Obstacle avoidance method, obstacle avoidance device, robot, storage medium and program product

Abstract

The invention provides an obstacle avoidance method, an obstacle avoidance device, a robot, a storage medium and a program product, and belongs to the technical field of computers. The obstacle avoidance method comprises the steps of generating an advancing route of a moving object; acquiring the size of an obstacle under the condition that the obstacle exists in front of the moving object; determining the position of an obstacle; determining a risk area according to the position and the size of the obstacle; and sending reminding information under the condition that the advancing route intersects with the risk area.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to an obstacle avoidance method and device, a robot, a storage medium, and a program product. Background Art

[0002] At present, health monitoring robots can move freely in the user's home, monitor the user's vital signs, and actively issue warnings when the user's vital signs are in an abnormal state, thereby effectively monitoring the user's health status. Summary of the invention

[0003] The inventor noticed that when users get up at night, they are easily tripped by obstacles on the ground, causing them to fall. As the eyesight of the elderly deteriorates, they are more likely to fall when they get up at night, and falls often cause great harm to the elderly. In the related art, the robot does not have the ability to provide users with trip risk reminders, thereby failing to reduce the occurrence of user falls.

[0004] Based on this, the present disclosure provides an obstacle avoidance method, which can provide users with trip risk reminders in a timely manner when there is a trip risk in front of the user's movement, thereby effectively reducing the occurrence of user falls.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided an obstacle avoidance method, which is executed by an obstacle avoidance device in a robot, and includes: generating a travel route of a mobile object; in case there is an obstacle in front of the mobile object, obtaining the size of the obstacle; determining the position of the obstacle; determining a risk area according to the position of the obstacle and the size of the obstacle; and sending a reminder message in case the travel route intersects with the risk area.

[0006] In some embodiments, determining the position of the obstacle includes: detecting the distance between the obstacle and the robot, and the position of the obstacle relative to the robot; determining the relative position of the obstacle relative to the robot based on the distance between the obstacle and the robot, the size of the obstacle, and the position of the obstacle relative to the robot; determining the position of the obstacle based on the current position of the robot, and the relative position of the obstacle relative to the robot.

[0007] In some embodiments, the detecting of the distance between the obstacle and the robot, and the position of the obstacle relative to the robot includes: using an airborne radar to detect the distance between the obstacle and the robot, and the position of the obstacle relative to the robot.

[0008] In some embodiments, obtaining the size of the obstacle includes: using an onboard camera to capture the image in front of the vehicle; extracting feature information of the obstacle when the obstacle is identified in the image; and extracting the size of the obstacle corresponding to the feature information from a database.

[0009] In some embodiments, the above-mentioned generation of the moving object's route includes: when the moving object is identified in the image captured by the airborne camera, using the airborne radar to determine the position of the moving object at a predetermined period; using the position of the moving object at different times to generate the above-mentioned route.

[0010] In some embodiments, the determining of the position of the moving object includes: detecting a current distance between the moving object and the robot, and a current position of the moving object relative to the robot; determining the relative position of the moving object relative to the robot based on the current distance between the moving object and the robot, and the current position of the moving object relative to the robot; determining the position of the moving object based on the current position of the robot, and the relative position of the moving object relative to the robot.

[0011] In some embodiments, the detecting of the current distance between the mobile object and the robot, and the current position of the mobile object relative to the robot includes: using an airborne radar to detect the current distance between the mobile object and the robot, and the current position of the mobile object relative to the robot.

[0012] In some embodiments, the determining of the risk area includes: obtaining the length of the obstacle from the size of the obstacle; and determining the risk area according to the position of the obstacle and the length of the obstacle.

[0013] In some embodiments, determining the risk area based on the position of the obstacle and the length of the obstacle includes: determining the radius of the risk area based on the length of the obstacle; and determining the risk area using the radius of the risk area with the position of the obstacle as the center of the circle.

[0014] In some embodiments, the radius of the risk area is the sum of the length of the obstacle and a predetermined length.

[0015] In some embodiments, the reminder information is sent when there is a predetermined risk area ahead of the moving object and the moving route intersects with the risk area.

[0016] In some embodiments, when the robot is deployed in a specified environment, feature information and size of the nth object in the specified environment are collected. , N is the total number of objects in the above specified environment; the feature information and size of the above nth object are stored in the database.

