Robot guard point determination method, device, equipment, medium and program product

Abstract

The present disclosure provides a method, apparatus, device, medium, and program product for determining a robot guard point, relating to the field of robotics. The method comprises: in response to a guard task, determining a target object, a first space where the target object is located, and a guard range; determining at least one first intersection point between the guard range and an impassable area in the first space; using the at least one first intersection point as a tangent to the guard range to obtain at least one tangent line; wherein each tangent line divides the first space into a target object space and a target object space; determining a first target object space with the smallest traversable area from the target object spaces corresponding to each tangent line; determining the first target object intersection corresponding to the first target object space as the guard point; and deploying a robot to perform the guard task. The guard point is located at the edge, and the traversable area behind the robot is minimized, thereby reducing the probability of the target object walking behind the robot and reducing interference with human movement.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a method, apparatus, device, medium, and program product for determining a robot guard point. Background Art

[0002] With the development of artificial intelligence, robots are used in various life scenarios. For example, robots can be used to guard designated spaces / monitoring objects.

[0003] However, in the related art, the guard points are often set manually, or the guard points are selected according to their relative relationship with people (direction and / or distance).

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0005] The purpose of the present disclosure is to provide a method, device, equipment, medium and program product for determining a robot guard point, which can at least to some extent solve the problem that the guarding method in the prior art is inefficient and cannot adapt to complex and changing environments.

[0006] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by practice of the present disclosure.

[0007] According to a first aspect of the present disclosure, a method for determining a robot guard point is provided, the method comprising:

[0008] In response to the guarding task, determining a target object, a first space where the target object is located, and a guarding range;

[0009] Determining at least one first intersection point between the guard range and the inaccessible area in the first space;

[0010] Taking at least one first intersection point as a tangent to the guard range, obtaining at least one tangent line; wherein each tangent line divides the first space into a space with a target object and a space without a target object;

[0011] Determine the first target-free object space with the smallest traversable area from the target-free object spaces corresponding to each tangent line;

[0012] The first target intersection corresponding to the first target-free object space is determined as the guarding point, and the robot is deployed to perform the guarding task.

[0013] In a possible embodiment, determining at least one first intersection point between the guarded range and the impassable area in the first space includes:

[0014] If there is an intersection between the guarded range and the impassable area in the first space, determining at least one first intersection point;

[0015] If there is no intersection between the guarded range and the impassable area in the first space, then the boundary of the impassable area is obtained;

[0016] In the first space, the impassable area is expanded toward the passable area along the boundary of the impassable area until at least one intersection point between the first space and the expanded impassable area is obtained, and at least one first intersection point is determined.

[0017] In a possible embodiment, determining the first target intersection point corresponding to the first target-free space as the guard point includes:

[0018] determining a first connecting line between the first target intersection point and the target object;

[0019] Execute the obstruction determination process to determine whether there is an obstruction on the first connection line;

[0020] If there is no obstruction, the first target intersection point is determined as the guard point.

[0021] In a possible embodiment, the method further includes:

[0022] If there is an occluder on the first connecting line, the current first no-target object space is deleted from the no-target object space corresponding to each tangent line, and a new first no-target object space is obtained again;

[0023] Determine a second connecting line between a second target intersection point and the target object in the new first target-free space;

[0024] Repeat the occlusion judgment process until there is no occlusion on the second connecting line, and use the second target intersection as the guard point.

[0025] In a possible embodiment, the method further includes:

[0026] Detecting that the target object leaves the current position, and determining whether the target object is in the first space;

[0027] If so, wait for the target object to be stationary and determine a new guard point;

[0028] If not, follow the target object into the second space, and determine a new guard point in the second space.

[0029] In a possible embodiment, determining the duty range includes:

[0030] Receive business requirement distance; the business requirement distance is determined based on the task requirements of the on-duty task;

[0031] Determine the duty range with the target object as the center and the business demand distance as the radius.

[0032] According to another aspect of the present disclosure, there is provided a device for determining a robot guard point, comprising:

[0033] A first determining unit is configured to determine, in response to a guarding task, a target object, a first space where the target object is located, and a guarding range;

[0034] a second determining unit, configured to determine at least one first intersection point between the guard range and the impassable area in the first space;

[0035] a tangent acquisition unit, configured to use the at least one first intersection point as a tangent to the guard range to obtain at least one tangent; wherein each tangent divides the first space into a space with a target object and a space without a target object;

[0036] a third determining unit, configured to determine a first target-free space having the smallest passable area from the target-free space corresponding to each tangent line;

[0037] The deployment unit is used to determine the first target intersection corresponding to the first target-free object space as a guard point, and deploy the robot to perform the guard task.

