Robot navigation method and device, electronic equipment and computer program product

Abstract

The invention is suitable for the technical field of robots, and provides a robot navigation method and device, electronic equipment and a computer program product. The navigation method of the robot comprises the steps that an initial map is obtained, and the area type of each obstacle area is marked in the initial map; acquiring a real-time ultra-bandwidth positioning position of the robot in the process that the robot navigates according to the initial map; determining a target obstacle area where the robot is located according to the real-time ultra-bandwidth positioning position; and controlling the robot to move according to navigation parameters corresponding to the target area type of the target obstacle area. According to the embodiment of the invention, the safety of the robot can be improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a robot navigation method, device, electronic equipment and computer program product. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, and can move autonomously to the work area through navigation to perform tasks. Indoor mobile robots will encounter many safety issues during navigation and movement. Due to the limitations of the robot's movement performance, it needs to avoid escalators, elevators, and other scenes. Related technologies use image sensors or depth sensors to identify the protection area, or add geomagnetism to the protection area to avoid obstacles through magnetic induction. However, these solutions require the addition of other sensors or the modification of the environment, which is costly, and the detection accuracy or response speed is poor, making it difficult to meet the robot's movement safety requirements. Summary of the invention

[0003] The embodiments of the present application provide a robot navigation method, device, electronic device and computer-readable storage medium, which can improve the movement safety of the robot.

[0004] A first aspect of an embodiment of the present application provides a navigation method for a robot, comprising: obtaining an initial map, wherein the area type of each obstacle area is marked in the initial map; while the robot is navigating according to the initial map, obtaining a real-time ultra-wideband positioning position of the robot; determining a target obstacle area where the robot is located according to the real-time ultra-wideband positioning position; and controlling the movement of the robot according to navigation parameters corresponding to the target area type of the target obstacle area.

[0005] In some embodiments of the first aspect, the navigation parameters corresponding to the target area type include an obstacle avoidance threshold; controlling the movement of the robot according to the navigation parameters corresponding to the target area type of the target obstacle area includes: controlling the robot to maintain a first distance greater than the obstacle avoidance threshold during the movement, wherein the first distance is the distance between the robot and the obstacle area.

[0006] In some implementations of the first aspect, different area types correspond to different obstacle avoidance thresholds.

[0007] In some embodiments of the first aspect, the navigation parameters corresponding to the target area type include an expansion radius; controlling the movement of the robot according to the navigation parameters corresponding to the target area type of the target obstacle area includes: expanding the target obstacle area according to the expansion radius to obtain a cost map; and controlling the robot to move according to the cost map.

[0008] In some embodiments of the first aspect, different area types correspond to different expansion radii.

[0009] In some embodiments of the first aspect, obtaining the real-time ultra-wideband positioning position of the robot includes: obtaining a particle set for positioning the robot; updating the position of each particle in the particle set according to a preset motion model to obtain an updated position of each particle; obtaining laser measurement data and ultra-wideband measurement data; calculating the matching probability of each particle according to the laser measurement data, the ultra-wideband measurement data and the updated position of each particle; positioning the robot according to the matching probability of each particle to obtain the real-time ultra-wideband positioning position.

[0010] In some embodiments of the first aspect, determining the target obstacle area where the robot is located based on the real-time ultra-wideband positioning position includes: acquiring the robot positioning position collected by a robot sensor; if any position between the robot positioning position and the real-time ultra-wideband positioning position is in a dangerous area, confirming that the target obstacle area where the robot is located is a dangerous area.

[0011] A second aspect of an embodiment of the present application provides a navigation device for a robot, comprising: a map acquisition unit, used to acquire an initial map, wherein the initial map has area types of various obstacle areas marked therein; a positioning unit, used to acquire the real-time ultra-wideband positioning position of the robot during navigation according to the initial map; an area determination unit, used to determine the target obstacle area where the robot is located according to the real-time ultra-wideband positioning position; and a navigation control unit, used to control the movement of the robot according to navigation parameters corresponding to the target area type of the target obstacle area.

[0012] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned robot navigation method when executing the computer program.

[0013] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned robot navigation method are implemented.

[0014] A fifth aspect of an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute the steps of the above-mentioned robot navigation method.

