Robot anti-collision processing method, self-moving equipment and computer readable storage medium

Abstract

The invention provides a robot anti-collision processing method, self-moving equipment and a computer readable storage medium. The robot anti-collision processing method comprises the steps that an obstacle distance feedback value of a target ultrasonic sensor installed on a robot is acquired; determining a target calibration parameter of the obstacle distance feedback value according to a preset reference distance range associated with each calibration parameter; performing calibration processing on the obstacle distance feedback value according to the target calibration parameter to obtain an obstacle distance calibration value of the target ultrasonic sensor; and controlling the driving process of the robot based on the obstacle distance calibration value. The method can improve the recognition precision of obstacles, especially transparent obstacles, to a certain extent, reduces the probability of obstacle collision of the robot, and improves the operation safety of the robot.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot anti-collision processing method, a self-mobile device, and a computer-readable storage medium. Background Art

[0002] With the continuous development of robot technology, autonomous navigation and obstacle avoidance systems are increasingly used in unmanned vehicles, drones and other fields. In order to meet the needs of autonomous navigation and obstacle avoidance of robots, laser radar reflection detection is used in related technologies. However, laser radar cannot detect transparent objects with light-transmitting properties such as glass. Therefore, how to achieve glass collision avoidance has become an important research issue for autonomous navigation and obstacle avoidance of robots.

[0003] The inventors of the embodiments of the present application discovered during the actual research and development process that in the related art, there are mainly two methods for glass anti-collision. One is to use physical structures such as anti-collision strips, but the physical mechanism anti-collision can only react after contacting the glass, and there is a risk of damage to the object due to untimely reaction; the other is to use ultrasonic sensors for detection, but due to the influence of environmental humidity and other factors on the propagation of waves with a certain diffusion angle, it is difficult to accurately detect the specific position of the obstacle, so the robot is more likely to collide with the obstacle. Summary of the invention

[0004] The present application provides a robot anti-collision processing method, a self-mobile device and a computer-readable storage medium, which can improve the recognition accuracy of obstacles, especially transparent obstacles, to a certain extent, reduce the probability of the robot colliding with obstacles, and improve the safety of robot operation.

[0005] In a first aspect, the present application provides a robot collision avoidance processing method, the method comprising:

[0006] Obtain the obstacle distance feedback value of the target ultrasonic sensor installed on the robot;

[0007] Determining a target calibration parameter of the obstacle distance feedback value according to a preset reference distance range associated with each calibration parameter;

[0008] Calibrate the obstacle distance feedback value according to the target calibration parameter to obtain an obstacle distance calibration value of the target ultrasonic sensor;

[0009] Based on the obstacle distance calibration value, the driving process of the robot is controlled.

[0010] In a second aspect, the present application also provides a self-moving device, which includes a processor and a memory, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, any one of the robot collision avoidance processing methods provided in the present application is executed.

[0011] In a third aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is loaded by a processor to execute the robot collision avoidance processing method.

[0012] In the present application, in the first aspect, by setting different calibration parameters for different reference distance ranges; determining the target calibration parameters of the obstacle distance feedback value of the target ultrasonic sensor according to the preset reference distance range associated with each calibration parameter; calibrating the obstacle distance feedback value according to the target calibration parameter to obtain the obstacle distance calibration value of the target ultrasonic sensor, different calibration parameters can be used for calibration for different obstacle distance calibration values, so that different calibration parameters can be used for calibration for different distance environmental interference, avoiding the problem of low data accuracy caused by the greater environmental interference of ultrasonic waves as the distance increases, and improving the calibration accuracy of the obstacle distance to a certain extent, so that the obstacle distance calibration value is closer to the actual distance of the obstacle, thereby improving the recognition accuracy of obstacles using ultrasonic sensors and reducing robot collisions. In the second aspect, transparent obstacles such as glass can be effectively identified by using ultrasonic sensors, and the recognition probability of transparent obstacles such as glass during robot navigation can be improved, thereby reducing the collision between the robot and transparent obstacles such as glass. Therefore, the embodiment of the present application can improve the recognition accuracy of obstacles, especially transparent obstacles, to a certain extent, reduce the probability of the robot causing obstacle collisions, and improve the safety of robot operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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 those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 It is a schematic block diagram of the structure of a self-moving device provided in an embodiment of the present application;

[0015] Figure 2 It is a flow chart of a robot anti-collision processing method provided in an embodiment of the present application;

[0016] Figure 3 is a schematic diagram illustrating the deployment position of the ultrasonic sensor in the embodiment of the present application;

[0017] Figure 4 This is a schematic diagram of an embodiment of obstacle marking in the present application;

[0018] Figure 5It is a flowchart of an embodiment of using obstacle identification information of an ultrasonic sensor to mark an obstacle in an embodiment of the present application;

[0019] Figure 6 It is a schematic diagram of an embodiment of the robot anti-collision processing process provided in the embodiments of the present application. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0021] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0022] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0023] In order to enable any person skilled in the art to implement and use the present application, the following description is provided. In the following description, details are listed for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the present application can also be implemented without using these specific details. In other examples, the known process will not be elaborated in detail to avoid unnecessary details that make the description of the present application embodiment obscure. Therefore, the present application is not intended to be limited to the embodiments shown, but is consistent with the widest range of principles and features disclosed in accordance with the embodiments of the present application.

[0024] The embodiment of the present application provides a robot anti-collision processing method, a self-moving device and a computer-readable storage medium. The self-moving device may be a cleaning robot, a food delivery robot, etc.

[0025] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0026] Figure 1It is a schematic block diagram of the structure of a self-moving device provided in an embodiment of the present application.

[0027] like Figure 1 As shown, the mobile device 100 includes a processor 101 and a memory 102 , and the processor 101 and the memory 102 are connected via a bus 103 , such as a PCIe (Peripheral Component Interconnect Express) bus.