[0017] In some embodiments, the collecting of the characteristic information and size of the nth object includes: when the mth side of the nth object is located in the field of view of the onboard camera, using the onboard camera to collect an image of the mth side, , M is the total number of sides of the n-th object; extracting feature information of the m-th side; and detecting the length of the m-th side in the horizontal direction by using an airborne radar.

[0018] In some embodiments, storing the characteristic information and size of the i-th object in a database includes: storing the characteristic information of the M sides of the i-th object and the lengths of the M sides in the database, wherein the maximum value of the lengths of the M sides is taken as the length of the i-th object.

[0019] According to a second aspect of an embodiment of the present disclosure, there is provided an obstacle avoidance device, comprising: a travel route generation module, configured to generate a travel route of a mobile object; an obstacle information acquisition module, configured to, when the obstacle exists in front of the mobile object, acquire the size of the obstacle and determine the position of the obstacle; a risk area determination module, configured to determine the risk area according to the position of the obstacle and the size of the obstacle; and a reminder module, configured to send a reminder message when the travel route intersects with the risk area.

[0020] According to a third aspect of an embodiment of the present disclosure, there is provided an obstacle avoidance device, comprising: a memory; and a processor, coupled to the memory, the processor being configured to execute a method as described in any of the above embodiments based on instructions stored in the memory.

[0021] According to a fourth aspect of an embodiment of the present disclosure, a robot is provided, comprising: an obstacle avoidance device as described in any of the above embodiments; an onboard camera configured to capture images; and an onboard radar configured to detect a distance between a target object and the robot, and a position of the target object relative to the robot.

[0022] In some embodiments, the robot further includes: a positioning device configured to determine the position of the robot in the current environment.

[0023] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method involved in any of the above embodiments is implemented.

[0024] According to a sixth aspect of an embodiment of the present disclosure, there is provided a computer program product, comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the method involved in any of the above embodiments.

[0025] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 A flowchart of an obstacle avoidance method according to an embodiment of the present disclosure;

[0028] Figure 2 A schematic diagram of a robot measuring the size of an object according to an embodiment of the present disclosure;

[0029] Figure 3 A schematic diagram of a robot obstacle avoidance warning according to an embodiment of the present disclosure;

[0030] Figure 4 A schematic diagram of a robot obstacle avoidance warning according to another embodiment of the present disclosure;

[0031] Figure 5 A schematic diagram of a robot obstacle avoidance warning according to another embodiment of the present disclosure;

[0032] Figure 6 It is a structural schematic diagram of an obstacle avoidance device according to an embodiment of the present disclosure;

[0033] Figure 7 It is a structural schematic diagram of an obstacle avoidance device according to another embodiment of the present disclosure;

[0034] Figure 8 A schematic diagram of the structure of a robot according to an embodiment of the present disclosure;

[0035] Fig. 9 A schematic structural diagram of a robot according to another embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0037] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0038] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0039] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0040] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0041] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0042] Figure 1 The following is a flow chart of an obstacle avoidance method according to an embodiment of the present disclosure. In some embodiments, the following obstacle avoidance method is performed by an obstacle avoidance device in a robot, including steps 11-15.

[0043] In step 11, a travel route of the mobile object is generated.

[0044] For example, the moving object includes a user who is walking.

[0045] In some embodiments, when a moving object is identified from an image collected by an onboard camera, the position of the moving object is determined at a predetermined period using an onboard radar. Next, the position of the moving object at different times is used to generate a travel route.

[0046] For example, the step of determining the position of the mobile object includes the following steps:

[0047] 1) Detect the current distance between the moving object and the robot, and the current orientation of the moving object relative to the robot.

[0048] For example, using an onboard radar, the current distance between the mobile object and the robot and the current position of the mobile object relative to the robot are detected.

[0049] 2) Determine the relative position of the moving object relative to the robot based on the current distance between the moving object and the robot and the current orientation of the moving object relative to the robot.

[0050] 3) Determine the position of the moving object based on the current position of the robot and the relative position of the moving object relative to the robot.

[0051] It should be noted here that, since the robot is provided with a positioning device, the robot can be configured to determine the position of the robot in the current environment. For example, the charging position in the current environment can be used as the coordinate origin, and the robot can know the current position relative to the coordinate origin through the positioning device.