[0015] In an embodiment of the present application, while the robot is navigating according to an initial map, the real-time ultra-wideband positioning position of the robot is obtained, and the movement of the robot is controlled according to the navigation parameters corresponding to the target area type of the target obstacle area where the robot is located. Ultra-wideband positioning technology can be used to set corresponding navigation parameters for the robot's navigation in different obstacle areas in the robot motion scenario to adapt to the navigation requirements of the corresponding obstacle area, thereby ensuring the robot's movement safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a schematic diagram of an implementation flow of a robot navigation method provided in an embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of an interface for editing a map provided in an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of an expansion operation provided in an embodiment of the present application;

[0020] Figure 4 It is a structural schematic diagram of a navigation device of a robot provided in an embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are protected by the present application.

[0023] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0024] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0025] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0026] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, and can move autonomously to the work area through navigation to perform tasks. Indoor mobile robots will encounter many safety issues during navigation and movement. Due to the limitations of the robot's movement performance, it needs to avoid escalators, elevators, and other scenes. Related technologies use image sensors or depth sensors to identify the protection area, or add geomagnetism to the protection area to avoid obstacles through magnetic induction. However, these solutions require the addition of other sensors or the modification of the environment, which is costly, and the detection accuracy or response speed is poor, making it difficult to meet the robot's movement safety requirements.

[0027] In view of this, the present application proposes a robot navigation method that can use ultra-wideband positioning technology to set corresponding navigation parameters for the robot's navigation in different obstacle areas in the robot motion scenario to adapt to the navigation requirements of the corresponding obstacle areas, thereby ensuring the robot's movement safety.

[0028] In order to illustrate the technical solution of the present application, a specific embodiment is provided below for illustration.

[0029] Figure 1 The present invention provides a schematic diagram of a robot navigation method according to an embodiment of the present invention, which can be applied to an electronic device. The electronic device can be a computer, a mobile phone or other intelligent device for controlling or communicating with the robot, or a robot that needs navigation.

[0030] Specifically, the robot navigation method may include the following steps S101 to S104.

[0031] Step S101, obtaining an initial map.

[0032] The initial map is a map used for robot navigation. The initial map can be a raster map, a vector map, or an electronic map in other forms, which is not limited in this application. The initial map is marked with the area type of each obstacle area. The area type can reflect the type of obstacles in the area and the strategy that the robot needs to adopt when facing the area.

[0033] Step S102, while the robot is navigating according to the initial map, the real-time ultra-wideband positioning position of the robot is obtained.

[0034] In the implementation of the present application, during the process of the robot navigating according to the initial map, the robot can determine the real-time ultra-wide band (UWB) positioning position by exchanging information with an ultra-wide band (UWB) base station. The real-time ultra-wide band positioning position refers to the real-time position information of the robot obtained by the robot through ultra-wide band positioning.

[0035] Step S103, determining the target obstacle area where the robot is located according to the real-time ultra-wideband positioning position.

[0036] In an embodiment of the present application, according to the real-time ultra-wideband positioning position, the target obstacle area where the robot is located can be determined in each obstacle area in the initial map.

[0037] Step S104: Control the robot to move according to the navigation parameters corresponding to the target area type of the target obstacle area.

[0038] The navigation parameters are used to guide the robot to avoid obstacles during navigation. For each obstacle area in the initial map, navigation parameters corresponding to each area type can be pre-set. After determining the target obstacle area where the robot is located, the robot can be controlled to move according to the navigation parameters corresponding to the target area type of the target obstacle area, so that the robot avoids obstacles in the target obstacle area according to the navigation parameters.

[0039] In an embodiment of the present application, while the robot is navigating according to an initial map, the real-time ultra-wideband positioning position of the robot is obtained, and the movement of the robot is controlled according to the navigation parameters corresponding to the target area type of the target obstacle area where the robot is located. Ultra-wideband positioning technology can be used to set corresponding navigation parameters for the robot's navigation in different obstacle areas in the robot motion scenario to adapt to the navigation requirements of the corresponding obstacle area, thereby ensuring the robot's movement safety.

[0040] In some embodiments of the present application, obtaining an initial map may include: obtaining a sensor data frame during the movement of the robot, and obtaining an absolute position corresponding to the sensor data frame, and generating a sensor data frame library based on the obtained sensor data frame and the absolute position. According to the absolute position corresponding to the sensor data frame currently obtained by the robot and a preset distance threshold, the sensor data frame library is searched for an absolute position that matches the current absolute position, and a sensor data frame corresponding to the matched absolute position. The searched sensor data frame is matched with the currently obtained sensor data frame, and loop optimization and initial map construction are performed based on the matching result.