[0028] Specifically, the processor 101 is used to provide computing and control capabilities to support the operation of the entire mobile device 100. The processor 101 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0029] Specifically, the memory 102 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0030] Those skilled in the art will understand that Figure 1 The structure shown in the figure is merely a block diagram of a partial structure related to the embodiment scheme of the present application, and does not constitute a limitation on the self-moving device to which the embodiment scheme of the present application is applied. The specific self-moving device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0031] The processor 101 is used to run the computer program stored in the memory 102, and implement any one of the robot collision avoidance processing methods provided in the embodiments of the present application when executing the computer program. For example, the processor 101 is used to run the computer program stored in the memory 102, and can implement the following steps when executing the computer program:

[0032] Obtain an obstacle distance feedback value of a target ultrasonic sensor installed on the robot; determine a target calibration parameter of the obstacle distance feedback value according to a preset reference distance range associated with each calibration parameter; calibrate the obstacle distance feedback value according to the target calibration parameter to obtain an obstacle distance calibration value of the target ultrasonic sensor; and control the driving process of the robot based on the obstacle distance calibration value.

[0033] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0034] Based on the obstacle distance calibration value, a preset rotation distance threshold, and a preset stop distance threshold, the execution action of the robot is determined; based on the execution action, a motion control instruction of the robot is generated to control the driving process of the robot.

[0035] In some embodiments, the robot is equipped with a plurality of ultrasonic sensors, and the processor 101 is used to run a computer program stored in the memory 102, and the following steps can be implemented when executing the computer program:

[0036] Obtain a first obstacle detection result of each ultrasonic sensor installed on the robot; and use each ultrasonic sensor that detects an obstacle with the first obstacle detection result as the target ultrasonic sensor.

[0037] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0038] Each ultrasonic sensor for which the first obstacle detection result is that an obstacle is detected is used as a preliminary screening ultrasonic sensor; a second obstacle detection result of the robot's laser sensor at a detection position corresponding to the preliminary screening ultrasonic sensor is obtained; if the second obstacle detection result is that no obstacle is detected, the preliminary screening ultrasonic sensor is used as the target ultrasonic sensor.

[0039] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0040] Based on the fan-shaped detection area of ​​the target ultrasonic sensor and the obstacle distance calibration value, the position of the newly detected obstacle of the target ultrasonic sensor is determined; based on the position of the newly detected obstacle, the newly detected obstacle is marked in the obstacle map of the robot to obtain an updated obstacle map; based on the updated obstacle map, the robot is controlled to avoid obstacles.

[0041] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0042] A calibrated distance threshold of the obstacle distance feedback value is obtained; if the obstacle distance feedback value is less than the calibrated distance threshold, the newly detected obstacle is marked on the obstacle map of the robot based on the position of the newly detected obstacle to obtain an updated obstacle map.

[0043] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0044] Acquire the current moving speed of the robot; determine the calibrated distance threshold of the obstacle distance feedback value according to the current moving speed, wherein the current moving speed is positively correlated with the calibrated distance threshold.

[0045] In some embodiments, the processor 101 is used to run a computer program stored in the memory 102, and when executing the computer program, the following steps may be implemented:

[0046] The accumulated marking time of the newly detected obstacle is obtained; if the accumulated marking time is greater than a preset marking time threshold, the newly detected obstacle is deleted from the obstacle map.

[0047] It should be noted that technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working process of the self-moving device described above can refer to the corresponding process in the following robot anti-collision processing method embodiment, and will not be repeated here.

[0048] In the following, Figure 1 The robot anti-collision processing method provided by the embodiment of the present application is described in detail by taking the self-moving device shown in as the execution subject of the robot anti-collision processing method as an example. For the sake of simplicity and convenience of description, the execution subject will be omitted in the subsequent method embodiments. Figure 1 The scenario is only used to explain the robot anti-collision processing method provided in the embodiment of the present application, but does not constitute a limitation on the application scenario of the robot anti-collision processing method provided in the embodiment of the present application.

[0049] See also Figure 2 , Figure 2 201 to 204, wherein:

[0050] 201. Obtain the obstacle distance feedback value of the target ultrasonic sensor installed on the robot.

[0051] The obstacle distance refers to the distance between the robot and the obstacle.

[0052] The obstacle distance feedback value refers to the obstacle distance detected and fed back by the ultrasonic sensor (ie, the distance between the robot and the obstacle).

[0053] In order to improve the obstacle detection accuracy and avoid the problem that the robot is difficult to accurately detect the specific location of transparent objects such as glass, in this embodiment, the robot is equipped with ultrasonic sensors. The location and number of ultrasonic sensors set by the robot can be set according to the actual business scenario requirements. Figure 3 As shown, in this embodiment, in order to improve the comprehensiveness of obstacle detection, an ultrasonic sensor is deployed at the center position directly in front of the robot chassis, the left position, the right position, the left front position, and the right front position.

[0054] Exemplarily, during the driving process of the robot, ultrasonic data can be collected by a target ultrasonic sensor deployed on the robot chassis. In step 201, the ultrasonic data collected by the target ultrasonic sensor can be obtained to obtain the obstacle distance feedback value of the target ultrasonic sensor of the robot.

[0055] In step 201, there are multiple ways to obtain the obstacle distance feedback value, illustratively including:

[0056] (1) An ultrasonic sensor is installed on the robot. In this case, the target ultrasonic sensor refers to the ultrasonic sensor installed on the robot. In step 201, ultrasonic data collected by the target ultrasonic sensor can be obtained to obtain the obstacle distance feedback value of the target ultrasonic sensor of the robot.

[0057] (2) The robot is equipped with multiple ultrasonic sensors. In this case, the target ultrasonic sensor is the ultrasonic sensor that detects the obstacle. It can be determined whether there is a target ultrasonic sensor among the multiple ultrasonic sensors installed on the robot. When there is a target ultrasonic sensor among the multiple ultrasonic sensors installed on the robot, in step 201, ultrasonic data collected by the target ultrasonic sensor can be obtained, thereby obtaining the obstacle distance feedback value of the target ultrasonic sensor of the robot.

[0058] In some embodiments, the ultrasonic sensors installed on the robot include at least two of a first ultrasonic sensor located in the middle position directly in front of the robot chassis, a second ultrasonic sensor located on the left side of the robot chassis, a third ultrasonic sensor located on the right side of the robot chassis, a fourth ultrasonic sensor located on the left front of the robot chassis, and a fifth ultrasonic sensor located on the right front of the robot chassis.