[0052] In step 12, when there is an obstacle ahead of the moving object, the size of the obstacle is acquired.

[0053] In some embodiments, the step of obtaining the size of the obstacle includes the following steps:

[0054] 1) Use the onboard camera to collect images of the area ahead.

[0055] 2) When obstacles are identified in the image, feature information of the obstacles is extracted.

[0056] 3) Extract the size of the obstacle corresponding to the feature information from the database.

[0057] It should be noted here that when the robot is deployed in a specified environment, the feature information and size of the nth object in the specified environment are collected. , N is the total number of objects in the specified environment, and the feature information and size of the nth object are stored in the database.

[0058] In some embodiments, the characteristic information and size of the nth object are collected through the following steps, and the characteristic information and size of the nth object are stored in a database.

[0059] 1) When the mth side of the nth object is in the field of view of the onboard camera, the onboard camera is used to collect an image of the mth side. , M is the total number of sides of the nth object.

[0060] 2) Extract feature information of the mth aspect.

[0061] 3) Use the airborne radar to detect the horizontal length of the mth side.

[0062] 4) The feature information of the M side surfaces of the ith object and the lengths of the M side surfaces are stored in a database, wherein the maximum value of the lengths of the M side surfaces is taken as the length of the ith object.

[0063] It should be noted that household items (e.g., a small stool) generally have a rectangular shape, that is, among the four sides of the rectangular, the first side and the third side opposite to the first side are similar in shape and features, and the second side adjacent to the first side and the fourth side opposite to the second side are similar in shape and features. In this case, it is only necessary to collect feature information and size information of the first side and the second side of the item.

[0064] For example, Figure 2 As shown in the figure, the robot uses the onboard camera to collect the image of the object, and adjusts its position according to the collected object image, so that the robot's onboard radar is facing the object. In order to facilitate the adjustment of the robot's position, the robot's onboard camera and onboard radar can be set on the same vertical line. By using the point cloud data collected by the onboard radar, the distance d from the robot to the object is calculated, and the angles are and Then, the first length L1 and the second length L2 of the surface of the object facing the robot are calculated using formula (1) and formula (2).

[0065] (1)

[0066] (2)

[0067] In this case, the length L of the side of the object opposite to the robot in the horizontal direction is as shown in formula (3).

[0068] (3)

[0069] It should be noted here that if = , that is, the projection of the airborne radar on the side opposite to the robot is exactly at the midpoint of the length of the side in the horizontal direction. In this case, the length L of the side opposite to the robot in the object in the horizontal direction can be directly calculated using formula (4).

[0070] (4)

[0071] In step 13, the location of the obstacle is determined.

[0072] In some embodiments, the step of determining the location of the obstacle comprises the following steps:

[0073] 1) Detect the distance between the obstacle and the robot, and the position of the obstacle relative to the robot.

[0074] For example, the onboard radar can be used to detect the distance between the obstacle and the robot, as well as the position of the obstacle relative to the robot.

[0075] 2) Determine the relative position of the obstacle with respect to the robot based on the distance between the obstacle and the robot, the size of the obstacle, and the orientation of the obstacle with respect to the robot.

[0076] 3) Determine the position of the obstacle based on the robot's current position and the relative position of the obstacle to the robot.

[0077] For example, the relative position of the geometric center of the obstacle relative to the robot is determined according to the distance between the obstacle and the robot, the size of the obstacle, and the orientation of the obstacle relative to the robot.

[0078] In this case, the position of the geometric center of the obstacle is determined based on the current position of the robot and the relative position of the geometric center of the obstacle with respect to the robot.

[0079] In step 14, the risk area is determined according to the location of the obstacle and the size of the obstacle.

[0080] In some embodiments, the length of the obstacle is obtained from the size of the obstacle, and then the risk area is determined according to the position of the obstacle and the length of the obstacle.

[0081] It should be noted that an obstacle usually has multiple sides, and the length of each side in the horizontal direction is not the same. In order to avoid collision between the user and the obstacle, the maximum value of the lengths of the sides is taken as the length of the obstacle.

[0082] In some embodiments, the risk area radius is determined based on the length of the obstacle. Next, the risk area is determined using the risk area radius with the position of the obstacle as the center of the circle.