[0041] Among them, the sensing data frame may include information such as scene images, the distance between obstacles in the scene and the robot, and the position and posture of the robot. The robot can determine the absolute position in combination with auxiliary positioning equipment. In a possible implementation, a positioning base station can be set in the scene where the robot is located, and a detection signal is sent through the positioning base station. The robot determines the distance between the robot and the positioning base station based on the received positioning signal. The absolute position of the robot is determined based on two or more determined distances and the pre-set position of the positioning base station. Among them, the positioning base station can be an ultra-wideband base station.

[0042] When one or more sensor data frames are found according to the absolute position, one or more sensor data frames can be matched with the currently acquired sensor data frames, that is, the similarity between the found sensor data frames and the currently acquired sensor data frames is calculated. If the similarity is greater than a predetermined similarity threshold, the sensor data frame and the absolute position are selected to optimize the movement trajectory of the robot. For example, the robot's loop point can be determined according to the absolute position, and the robot's posture information at the loop point can be determined according to the sensor data frame. According to the determined loop point and posture information, the robot's movement trajectory is adjusted, and the posture change information of the robot during movement is adjusted. Construct an initial map based on the adjusted trajectory and the adjusted posture change information.

[0043] In some implementations of the present application, after the initial map is acquired, the initial map may be marked according to the user's editing operation.

[0044] Specifically, Figure 2 As shown, the user can define the obstacle area and set the area type, such as marking point, virtual wall, virtual track, physical wall, deceleration area, no-entry area, etc., in the initial map displayed in the editing interface.

[0045] In some embodiments of the present application, obtaining the real-time ultra-wideband positioning position of the robot may include: obtaining a particle set for positioning the robot; updating the position of each particle in the particle set according to a preset motion model to obtain an updated position of each particle; obtaining laser measurement data and ultra-wideband measurement data; calculating the matching probability of each particle according to the laser measurement data, the ultra-wideband measurement data and the updated position of each particle; positioning the robot according to the matching probability of each particle to obtain the real-time ultra-wideband positioning position.

[0046] Specifically, particle filtering refers to the process of finding a set of random samples propagating in the state space to approximate the probability density function, replacing the integral operation with the sample mean, and then obtaining the minimum variance estimate of the system state. These samples are figuratively called "particles", so it is called particle filtering. The particle set is composed of a preset number of particles. In the initial state, the position of each particle in the particle set can be randomly selected in the map. In the subsequent process, the particle set obtained at any time is the updated particle set obtained by resampling the particle set at the previous moment.

[0047] By calculating the position of each particle at the previous moment according to the preset motion model, the position of each particle at the current moment can be estimated. If the laser measurement data and ultra-wideband measurement data are taken into account when calculating the probability of the particle, most particles are constrained near the ultra-wideband positioning position to ensure that particles near the correct position never disappear. When the features become rich, the probability of each particle can be accurately calculated through the laser data to obtain a high-precision real-time ultra-wideband positioning position.

[0048] In some embodiments of the present application, determining the target obstacle area where the robot is located based on the real-time ultra-wideband positioning position may include: obtaining the robot positioning position collected by the robot sensor; if any position between the robot positioning position and the real-time ultra-wideband positioning position is located in a dangerous area, then confirming that the target obstacle area where the robot is located is a dangerous area.

[0049] The sensor may be an image sensor, a laser radar, etc. The robot positioning position may be determined based on the sensor data collected by the sensor. Considering that the robot scene changes frequently or the scene is large, the robot positioning is easily lost. If any position between the robot positioning position and the real-time ultra-wideband positioning position is in a dangerous area, the target obstacle area where the robot is located is confirmed to be a dangerous area.

[0050] The danger zone is a specific area in each obstacle area, such as an elevator area, a straight elevator area, etc. If any position between the robot positioning position and the real-time ultra-wideband positioning position is in the danger zone, the target obstacle area where the robot is located is confirmed to be a danger zone. Correspondingly, if the robot positioning position and the real-time ultra-wideband positioning position are both in the non-dangerous area, the target obstacle area where the robot is located is confirmed to be a non-dangerous area. In this way, when the robot positioning position is lost, or when the robot positioning position is incorrect in similar scenes, the real-time ultra-wideband positioning position can be used to avoid obstacles in the danger zone.