[0059] In some embodiments, in order to enable the robot to flexibly avoid collisions with transparent obstacles such as glass in complex environments and to improve the comprehensiveness of obstacle recognition, the ultrasonic sensors installed on the robot include a first ultrasonic sensor located in the middle position directly in front of the robot chassis, a second ultrasonic sensor located on the left side of the robot chassis, a third ultrasonic sensor located on the right side of the robot chassis, a fourth ultrasonic sensor located on the left front of the robot chassis, and a fifth ultrasonic sensor located on the right front of the robot chassis.

[0060] Exemplarily, the target ultrasonic sensor may be determined by referring to the following steps A1 to A2:

[0061] A1. Obtain a first obstacle detection result of each ultrasonic sensor installed on the robot.

[0062] The first obstacle detection result refers to the obstacle detection result of the ultrasonic sensor, and is used to indicate whether the ultrasonic sensor detects an obstacle.

[0063] A2. Use each ultrasonic sensor that detects an obstacle as the target ultrasonic sensor.

[0064] There are many ways to implement step A2, illustratively including the following ways ① and ②:

[0065] ① Each ultrasonic sensor that detects an obstacle is directly used as a target ultrasonic sensor.

[0066] For example, taking the first ultrasonic sensor, the second ultrasonic sensor, the third ultrasonic sensor, the fourth ultrasonic sensor and the fifth ultrasonic sensor installed on the robot as an example, in steps A1 to A2, the first obstacle detection result of the first ultrasonic sensor is obtained; if the first obstacle detection result of the first ultrasonic sensor is that an obstacle is detected, the first ultrasonic sensor is used as the target ultrasonic sensor; if the first obstacle detection result of the first ultrasonic sensor is that no obstacle is detected, no further processing is performed. Similarly, it is determined whether to use the second ultrasonic sensor, the third ultrasonic sensor, the fourth ultrasonic sensor and the fifth ultrasonic sensor as the target ultrasonic sensor.

[0067] ②Please refer to Figure 4 In order to improve the marking accuracy of obstacles, the obstacle detection results of ultrasonic sensors and laser sensors are integrated. On the one hand, considering that ultrasonic sensors can identify transparent obstacles such as glass, but the ultrasonic sensor has low accuracy and cannot confirm the specific location of the obstacle, the ultrasonic sensor is used as a supplementary sensor; on the other hand, the ultrasonic sensor can identify transparent obstacles such as glass, but the laser sensor cannot identify transparent obstacles such as glass, so as to exclude non-transparent obstacles; therefore, when the ultrasonic sensor and the laser sensor detect an obstacle at the same time, the obstacle recognition information of the laser sensor is used to mark the obstacle; when the ultrasonic sensor detects an obstacle but the laser sensor does not detect the obstacle, the obstacle recognition information of the ultrasonic sensor is used to mark the obstacle. Therefore, step A2 can specifically include: taking each ultrasonic sensor whose first obstacle detection result is that an obstacle is detected as a preliminary screening ultrasonic sensor; obtaining the second obstacle detection result of the robot's laser sensor at the detection position corresponding to the preliminary screening ultrasonic sensor; if the second obstacle detection result is that no obstacle is detected, the preliminary screening ultrasonic sensor is used as the target ultrasonic sensor. Therefore, by using the detection data of the target ultrasonic sensor (such as the obstacle distance feedback value), non-transparent objects can be filtered out and transparent objects can be screened out to prevent the robot from colliding with transparent obstacles, reduce the robot's obstacle collision risk, and improve the robot's driving safety.

[0068] The second obstacle detection result refers to the obstacle detection result of the laser sensor, which is used to indicate whether the laser sensor detects an obstacle.

[0069] Among them, laser sensors may include RGBD (Red-Green-Blue Depth) cameras and laser detection devices, wherein the RGBD camera is responsible for low objects and the laser detection device is responsible for long-distance objects.

[0070] For example, taking the robot equipped with the first ultrasonic sensor, the second ultrasonic sensor, the third sensor, the fourth ultrasonic sensor and the fifth ultrasonic sensor as an example, in steps A1-A2, the first obstacle detection result of the first ultrasonic sensor is obtained, and the second obstacle detection result of the robot's laser sensor at the detection position corresponding to the first ultrasonic sensor is obtained; if the first obstacle detection result of the first ultrasonic sensor is that an obstacle is detected and the second obstacle detection result is that an obstacle is not detected, the first ultrasonic sensor is used as the target ultrasonic sensor, and the obstacle identification information of the first ultrasonic sensor is used to mark the obstacle in steps 501-502; if the first obstacle detection result of the first ultrasonic sensor is that an obstacle is not detected and the second obstacle detection result is that an obstacle is detected, the obstacle identification information of the laser sensor is used to mark the obstacle in steps 501-502; if the first obstacle detection result and the second obstacle detection result of the first ultrasonic sensor are both that an obstacle is not detected, no further processing is performed. By analogy, it is determined whether the second ultrasonic sensor, the third sensor, the fourth ultrasonic sensor and the fifth ultrasonic sensor are used as the target ultrasonic sensor.

[0071] For example, Figure 4 As shown, when the obstacle detection results of the ultrasonic sensor and the laser sensor are integrated to mark the obstacle, the marking method is as follows: ① If the second obstacle detection result obtained in step 403 is that no obstacle is detected, the obstacle detected by the ultrasonic sensor is a transparent obstacle such as glass. If it is a transparent obstacle such as glass, the obstacle marking process can be as follows: steps 401 to 409. ② If the second obstacle detection result obtained in step 403 is that an obstacle is detected, the obstacle detected by the ultrasonic sensor is a non-transparent obstacle. If it is a non-transparent obstacle, the obstacle marking process can be as follows: steps 401 to 403, and steps 410 to 411.

[0072] 401. Obtain a first obstacle detection result of each ultrasonic sensor installed on the robot.

[0073] The implementation of step 401 is similar to step A1 and will not be described again here.

[0074] 402. Use each ultrasonic sensor that has detected an obstacle as the first obstacle detection result as a preliminary screening ultrasonic sensor.

[0075] 403. Obtain a second obstacle detection result of the robot's laser sensor at a detection position corresponding to the primary screening ultrasonic sensor.