[0083] For example, the radius of the risk area is the sum of the length of the obstacle and the predetermined length.

[0084] It should be noted here that in order to effectively reduce the probability of a user colliding with an obstacle, the sum of the length of the obstacle and the predetermined length is used as the radius of the risk area.

[0085] For example, the predetermined length is 3-10 cm, thereby further increasing the area of ​​the risk zone, thereby further reducing the probability of the user colliding with an obstacle.

[0086] In step 15, when the travel route intersects the risk area, a warning message is sent.

[0087] For example, Figure 3 As shown in the figure, a user is walking from west to east at home, and there is an obstacle in front of him. The robot detects the user's route and the obstacle in front of the user. The robot determines the risk area based on the location and size of the obstacle, and sends a reminder message when the route intersects with the risk area.

[0088] In some embodiments, Figure 4 As shown in the figure, the robot's current coordinates are (x0, y0), the user's current coordinates are (x1, y1), and their travel route is shown by the dotted line. The current coordinates of the obstacle are (x2, y2). The robot identifies the feature information of the obstacle in order to obtain the obstacle size corresponding to the feature information from the database. Next, the robot determines the risk area based on the location and size of the obstacle, as shown in the figure. Figure 4 As shown in the circular area in Figure 4 As can be seen, since the user's route intersects with the risk area, it indicates that the user is at risk of colliding with an obstacle. In this case, the robot sends a reminder message to the user so that the user can change the route, thereby effectively avoiding the user colliding with the obstacle and falling.

[0089] In some embodiments, when there is a predetermined risk area ahead of the moving object and the moving route intersects with the risk area, a reminder message is sent.

[0090] It should be noted here that in a home environment, there may be thresholds, steps, and other areas that may cause users to fall. Therefore, reminding the user when the user is about to enter such an area can effectively reduce the risk of the user falling.

[0091] For example, Figure 5 As shown in the figure, the current coordinates of the robot are (x0, y0), the current coordinates of the user are (x1, y1), and their travel route is shown by the dotted line. There is a step in front of the user's travel route, and the travel route intersects with the step area. In this case, the robot sends a reminder message to the user, thereby effectively preventing the user from falling on the steps.

[0092] In the obstacle avoidance method provided in the above embodiment of the present disclosure, a moving object's route is generated, and when there is an obstacle in front of the moving object, the size of the obstacle is obtained, and the position of the obstacle is determined. The risk area is determined according to the position and size of the obstacle, and a reminder message is sent when the route intersects the risk area. Thus, when there is a risk of stumbling ahead of the user, a trip risk reminder can be provided to the user in a timely manner, effectively reducing the occurrence of user falls.

[0093] Figure 6 FIG. 1 is a schematic diagram of the structure of an obstacle avoidance device according to an embodiment of the present disclosure. Figure 6 As shown, the obstacle avoidance device includes a travel route generation module 61 , an obstacle information acquisition module 62 , a risk area determination module 63 and a reminder module 64 .

[0094] The travel route generation module 61 is configured to generate a travel route of a mobile object.

[0095] For example, the moving object includes a user who is walking.

[0096] In some embodiments, when the moving object is identified in the image collected by the onboard camera, the route generation module 61 uses the onboard radar to determine the position of the moving object at a predetermined period. Next, the route is generated using the position of the moving object at different times.

[0097] For example, operations to determine the position of a moving object include the following:

[0098] 1) Detect the current distance between the moving object and the robot, and the current orientation of the moving object relative to the robot.

[0099] For example, using an onboard radar, the current distance between the mobile object and the robot and the current position of the mobile object relative to the robot are detected.

[0100] 2) Determine the relative position of the moving object relative to the robot based on the current distance between the moving object and the robot and the current orientation of the moving object relative to the robot.

[0101] 3) Determine the position of the moving object based on the current position of the robot and the relative position of the moving object relative to the robot.

[0102] It should be noted here that, since the robot is provided with a positioning device, the robot can be configured to determine the position of the robot in the current environment. For example, the charging position in the current environment can be used as the coordinate origin, and the robot can know the current position relative to the coordinate origin through the positioning device.

[0103] The obstacle information acquisition module 62 is configured to acquire the size of the obstacle and determine the position of the obstacle when there is an obstacle in front of the moving object.

