based on the first identifier in the grid map; or, determining whether there is an obstacle in the robot's travel path based on a second identifier in the grid map; Or, determine whether there is an obstacle in the robot's path based on the second identifier in the grid map, and when the judgment result is yes, determine whether there is an obstacle in the robot's path again based on the first identifier in the grid map.

6. The method according to claim 5, characterized in that The “determining whether there is an obstacle in the robot's path based on the first mark in the grid map” includes: Generate a robot coverage outline within a future preset time period on the grid map based on the shape of the robot and the travel path of the robot, and determine whether there is a first mark in the robot coverage outline; If yes, it is determined that there is an obstacle in the robot's path; if no, it is determined that there is no obstacle in the robot's path.

7. The method according to claim 5, characterized in that The “determining whether there is an obstacle in the robot's path based on the second identifier in the grid map” includes: generating a robot coverage outline in a future preset time period in the grid map based on the shape of the robot and the travel path of the robot, and determining whether a second mark exists in a grid associated with the robot coverage outline; If yes, it is determined that there is an obstacle in the robot's path; if no, it is determined that there is no obstacle in the robot's path.

8. The method according to claim 5, characterized in that The method further comprises: If there are a preset number of continuous grids with the second mark recorded within the preset range of the origin, it is determined whether there is an obstacle in the robot's travel path based only on the first mark in the grid map.

9. A robot obstacle avoidance device, characterized in that: The device comprises: A construction module is used to construct a grid map with the robot as the origin, and obtain environmental data around the origin; the grid map includes a plurality of grids that can simultaneously record a plurality of first identifiers and a second identifier; An updating module, configured to update a first identification of each grid in the grid map based on the environmental data, and to update a second identification of each grid based on the first identification in the grid map; A judgment module is used to judge whether there is an obstacle in the robot's travel path based on the first identifier and / or the second identifier in the grid map, so as to make the robot's travel path avoid the obstacle based on the judgment result, and make the construction module repeatedly execute the preset step of "obtaining the environmental data around the origin".

10. A robot, characterized in that: The robot applies the method according to any one of claims 1-8.

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