[0076] 404. If the second obstacle detection result is that no obstacle is detected, use the initial screening ultrasonic sensor as the target ultrasonic sensor.

[0077] The implementation of steps 402 to 404 is similar to method ② in step A2, and will not be repeated here.

[0078] At this time, if the second obstacle detection result is that no obstacle is detected, the obstacle recognition information of the ultrasonic sensor is used to mark the obstacle and generate an action control instruction.

[0079] 405. Obtain an obstacle distance feedback value of a target ultrasonic sensor installed on the robot.

[0080] 406. Determine a target calibration parameter of the obstacle distance feedback value according to a preset reference distance range associated with each calibration parameter.

[0081] 407 . Calibrate the obstacle distance feedback value according to the target calibration parameter to obtain an obstacle distance calibration value of the target ultrasonic sensor.

[0082] The implementation of steps 405 to 407 is similar to that of steps 201 to 203 and will not be described in detail here.

[0083] 408. Determine a position of a new obstacle detected by the target ultrasonic sensor based on the fan-shaped detection area of ​​the target ultrasonic sensor and the obstacle distance calibration value.

[0084] 409. Based on the position of the newly detected obstacle, mark the newly detected obstacle in the obstacle map of the robot to obtain an updated obstacle map.

[0085] The implementation of steps 408 to 409 is similar to that of steps 501 to 502 and will not be described in detail here.

[0086] 410. If the second obstacle detection result is that an obstacle is detected, obtain a position of a new obstacle detected by the laser sensor of the robot.

[0087] At this time, if the second obstacle detection result is that an obstacle is detected, the obstacle recognition information of the laser sensor is used to mark the obstacle and generate an action control instruction.

[0088] 411. Mark the newly added obstacle on the obstacle map of the robot according to the position of the newly added obstacle to obtain an updated obstacle map.

[0089] Therefore, the obstacle detection results of ultrasonic sensors and laser sensors can be integrated to mark obstacles, and transparent obstacles such as glass can be effectively identified by ultrasonic sensors for marking. When the ultrasonic sensor and laser sensor identify an obstacle at the same time, the obstacle identification information of the laser sensor can be used to mark the obstacle, so as to improve the accuracy of obstacle position marking.

[0090] 202. Determine a target calibration parameter of the obstacle distance feedback value according to a preset reference distance range associated with each calibration parameter.

[0091] The calibration parameter is used to correct the obstacle distance feedback value.

[0092] Exemplarily, multiple reference distance ranges can be divided, each reference distance range is associated with a calibration parameter, and the reference distance range in which the obstacle distance feedback value falls is detected as the target reference distance range of the obstacle distance feedback value; the calibration parameter associated with the target reference distance range is used as the target calibration parameter of the obstacle distance feedback value. For example, five reference distance ranges are preset, namely: [0, A), [A, B), [B, C), [C, D), [D, E), and the reference distance ranges [0, A), [A, B), [B, C), [C, D), [D, E) correspond to associated calibration parameters a, b, c, d, e, respectively. Assuming that the obstacle distance feedback value of the ultrasonic sensor is in [0, A), the target calibration parameter of the obstacle distance feedback value is a.

[0093] In some embodiments, in order to improve the calibration accuracy of the obstacle distance, at least three reference distance ranges are divided according to the lower limit boundary value K1 of the preset error range and the upper limit boundary value K2 of the preset error range, including the reference distance range of the first calibration parameter (such as the reference distance range of the first calibration parameter is [0, K1)), the reference distance range of the second calibration parameter (such as the reference distance range of the second calibration parameter is [K1, K2)), and the reference distance range of the third calibration parameter (such as the reference distance range of the third calibration parameter is [K2, the perception boundary of the ultrasonic sensor)).

[0094] The preset error range is a value range of the target obstacle distance feedback value, and the target obstacle distance feedback value refers to an obstacle distance feedback value whose difference with the true value of the obstacle distance is less than the error distance of the laser sensor.

[0095] It can be seen that the first boundary value (i.e., the upper boundary value of the reference distance range associated with the first calibration parameter, i.e., the lower boundary value of the reference distance range associated with the second calibration parameter) is the same as the lower boundary value of the preset error range, and the second boundary value (i.e., the upper boundary value of the reference distance range associated with the second calibration parameter, i.e., the lower boundary value of the reference distance range associated with the third calibration parameter) is the same as the upper boundary value of the preset error range; thus, by using the lower boundary value K1 of the preset error range and the upper boundary value K2 of the preset error range, at least three reference distance ranges are divided: the reference distance range of the first calibration parameter, the reference distance range of the second calibration parameter, and the reference distance range of the third calibration parameter, so that when the obstacle distance feedback value is in the reference distance range associated with the second calibration parameter (such as [K1, K2)), the difference between the obstacle distance feedback value and the true value of the obstacle distance is less than the error distance of the laser sensor, thereby making the detection data calibration value of the ultrasonic sensor have the same accuracy as that of the laser sensor. For example, when the error of the laser sensor is within 1 cm, the true value of the obstacle distance and the collected obstacle distance feedback value can be measured in advance at the same time, and the obstacle distance feedback value whose difference with the true value of the obstacle distance is less than 1 cm is used as the target obstacle distance feedback value; thereby obtaining the value range of the target obstacle distance feedback value (i.e., the preset error range), and then obtaining the lower limit boundary value K1 of the preset error range and the upper limit boundary value K2 of the preset error range, and using the lower limit boundary value K1 and the upper limit boundary value K2 of the preset error range as boundaries, at least three reference distance ranges [0, K1), [K1, K2), [K2, the perception boundary of the ultrasonic sensor) are divided, and the calibration parameters of the reference distances [0, K1), [K1, K2), [K2, the perception boundary of the ultrasonic sensor) are the first calibration parameter, the second calibration parameter, and the third calibration parameter, respectively. Exemplarily, the first calibration parameter, the second calibration parameter, and the third calibration parameter are respectively shown in the following formulas 1-3:

[0096] X=x*a Formula 1

[0097] X=x*b Formula 2

[0098] X=x*b Formula 3

[0099] In formula 1-3, x represents the obstacle distance feedback value, and X represents the obstacle distance calibration value.