[0104] In some embodiments, the operation of obtaining the size of the obstacle includes the following:

[0105] 1) Use the onboard camera to collect images of the area ahead.

[0106] 2) When obstacles are identified in the image, feature information of the obstacles is extracted.

[0107] 3) Extract the size of the obstacle corresponding to the feature information from the database.

[0108] It should be noted here that when the robot is deployed in a specified environment, the feature information and size of the nth object in the specified environment are collected. , N is the total number of objects in the specified environment, and the feature information and size of the nth object are stored in the database.

[0109] In some embodiments, the characteristic information and size of the nth object are collected through the following operations, and the characteristic information and size of the nth object are stored in a database.

[0110] 1) When the mth side of the nth object is in the field of view of the onboard camera, the onboard camera is used to collect an image of the mth side. , M is the total number of sides of the nth object.

[0111] 2) Extract feature information of the mth aspect.

[0112] 3) Use the airborne radar to detect the horizontal length of the mth side.

[0113] 4) The feature information of the M side surfaces of the ith object and the lengths of the M side surfaces are stored in a database, wherein the maximum value of the lengths of the M side surfaces is taken as the length of the ith object.

[0114] It should be noted that household items (e.g., a small stool) generally have a rectangular shape, that is, among the four sides of the rectangular, the first side and the third side opposite to the first side are similar in shape and features, and the second side adjacent to the first side and the fourth side opposite to the second side are similar in shape and features. In this case, it is only necessary to collect feature information and size information of the first side and the second side of the item.

[0115] In some embodiments, the operation of determining the location of the obstacle includes the following:

[0116] 1) Detect the distance between the obstacle and the robot, and the position of the obstacle relative to the robot.

[0117] For example, the onboard radar can be used to detect the distance between the obstacle and the robot, as well as the position of the obstacle relative to the robot.

[0118] 2) Determine the relative position of the obstacle with respect to the robot based on the distance between the obstacle and the robot, the size of the obstacle, and the orientation of the obstacle with respect to the robot.

[0119] 3) Determine the position of the obstacle based on the robot's current position and the relative position of the obstacle to the robot.

[0120] For example, the relative position of the geometric center of the obstacle relative to the robot is determined according to the distance between the obstacle and the robot, the size of the obstacle, and the orientation of the obstacle relative to the robot.

[0121] In this case, the position of the geometric center of the obstacle is determined based on the current position of the robot and the relative position of the geometric center of the obstacle with respect to the robot.

[0122] The risk area determination module 63 is configured to determine the risk area according to the position and size of the obstacle.

[0123] In some embodiments, the risk area determination module 63 obtains the length of the obstacle from the size of the obstacle, and then determines the risk area according to the position of the obstacle and the length of the obstacle.

[0124] It should be noted that an obstacle usually has multiple sides, and the length of each side in the horizontal direction is not the same. In order to avoid collision between the user and the obstacle, the maximum value of the lengths of the sides is taken as the length of the obstacle.

[0125] In some embodiments, the risk area radius is determined based on the length of the obstacle. Next, the risk area is determined using the risk area radius with the position of the obstacle as the center of the circle.

[0126] For example, the radius of the risk area is the sum of the length of the obstacle and the predetermined length.

[0127] It should be noted here that in order to effectively reduce the probability of a user colliding with an obstacle, the sum of the length of the obstacle and the predetermined length is used as the radius of the risk area.

[0128] For example, the predetermined length is 3-10 cm, thereby further increasing the area of ​​the risk zone, thereby further reducing the probability of the user colliding with an obstacle.

[0129] The reminder module 64 is configured to send a reminder message when the travel route intersects the risk area.

[0130] Figure 7 It is a schematic structural diagram of an obstacle avoidance device according to another embodiment of the present disclosure.

[0131] like Figure 7 As shown, the obstacle avoidance device 70 is in the form of a general-purpose computing device. The obstacle avoidance device 70 includes a memory 71, a processor 72, and a bus 73 connecting different system components.

[0132] The memory 71 may include, for example, a system memory, a non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application, a boot loader, and other programs. The system memory may include a volatile storage medium, such as a random access memory (RAM) and / or a cache memory. The non-volatile storage medium may store, for example, instructions for a corresponding embodiment of at least one obstacle avoidance method being executed. The non-volatile storage medium includes, but is not limited to, a disk memory, an optical memory, a flash memory, and the like.