[0051] In some embodiments of the present application, the navigation parameter corresponding to the target area type may include an obstacle avoidance threshold. Controlling the robot to move according to the navigation parameter corresponding to the target area type of the target obstacle area may include: controlling the robot to keep the first distance greater than the obstacle avoidance threshold during movement.

[0052] The first distance is the distance between the robot and the obstacle area, and the obstacle avoidance threshold is the minimum distance between the robot and the obstacle area.

[0053] In some embodiments of the present application, different area types correspond to different obstacle avoidance thresholds. In order to achieve a greater curtain avoidance effect in a specific area, a larger obstacle avoidance threshold can be set. Specifically, if the robot is in a non-dangerous area, a first obstacle avoidance threshold is set. If the robot is in a dangerous area, a second obstacle avoidance threshold is set. The second obstacle avoidance threshold is greater than the first obstacle avoidance threshold to meet the needs of avoiding dangerous areas such as elevators and ensure the safety of robot movement.

[0054] In some other embodiments of the present application, the navigation parameters corresponding to the target area type include an expansion radius. Controlling the robot to move according to the navigation parameters corresponding to the target area type of the target obstacle area may include: expanding the target obstacle area according to the expansion radius to obtain a cost map. Controlling the robot to move according to the cost map.

[0055] In some embodiments of the present application, different area types correspond to different expansion radii. In order to achieve a greater curtain avoidance effect in a specific area, the expansion radius of the local cost map can be expanded. Specifically, if the robot is in a non-dangerous area, the target obstacle area is expanded according to the first expansion radius. If the robot is in a dangerous area, the target obstacle area is expanded according to the second expansion radius.

[0056] Please refer to Figure 3When the black square is a non-dangerous area, the first expansion radius is used for expansion. When the black square is a dangerous area, the second expansion radius is used for expansion. The twill square represents the expanded area. It can be seen that the dangerous area is larger after expansion, so as to meet the needs of avoiding dangerous areas such as elevators and ensure the safety of robot movement.

[0057] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders.

[0058] like Figure 4 Shown is a schematic structural diagram of a robot navigation device 400 provided in an embodiment of the present application, wherein the robot navigation device 400 is configured on an electronic device.

[0059] Specifically, the robot navigation device 400 may include:

[0060] A map acquisition unit 401 is used to acquire an initial map, wherein the area type of each obstacle area is marked in the initial map;

[0061] A positioning unit 402, used to obtain a real-time ultra-wideband positioning position of the robot during navigation of the robot according to the initial map;

[0062] An area determination unit 403 is used to determine the target obstacle area where the robot is located according to the real-time ultra-wideband positioning position;

[0063] The navigation control unit 404 is used to control the movement of the robot according to the navigation parameters corresponding to the target area type of the target obstacle area.

[0064] In some embodiments of the present application, the navigation parameters corresponding to the target area type include an obstacle avoidance threshold; the navigation control unit 404 is specifically used to: control the robot to maintain a first distance greater than the obstacle avoidance threshold during movement, and the first distance is the distance between the robot and the obstacle area.

[0065] In some implementations of the present application, different area types correspond to different obstacle avoidance thresholds.

[0066] In some embodiments of the present application, the navigation parameters corresponding to the target area type include an expansion radius; the navigation control unit 404 is specifically used to: expand the target obstacle area according to the expansion radius to obtain a cost map; and control the robot to move according to the cost map.

[0067] In some embodiments of the present application, different area types correspond to different expansion radii.

[0068] In some embodiments of the present application, the positioning unit 402 is specifically used to: obtain a particle set for positioning the robot; update the position of each particle in the particle set according to a preset motion model to obtain an updated position of each particle; obtain laser measurement data and ultra-wideband measurement data; calculate the matching probability of each particle according to the laser measurement data, the ultra-wideband measurement data and the updated position of each particle; locate the robot according to the matching probability of each particle to obtain the real-time ultra-wideband positioning position.

[0069] In some embodiments of the present application, the area determination unit 403 is specifically used to: obtain the robot positioning position collected by the robot sensor; if any position between the robot positioning position and the real-time ultra-wideband positioning position is in a dangerous area, confirm that the target obstacle area where the robot is located is a dangerous area.

[0070] It should be noted that, for the convenience and simplicity of description, the specific working process of the navigation device 400 of the robot can be referred to Figures 1 to 3 The corresponding process of the method will not be repeated here.