[0100] It can be understood that Formulas 1-3 show that the calibration parameters are currently determined by simply multiplying the calibration coefficient (a in Formula 1, b in Formula 2, and c in Formula 3 can all be regarded as calibration coefficients) by the obstacle distance feedback value to determine the obstacle distance calibration value. Furthermore, in order to improve the calibration accuracy of the obstacle distance, air quality variables, humidity variables, etc. can also be added to the calibration parameters as calibration variables in the calibration parameters.

[0101] Therefore, different calibration parameters can be used for calibration according to different values ​​of obstacle distance feedback values, so that different calibration parameters can be used for calibration according to different distance environmental interferences, avoiding the problem of low data accuracy caused by the increasing environmental interference of ultrasonic waves as the distance increases. The calibration accuracy of the obstacle distance is improved to a certain extent, and the obstacle distance calibration value is closer to the actual distance of the obstacle, thereby improving the control accuracy of the robot and reducing the collision of the robot.

[0102] 203. Calibrate the obstacle distance feedback value according to the target calibration parameter to obtain an obstacle distance calibration value of the target ultrasonic sensor.

[0103] The obstacle distance calibration value refers to the obstacle distance (ie, the distance between the robot and the obstacle) obtained after calibrating the obstacle distance feedback value.

[0104] For example, taking the target calibration parameter as the first calibration parameter shown in Formula 1 as an example, the obstacle distance x feedback value of the target ultrasonic sensor can be substituted into the first calibration parameter shown in Formula 1 to obtain the obstacle distance calibration value X of the target ultrasonic sensor.

[0105] 204. Based on the obstacle distance calibration value, control the driving process of the robot.

[0106] There are many ways to implement step 204, illustratively including:

[0107] (1) If the obstacle distance calibration value is less than the preset stop distance threshold, the robot is controlled to stop; if the obstacle distance calibration value is greater than or equal to the preset stop distance threshold, the robot is controlled to drive normally.

[0108] (2) In order to improve the safety of robot operation, two distance thresholds are set in this embodiment to generate control instructions for the robot. In this case, step 204 may specifically include steps 2041A to 2042A:

[0109] 2041A. Determine the execution action of the robot based on the obstacle distance calibration value, the preset rotation distance threshold, and the preset stop distance threshold.

[0110] The preset rotation distance threshold is a limit distance at which the robot cannot rotate.

[0111] The preset stop distance threshold is a limit distance that the robot cannot move. The preset rotation distance threshold is greater than the preset stop distance threshold.

[0112] For example, taking "the target ultrasonic sensor is at least one of the first ultrasonic sensor, the second ultrasonic sensor, the third ultrasonic sensor, the fourth ultrasonic sensor, and the fifth ultrasonic sensor" as an example, step 2041A may specifically include at least one of the following steps B1 to B5:

[0113] B1. If the target ultrasonic sensor is a first ultrasonic sensor located in the middle position directly in front of the robot chassis, the execution action of the robot is determined based on a first obstacle distance calibration value of the first ultrasonic sensor and a first control rule of the first ultrasonic sensor.

[0114] Among them, the first control rule includes allowing the robot to rotate and prohibiting forward movement when the first obstacle distance calibration value is greater than the preset stop distance and less than the preset rotation distance threshold, and prohibiting the robot from advancing when the first obstacle distance calibration value is less than or equal to the preset stop distance threshold.

[0115] The first obstacle distance calibration value refers to the obstacle distance calibration value of the first ultrasonic sensor. For the determination method of the obstacle distance calibration value of the first ultrasonic sensor, please refer to the relevant description of “Obstacle distance calibration value of target ultrasonic sensor” above, which will not be repeated here.

[0116] B2. If the target ultrasonic sensor is a second ultrasonic sensor located at the left side of the robot chassis, the execution action of the robot is determined based on a second obstacle distance calibration value of the second ultrasonic sensor and a second control rule of the second ultrasonic sensor.

[0117] Wherein, the second control rule includes prohibiting the robot from rotating and allowing it to move forward when the second obstacle distance calibration value is less than or equal to the preset stop distance threshold;

[0118] The second obstacle distance calibration value refers to the obstacle distance calibration value of the second ultrasonic sensor. For the determination method of the obstacle distance calibration value of the second ultrasonic sensor, please refer to the relevant description of “Obstacle distance calibration value of target ultrasonic sensor” above, which will not be repeated here.

[0119] B3. If the target ultrasonic sensor is the third ultrasonic sensor located on the right side of the robot chassis, the execution action of the robot is determined based on the third obstacle distance calibration value of the third ultrasonic sensor and the third control rule of the third ultrasonic sensor.

[0120] The third control rule includes prohibiting the robot from rotating and allowing it to move forward when the third obstacle distance calibration value is less than or equal to a preset stop distance threshold.

[0121] The third obstacle distance calibration value refers to the obstacle distance calibration value of the third ultrasonic sensor. For the determination method of the obstacle distance calibration value of the third ultrasonic sensor, please refer to the relevant description of “Obstacle distance calibration value of target ultrasonic sensor” above, which will not be repeated here.

[0122] B4. If the target ultrasonic sensor is the fourth ultrasonic sensor located at the left front position of the robot chassis, the execution action of the robot is determined based on the fourth obstacle distance calibration value of the fourth ultrasonic sensor and the fourth control rule of the fourth ultrasonic sensor.

[0123] Among them, the fourth control rule includes prohibiting the robot from moving forward and allowing rotation when the fourth obstacle distance calibration value is greater than the preset stop distance and less than the preset rotation distance threshold, and prohibiting the robot from rotating left and allowing right rotation when the fourth obstacle distance calibration value is less than or equal to the preset stop distance threshold.

[0124] Among them, the fourth obstacle distance calibration value refers to the obstacle distance calibration value of the fourth ultrasonic sensor. The method for determining the obstacle distance calibration value of the fourth ultrasonic sensor can refer to the relevant description of "Obstacle distance calibration value of target ultrasonic sensor" in the previous text, which will not be repeated here.