[0133] The processor 72 may be implemented by a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistors, and other discrete hardware components. Accordingly, each module such as an acquisition module, a calculation module, and an adjustment module may be implemented by a central processing unit (CPU) running instructions in a memory that execute corresponding steps, or may be implemented by a dedicated circuit that executes corresponding steps.

[0134] For example, the processor 72 is configured to execute instructions stored in the memory to implement the following Figure 1 The method of any one of the embodiments.

[0135] The bus 73 may use any of a variety of bus structures, including, but not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, and a Peripheral Component Interconnect (PCI) bus.

[0136] The interfaces 74, 75, 76 of the obstacle avoidance device 70, the memory 71 and the processor 72 can be connected via a bus 73. The input / output interface 74 can provide a connection interface for input / output devices such as a display, a mouse, and a keyboard. The network interface 75 provides a connection interface for various networked devices. The storage interface 76 provides a connection interface for external storage devices such as a floppy disk, a USB flash drive, and an SD card.

[0137] Here, various aspects of the present disclosure are described with reference to flowcharts and / or block diagrams of methods, devices, and computer program products according to embodiments of the present disclosure. It should be understood that each frame of the flowchart and / or block diagram and the combination of frames can be implemented by computer-readable program instructions.

[0138] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable device to produce a machine, so that the processor executes the instructions to produce means for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0139] These computer-readable program instructions may also be stored in a computer-readable memory, which cause the computer to work in a specific manner to produce an article of manufacture, including instructions for implementing the functions specified in one or more blocks in the flowchart and / or block diagram.

[0140] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects.

[0141] The present disclosure also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the following is implemented: Figure 1 The method of any one of the embodiments.

[0142] The present disclosure also provides a computer program product, including computer instructions, wherein when the computer instructions are executed by a processor, the following is achieved: Figure 1 The method of any one of the embodiments.

[0143] Figure 8 FIG. 1 is a schematic diagram of the structure of a robot according to an embodiment of the present disclosure. Figure 8 As shown, the robot includes an obstacle avoidance device 81, an onboard camera 82, and an onboard radar 83. The obstacle avoidance device 81 is Figure 6 or Figure 7 The obstacle avoidance device involved in any one of the embodiments.

[0144] The onboard camera 82 is configured to collect images so that the obstacle avoidance device 81 can recognize and process the images collected by the onboard camera 82 .

[0145] The onboard radar 83 is configured to detect the distance between the target object and the robot, and the orientation of the target object relative to the robot.

[0146] It should be noted here that the above-mentioned target object can be an obstacle or a user.

[0147] For example, the airborne radar 83 is a laser radar.

[0148] Fig. 9 A schematic structural diagram of a robot according to another embodiment of the present invention. Fig. 9 and Figure 8 The difference is that in Fig. 9 In the illustrated embodiment, the robot further comprises a positioning device 84 .

[0149] The positioning device 84 is configured to determine the position of the robot in the current environment.

[0150] For example, the positioning device 84 includes an inertial navigation device.

[0151] By implementing the above-mentioned embodiments of the present disclosure, when there is a risk of stumbling ahead of the user, a trip risk reminder can be provided to the user in a timely manner, thereby effectively reducing the occurrence of user falls.

[0152] In some embodiments, the functional modules described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components or any appropriate combination thereof for performing the functions described in the present disclosure.

[0153] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0154] The description of the present disclosure is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An obstacle avoidance method, performed by an obstacle avoidance device in a robot, comprising: Generate a travel path for a moving object; When there is an obstacle ahead of the moving object, obtaining the size of the obstacle; determining the location of the obstacle; Determining a risk area according to the location of the obstacle and the size of the obstacle; When the travel route intersects the risk area, a reminder message is sent.

2. The obstacle avoidance method according to claim 1, wherein: Determining the position of the obstacle comprises: Detecting the distance between the obstacle and the robot, and the position of the obstacle relative to the robot; Determining a relative position of the obstacle relative to the robot according to a distance between the obstacle and the robot, a size of the obstacle, and an orientation of the obstacle relative to the robot; The position of the obstacle is determined according to the current position of the robot and the relative position of the obstacle with respect to the robot.