[0071] like Figure 5 , which is a schematic diagram of an electronic device provided in an embodiment of the present application. Specifically, the electronic device 5 may include: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a robot navigation program. When the processor 50 executes the computer program 52, the steps in the above-mentioned robot navigation method embodiments are implemented, such as Figure 1 Alternatively, when the processor 50 executes the computer program 52, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 4 The functions of the map acquisition unit 401, the positioning unit 402, the area determination unit 403 and the navigation control unit 404 are shown.

[0072] The computer program may be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0073] For example, the computer program can be divided into: a map acquisition unit, a positioning unit, an area determination unit and a navigation control unit. The specific functions of each unit are as follows: a map acquisition unit, used to acquire an initial map, in which the area types of various obstacle areas are marked; a positioning unit, used to acquire the real-time ultra-wideband positioning position of the robot during the process of the robot navigating according to the initial map; an area determination unit, used to determine the target obstacle area where the robot is located according to the real-time ultra-wideband positioning position; a navigation control unit, used to control the movement of the robot according to navigation parameters corresponding to the target area type of the target obstacle area.

[0074] The electronic device may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0075] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0076] The memory 51 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 51 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 51 may also include both an internal storage unit of the electronic device and an external storage device. The memory 51 is used to store the computer program and other programs and data required by the electronic device. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0077] It should be noted that, for the convenience and brevity of description, the structure of the above electronic device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0078] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0079] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0080] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0081] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0082] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0083] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0084] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0085] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot navigation method, characterized in that: include: Obtaining an initial map, wherein the area type of each obstacle area is marked in the initial map; During the process of the robot navigating according to the initial map, obtaining the real-time ultra-wideband positioning position of the robot; Determining a target obstacle area where the robot is located according to the real-time ultra-wideband positioning position; The robot is controlled to move according to navigation parameters corresponding to the target area type of the target obstacle area.

2. The robot navigation method according to claim 1, characterized in that: The navigation parameters corresponding to the target area type include obstacle avoidance thresholds; The step of controlling the robot to move according to the navigation parameter corresponding to the target area type of the target obstacle area comprises: The robot is controlled to maintain a first distance greater than the obstacle avoidance threshold during movement, where the first distance is the distance between the robot and the obstacle area.

3. The robot navigation method according to claim 2, characterized in that: Different area types correspond to different obstacle avoidance thresholds.

4. The robot navigation method according to claim 1, characterized in that: The navigation parameters corresponding to the target area type include an expansion radius; The step of controlling the robot to move according to the navigation parameter corresponding to the target area type of the target obstacle area comprises: According to the expansion radius, the target obstacle area is expanded to obtain a cost map; Control the robot to move according to the cost map.

5. The robot navigation method according to claim 4, characterized in that: Different area types correspond to different expansion radii.

6. The robot navigation method according to any one of claims 1 to 5, characterized in that: The obtaining of the real-time ultra-wideband positioning position of the robot comprises: Acquire a particle set for positioning the robot; The position of each particle in the particle set is updated respectively according to a preset motion model to obtain an updated position of each particle; Acquire laser measurement data and ultra-wideband measurement data; Calculating the matching probability of each particle according to the laser measurement data, the ultra-wideband measurement data and the updated position of each particle; The robot is positioned according to the matching probability of each particle to obtain the real-time ultra-wideband positioning position.

7. The robot navigation method according to any one of claims 1 to 5, characterized in that: The step of determining the target obstacle area where the robot is located according to the real-time ultra-wideband positioning position includes: Obtain the robot positioning position collected by the robot sensor; If any one of the positions between the robot positioning position and the real-time ultra-wideband positioning position is in a dangerous area, it is confirmed that the target obstacle area where the robot is located is a dangerous area.

8. A robot navigation device, characterized in that: include: A map acquisition unit, used to acquire an initial map, wherein the area type of each obstacle area is marked in the initial map; A positioning unit, used to obtain a real-time ultra-wideband positioning position of the robot during navigation of the robot according to the initial map; An area determination unit, configured to determine a target obstacle area where the robot is located according to the real-time ultra-wideband positioning position; A navigation control unit is used to control the movement of the robot according to navigation parameters corresponding to the target area type of the target obstacle area.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the robot navigation method according to any one of claims 1 to 7 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed, the steps of the robot navigation method according to any one of claims 1 to 7 are implemented.

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