[0125] B5. If the target ultrasonic sensor is the fifth ultrasonic sensor located at the right front position of the robot chassis, the execution action of the robot is determined based on the fifth obstacle distance calibration value of the fifth ultrasonic sensor and the fifth control rule of the fifth ultrasonic sensor.

[0126] Among them, the fifth control rule includes prohibiting the robot from moving forward and allowing rotation when the fifth obstacle distance calibration value is greater than the preset stop distance and less than the preset rotation distance threshold, and prohibiting the robot from rotating right and allowing left rotation when the fifth obstacle distance calibration value is less than or equal to the preset stop distance threshold.

[0127] Among them, the fifth obstacle distance calibration value refers to the obstacle distance calibration value of the fifth ultrasonic sensor. The method for determining the obstacle distance calibration value of the fifth ultrasonic sensor can refer to the relevant description of "Obstacle distance calibration value of target ultrasonic sensor" in the previous text, which will not be repeated here.

[0128] For example, assuming that there are three target ultrasonic sensors (such as the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor), on the first hand, if the first obstacle distance calibration value is less than the preset rotation distance threshold and greater than the preset stop distance threshold, then under this condition, the robot is restricted to "the robot is allowed to rotate and prohibited from moving forward"; on the second hand, if the second obstacle distance calibration value is less than or equal to the preset stop distance threshold, then under this condition, the robot is restricted to "the robot is prohibited from rotating left and is allowed to move forward"; on the third hand, if the third obstacle distance calibration value is less than or equal to the preset stop distance threshold, then under this condition, the robot is restricted to "the robot is prohibited from rotating right and is allowed to move forward"; therefore, combined with the obstacle detection conditions of the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor, it can be determined that the robot's execution action is "stop driving".

[0129] 2042A. Based on the execution action, generate a motion control instruction for the robot to control the driving process of the robot.

[0130] For ease of understanding, the example of step 2041A is continued. For example, step 2042A determines that the robot's execution action is "stop driving". Then in step 2042A, a control instruction for the robot to stop driving is generated to control the robot's driving process, thereby preventing the robot from colliding with obstacles.

[0131] Therefore, by setting two distance thresholds, namely a preset rotation distance threshold and a preset stop distance threshold, for generating control instructions for the robot, when a transparent obstacle such as glass is identified, the distance between the robot and the obstacle and the orientation of the ultrasonic sensor that identifies the obstacle can be combined to determine whether the robot is allowed to execute actions or prohibited from executing actions, and the robot's motion control instructions can be generated to avoid the robot from colliding with obstacles and to avoid obstacles as much as possible, thereby reducing the robot's obstacle collisions while ensuring the normal operation of the robot.

[0132] Furthermore, action control instructions can only handle critical situations. In order to improve the robot's ability to avoid obstacles such as glass, in this embodiment, the robot's obstacle map is marked using obstacle distance calibration values, so that when the robot recognizes obstacles such as glass that are far away from it, the robot can still actively avoid the obstacles at a distance, thereby reducing the risk of collision with obstacles. For example, in order to mark the position of transparent objects such as glass to achieve the purpose of flexible obstacle avoidance and collision prevention, Figure 5 As shown, the following steps 501 to 503 may be used for processing:

[0133] 501. Determine a position of a new obstacle detected by the target ultrasonic sensor based on the fan-shaped detection area of ​​the target ultrasonic sensor and the obstacle distance calibration value.

[0134] Exemplarily, since the ultrasonic sensor detects in the form of waves and has no way to detect the specific position of the obstacle, only a distance value is fed back. Therefore, in this embodiment, the corresponding position of the obstacle distance calibration value is expanded to represent the obstacle (i.e., the newly detected obstacle of the target ultrasonic sensor). There are many ways to expand. In some embodiments, the obstacle distance calibration value is used as the fan-shaped radius, and the fan-shaped detection area of ​​the target ultrasonic sensor is expanded to represent the newly detected obstacle. The fan-shaped detection area of ​​the target ultrasonic sensor is the position of the newly detected obstacle of the target ultrasonic sensor. In some embodiments, the obstacle distance calibration value is used as the fan-shaped radius, and an area of ​​a preset angle size is intercepted in the fan-shaped detection area of ​​the target ultrasonic sensor. The area of ​​the intercepted preset angle size is expanded to represent the newly detected obstacle. The area of ​​the intercepted preset angle size is the position of the newly detected obstacle of the target ultrasonic sensor.

[0135] 502. Mark the newly detected obstacle in the obstacle map of the robot based on the position of the newly detected obstacle to obtain an updated obstacle map.

[0136] In some embodiments, the newly detected obstacle may be directly marked on the robot's obstacle map to obtain an updated obstacle map.

[0137] In some embodiments, since the larger the obstacle distance calibration value is, the larger the fan-shaped detection area of ​​the target ultrasonic sensor is, the more filling points that are expanded to represent the newly detected obstacle are, and the lower the authenticity of the newly detected obstacle is, in order to improve the authenticity of the newly detected obstacle and avoid the situation that the machine can actually bypass but cannot bypass the newly detected obstacle due to the newly detected obstacle far exceeding the actual obstacle range, this embodiment obtains the calibration distance threshold of the obstacle distance feedback value; if the obstacle distance feedback value is less than the calibration distance threshold, the newly detected obstacle is marked in the obstacle map of the robot based on the position of the newly detected obstacle to obtain an updated obstacle map; if the obstacle distance feedback value is greater than or equal to the calibration distance threshold, the newly detected obstacle is not marked in the obstacle map of the robot; thus, the marked distance can be limited, and the newly detected obstacle is calibrated only when the obstacle distance feedback value is less than the calibration distance threshold, thereby reducing the situation that the machine can actually bypass but cannot bypass the newly detected obstacle due to the newly detected obstacle far exceeding the actual obstacle range.

[0138] Furthermore, in order to improve the authenticity of the newly detected obstacle, the current moving speed of the robot is obtained; according to the current moving speed, the calibration distance threshold of the obstacle distance feedback value is determined, wherein the current moving speed is positively correlated with the calibration distance threshold. Thus, the greater the robot speed, the farther the calibration distance, otherwise the closer the calibration distance. Ideally, the robot does not mark the newly detected obstacle when it stops, to ensure that the robot can start walking normally.