3. The obstacle avoidance method according to claim 2, wherein: The detecting the distance between the obstacle and the robot, and the position of the obstacle relative to the robot comprises: The airborne radar is used to detect the distance between the obstacle and the robot, and the position of the obstacle relative to the robot.

4. The obstacle avoidance method according to claim 1, wherein: The obtaining the size of the obstacle comprises: Using an onboard camera to collect the image ahead of the vehicle; When the obstacle is identified to exist in the image, extracting feature information of the obstacle; The size of the obstacle corresponding to the feature information is extracted from a database.

5. The obstacle avoidance method according to claim 1, wherein: Generating a moving object's route comprises: In the case where the mobile object is identified in the image acquired by the onboard camera, the position of the mobile object is determined at a predetermined period using an onboard radar; The travel route is generated by using the positions of the mobile object at different times.

6. The obstacle avoidance method according to claim 5, wherein: Determining the position of the mobile object comprises: detecting a current distance between the mobile object and the robot, and a current position of the mobile object relative to the robot; Determining a relative position of the mobile object relative to the robot according to a current distance between the mobile object and the robot and a current position of the mobile object relative to the robot; The position of the mobile object is determined according to the current position of the robot and the relative position of the mobile object with respect to the robot.

7. The obstacle avoidance method according to claim 6, wherein: The detecting of the current distance between the mobile object and the robot, and the current position of the mobile object relative to the robot comprises: The onboard radar is used to detect the current distance between the mobile object and the robot, and the current position of the mobile object relative to the robot.

8. The obstacle avoidance method according to claim 1, wherein: The identified risk areas include: Obtaining the length of the obstacle from the size of the obstacle; A risk area is determined according to the position of the obstacle and the length of the obstacle.

9. The obstacle avoidance method according to claim 8, wherein: Determining the risk area according to the position of the obstacle and the length of the obstacle includes: Determining the radius of the risk area according to the length of the obstacle; The risk area is determined by taking the position of the obstacle as the center of the circle and using the risk area radius.

10. The obstacle avoidance method according to claim 9, wherein: The radius of the risk area is the sum of the length of the obstacle and a predetermined length.

11. The obstacle avoidance method according to claim 1, further comprising: The reminder information is sent when there is a predetermined risk area ahead of the moving object and the moving route intersects with the risk area.

12. The obstacle avoidance method according to any one of claims 1 to 11, further comprising: When the robot is deployed in a specified environment, collecting feature information and size of an nth object in the specified environment, , N is the total number of objects in the specified environment; The characteristic information and size of the nth object are stored in a database.

13. The obstacle avoidance method according to claim 12, wherein: The collecting of feature information and size of the nth object includes: When the m-th side surface of the n-th object is located in the field of view of the onboard camera, using the onboard camera to collect an image of the m-th side surface, , M is the total number of sides of the nth object; Extracting feature information of the m-th side surface; An airborne radar is used to detect the length of the m-th side surface in the horizontal direction.

14. The obstacle avoidance method according to claim 13, wherein: The storing the characteristic information and size of the i-th object in the database comprises: The feature information of the M side surfaces of the i-th object and the lengths of the M side surfaces are stored in the database, wherein the maximum value of the lengths of the M side surfaces is used as the length of the i-th object.

15. An obstacle avoidance device, comprising: A travel route generation module is configured to generate a travel route of a mobile object; an obstacle information acquisition module, configured to acquire the size of the obstacle and determine the position of the obstacle when the obstacle exists in front of the moving object; A risk area determination module, configured to determine a risk area according to the position of the obstacle and the size of the obstacle; The reminder module is configured to send a reminder message when the travel route intersects the risk area.

16. An obstacle avoidance device, comprising: Memory; A processor is coupled to the memory, and the processor is configured to execute the method according to any one of claims 1 to 14 based on instructions stored in the memory.

17. A robot comprising: The obstacle avoidance device as claimed in claim 15 or 16; an onboard camera configured to capture images; The onboard radar is configured to detect the distance between the target object and the robot, and the orientation of the target object relative to the robot.

18. The robot according to claim 17, further comprising: The positioning device is configured to determine the position of the robot in the current environment.

19. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method according to any one of claims 1 to 14 is implemented.

20. A computer program product comprising computer instructions, wherein the computer instructions implement the method according to any one of claims 1 to 14 when executed by a processor.

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