[0139] Furthermore, since the ultrasonic sensor has a fan-shaped detection surface with a certain angle, there is a blind spot in the detection angle, so the robot may oscillate while walking, that is, the robot cannot detect the obstacle when it turns around, and thinks that there is no obstacle and returns to the obstacle again; by obtaining the cumulative marking time of the newly detected obstacle; if the cumulative marking time is greater than the preset marking time threshold, the newly detected obstacle is deleted from the obstacle map, so that the newly detected obstacle can be marked using the marking attenuation mechanism, and the mark of the newly detected obstacle in the obstacle map is maintained for the preset marking time threshold (such as 20 seconds), and when the position of the newly detected obstacle is re-detected, the time is restarted to ensure the continuity of the marking, improve the robot's obstacle avoidance efficiency, and reduce the problem of the robot repeatedly entering the obstacle area.

[0140] 503. Based on the updated obstacle map, control the robot to avoid obstacles.

[0141] In order to better understand the embodiments of the present application, the robot anti-collision processing method is described below by taking "a robot is equipped with multiple ultrasonic sensors, and the obstacle detection results of ultrasonic sensors and laser sensors are integrated to perform robot anti-collision processing" as an example. Please refer to Figure 6 , the robot anti-collision processing process can be as follows:

[0142] 1. Obtain the ultrasonic sensing data of each ultrasonic sensor installed on the robot. (Refer to Figure 6 (see "Ultrasonic Sensor Data Acquisition" in the

[0143] 2. Calibrate the ultrasonic sensor data of each ultrasonic sensor to calibrate the obstacle distance feedback value of each ultrasonic sensor to obtain the obstacle distance calibration value of each ultrasonic sensor. (Refer to Figure 6 (see "Ultrasonic sensor data calibration in stages" in the

[0144] For the specific implementation, please refer to steps 201 to 203, which will not be described in detail here.

[0145] 3. Fusion of obstacle detection results of ultrasonic sensors and laser sensors to determine obstacle identification information using ultrasonic sensors or laser sensors. (Refer to Figure 6 (as shown in the "Multi-sensor Fusion" section of

[0146] For the specific implementation, please refer to steps 401 to 411, which will not be described in detail here.

[0147] 4. Use the obstacle recognition information of ultrasonic sensors or laser sensors to generate the robot's motion control instructions. (Refer to Figure 6 (as shown in the "Generating Action Control Instructions" section of the

[0148] For the specific implementation, please refer to steps 401 to 411 and steps 2041A to 2042A, which will not be described in detail here.

[0149] 5. Use the obstacle recognition information of ultrasonic sensors or laser sensors to mark obstacles on the robot's obstacle map. (Refer to Figure 6 )

[0150] For the specific implementation, please refer to steps 401 to 411, which will not be described in detail here.

[0151] 6. Use the robot’s obstacle map to control the robot to avoid obstacles.

[0152] From the above content, it can be seen that, in the first aspect, by setting different calibration parameters for different reference distance ranges; determining the target calibration parameters of the obstacle distance feedback value of the target ultrasonic sensor according to the preset reference distance range associated with each calibration parameter; calibrating the obstacle distance feedback value according to the target calibration parameter to obtain the obstacle distance calibration value of the target ultrasonic sensor, different calibration parameters can be used for calibration for different obstacle distance calibration values, so that different calibration parameters can be used for calibration for different distance environmental interference, avoiding the problem of low data accuracy caused by the greater environmental interference of ultrasonic waves as the distance increases, and improving the calibration accuracy of the obstacle distance to a certain extent, so that the obstacle distance calibration value is closer to the actual distance of the obstacle, thereby improving the recognition accuracy of obstacles using ultrasonic sensors and reducing robot collisions. In the second aspect, transparent obstacles such as glass can be effectively identified by using ultrasonic sensors, and the recognition probability of transparent obstacles such as glass during robot navigation can be improved, thereby reducing the collision between the robot and transparent obstacles such as glass. Therefore, the embodiment of the present application can improve the recognition accuracy of obstacles, especially transparent obstacles, to a certain extent, reduce the probability of obstacle collisions by the robot, and improve the safety of robot operation.

[0153] A person of ordinary skill in the art can understand that all or part of the steps in the above-mentioned robot collision avoidance processing method can be completed by instructions, or by controlling related hardware through instructions. The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0154] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of computer programs are stored, and the computer program can be loaded by a processor to execute any robot collision avoidance processing method provided in the embodiment of the present application. For example, the computer program can be loaded by a processor to execute the following steps:

[0155] Obtain an obstacle distance feedback value of a target ultrasonic sensor installed on the robot; determine a target calibration parameter of the obstacle distance feedback value according to a preset reference distance range associated with each calibration parameter; calibrate the obstacle distance feedback value according to the target calibration parameter to obtain an obstacle distance calibration value of the target ultrasonic sensor; and control the driving process of the robot based on the obstacle distance calibration value.

[0156] In some embodiments, the computer program can be loaded by a processor to perform the following steps:

[0157] Based on the obstacle distance calibration value, a preset rotation distance threshold, and a preset stop distance threshold, the execution action of the robot is determined; based on the execution action, a motion control instruction of the robot is generated to control the driving process of the robot.

[0158] In some embodiments, the computer program can be loaded by a processor to perform the following steps:

[0159] Obtain a first obstacle detection result of each ultrasonic sensor installed on the robot; and use each ultrasonic sensor that detects an obstacle with the first obstacle detection result as the target ultrasonic sensor.

[0160] In some embodiments, the computer program can be loaded by a processor to perform the following steps:

[0161] Each ultrasonic sensor for which the first obstacle detection result is that an obstacle is detected is used as a preliminary screening ultrasonic sensor; a second obstacle detection result of the robot's laser sensor at a detection position corresponding to the preliminary screening ultrasonic sensor is obtained; if the second obstacle detection result is that no obstacle is detected, the preliminary screening ultrasonic sensor is used as the target ultrasonic sensor.

[0162] In some embodiments, the computer program can be loaded by a processor to perform the following steps:

[0163] Based on the fan-shaped detection area of ​​the target ultrasonic sensor and the obstacle distance calibration value, the position of the newly detected obstacle of the target ultrasonic sensor is determined; based on the position of the newly detected obstacle, the newly detected obstacle is marked in the obstacle map of the robot to obtain an updated obstacle map; based on the updated obstacle map, the robot is controlled to avoid obstacles.

[0164] In some embodiments, the computer program can be loaded by a processor to perform the following steps:

[0165] A calibrated distance threshold of the obstacle distance feedback value is obtained; if the obstacle distance feedback value is less than the calibrated distance threshold, the newly detected obstacle is marked on the obstacle map of the robot based on the position of the newly detected obstacle to obtain an updated obstacle map.

[0166] In some embodiments, the computer program can be loaded by a processor to perform the following steps:

[0167] Acquire the current moving speed of the robot; determine the calibrated distance threshold of the obstacle distance feedback value according to the current moving speed, wherein the current moving speed is positively correlated with the calibrated distance threshold.

[0168] In some embodiments, the computer program can be loaded by a processor to perform the following steps:

[0169] The accumulated marking time of the newly detected obstacle is obtained; if the accumulated marking time is greater than a preset marking time threshold, the newly detected obstacle is deleted from the obstacle map.

[0170] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0171] In the above robot anti-collision processing method, computer-readable storage medium, and self-moving device embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, refer to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the computer-readable storage medium, self-moving device and its corresponding units described above can refer to the description of the robot anti-collision processing method in the above embodiment, and will not be repeated here.

[0172] The above is a detailed introduction to a robot anti-collision processing method, a self-mobile device and a computer-readable storage medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot anti-collision processing method, characterized in that: The method comprises: Obtain the obstacle distance feedback value of the target ultrasonic sensor installed on the robot; Determining a target calibration parameter of the obstacle distance feedback value according to a preset reference distance range associated with each calibration parameter; Calibrate the obstacle distance feedback value according to the target calibration parameter to obtain an obstacle distance calibration value of the target ultrasonic sensor; Based on the obstacle distance calibration value, the driving process of the robot is controlled.

2. The robot anti-collision processing method according to claim 1, characterized in that: The controlling the driving process of the robot based on the obstacle distance calibration value includes: Determining an execution action of the robot based on the obstacle distance calibration value, a preset rotation distance threshold, and a preset stop distance threshold; Based on the execution action, a motion control instruction of the robot is generated to control the driving process of the robot.

3. The robot anti-collision processing method according to claim 1, characterized in that: The robot is equipped with a plurality of ultrasonic sensors, and the method further comprises: Obtaining a first obstacle detection result of each ultrasonic sensor installed on the robot; Each ultrasonic sensor that detects an obstacle according to the first obstacle detection result is used as the target ultrasonic sensor.

4. The robot anti-collision processing method according to claim 3, characterized in that: The step of using the first obstacle detection result as each ultrasonic sensor that detects an obstacle as the target ultrasonic sensor includes: The first obstacle detection result is each ultrasonic sensor that detects an obstacle as a preliminary screening ultrasonic sensor; Obtaining a second obstacle detection result of the robot's laser sensor at a detection position corresponding to the initial screening ultrasonic sensor; If the second obstacle detection result is that no obstacle is detected, the primary screening ultrasonic sensor is used as the target ultrasonic sensor.

5. The robot anti-collision processing method according to claim 3, characterized in that: The ultrasonic sensors installed on the robot include at least a first ultrasonic sensor located in the middle position directly in front of the robot chassis, a second ultrasonic sensor located on the left side of the robot chassis, a third ultrasonic sensor located on the right side of the robot chassis, a fourth ultrasonic sensor located on the left front of the robot chassis, and a fifth ultrasonic sensor located on the right front of the robot chassis.

6. The robot anti-collision processing method according to claim 1, characterized in that: The preset calibration parameters include a first calibration parameter, a second calibration parameter and a third calibration parameter; The upper limit boundary value of the reference distance range associated with the first calibration parameter is a first boundary value; The lower boundary value of the reference distance range associated with the second calibration parameter is a first boundary value, and the upper boundary value of the reference distance range associated with the second calibration parameter is a second boundary value; The lower limit boundary value of the reference distance range associated with the third calibration parameter is the second boundary value; The first boundary value is the same as the lower boundary value of the preset error range, the second boundary value is the same as the upper boundary value of the preset error range, the preset error range is the value range of the target obstacle distance feedback value, and the target obstacle distance feedback value refers to the obstacle distance feedback value whose difference with the actual value of the obstacle distance is less than the error distance of the laser sensor.

7. The robot anti-collision processing method according to claim 1, characterized in that: The method further comprises: Determining a position of a new obstacle detected by the target ultrasonic sensor based on the fan-shaped detection area of ​​the target ultrasonic sensor and the obstacle distance calibration value; Based on the position of the newly detected obstacle, marking the newly detected obstacle in the obstacle map of the robot to obtain an updated obstacle map; Based on the updated obstacle map, the robot is controlled to avoid obstacles.

8. The robot anti-collision processing method according to claim 7, characterized in that: The step of marking the newly detected obstacle in the obstacle map of the robot based on the position of the newly detected obstacle to obtain an updated obstacle map includes: Obtaining a calibrated distance threshold of the obstacle distance feedback value; If the obstacle distance feedback value is less than the calibrated distance threshold, the newly detected obstacle is marked in the obstacle map of the robot based on the position of the newly detected obstacle to obtain an updated obstacle map.

9. The robot anti-collision processing method according to claim 8, characterized in that: The step of obtaining the calibrated distance threshold of the obstacle distance feedback value includes: Obtaining the current moving speed of the robot; A calibrated distance threshold of the obstacle distance feedback value is determined according to the current moving speed, wherein the current moving speed is positively correlated with the calibrated distance threshold.

10. The robot anti-collision processing method according to claim 7, characterized in that: The method further comprises: Obtaining the accumulated marking time of the newly detected obstacle; If the accumulated marking time is greater than a preset marking time threshold, the newly detected obstacle is deleted from the obstacle map.

11. A self-propelled device, characterized in that: The method comprises a processor and a memory, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the robot collision avoidance processing method according to any one of claims 1 to 10 is executed.

12. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the robot collision avoidance processing method according to any one of claims 1 to 10.

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