[0038] In a possible embodiment, the deployment unit is also used to: if there is an obstruction on the first connecting line, delete the current first target-free object space from the target-free object space corresponding to each tangent line, and re-acquire a new first target-free object space; determine the second target intersection of the new first target-free object space and the second connecting line of the target object; repeat the obstruction judgment process until there is no obstruction on the second connecting line, and use the second target intersection as the guard point.

[0039] In a possible embodiment, the device also includes: a following and guarding unit, which is used to detect that the target object leaves the current position and determine whether the target object is in the first space; if so, wait for the target object to be still and determine a new guarding point; if not, follow the target object into the second space and determine a new guarding point in the second space.

[0040] According to yet another aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform any one of the methods of the first aspect by executing the executable instructions.

[0041] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method of any one of the first aspects is implemented.

[0042] According to another aspect of the present disclosure, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of the first aspect.

[0043] The embodiments of the present disclosure provide a method, apparatus, device, medium, and program product for determining a robot guard point. The method includes: in response to a guard task, determining a target object, a first space where the target object is located, and a guard range, determining at least one first intersection between the guard range and an inaccessible area in the first space, using at least one first intersection as a tangent to the guard range to obtain at least one tangent, wherein each tangent divides the first space into a target object space and a non-target object space, determining the first non-target object space with the smallest passable area from the non-target object space corresponding to each tangent, determining the first non-target object space corresponding to the first non-target object space as the guard point, and deploying the robot to perform the guard task. In this way, a guard point can be selected within a suitable guard range, and the first target intersection point can be used as the guard point. Not only is the guard point a point on the inaccessible area, but the space of the passable area of the target object behind the robot is also the smallest, so that the probability of the object walking behind the robot is minimized, and the impact on the subsequent actions of the target object is minimized.

[0044] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0046] Figure 1 A flowchart of a method for determining a robot guard point according to an embodiment of the present disclosure is shown;

[0047] Figure 2 A schematic diagram showing a first space in an embodiment of the present disclosure;

[0048] Figure 3 A flow chart for determining a first intersection point according to an embodiment of the present disclosure is shown;

[0049] Figure 4 A schematic diagram showing a method of selecting a guard point in an embodiment of the present disclosure is shown;

[0050] Figure 5 A flow chart for determining a guard point according to an embodiment of the present disclosure is shown;

[0051] Figure 6 A flowchart of another method for determining a guard point according to an embodiment of the present disclosure is shown;

[0052] Figure 7 A flowchart of a follow-up duty in an embodiment of the present disclosure is shown;

[0053] Figure 8 A schematic structural diagram of a device for determining a robot guarding point according to an embodiment of the present disclosure is shown;

[0054] Figure 9 A schematic structural diagram of an electronic device in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0055] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0056] In addition, the accompanying drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. Identical reference numerals in the figures denote identical or similar parts, and thus repetitive descriptions thereof will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0057] With the development of artificial intelligence, robots are also used in daily family life. Guarding robots can be used to efficiently guard designated spaces / monitoring objects.

[0058] However, in the related art, the guard points are often set manually, or the guard points are selected according to their relative relationship with people (direction and / or distance).

[0059] The first method of selecting guard posts, which manually sets relatively fixed points, fails to account for all human positions and states in space. Consequently, there are often times when people are invisible, undetectable, or unresponsive to human interactions. The second method also presents a problem: selecting guard posts based on fixed relative positions can potentially disrupt human activity and cause disruption.

[0060] Based on this, the embodiments of the present disclosure provide a method, apparatus, device, medium and program product for determining a robot guard point. The method includes: in response to a guard task, determining a target object, a first space where the target object is located and a guard range, determining at least one first intersection point between the guard range and an inaccessible area in the first space, using at least one first intersection point as a tangent to the guard range to obtain at least one tangent line, wherein each tangent line divides the first space into a target object space and a target object space, determining the first target object space with the smallest passable area from the target object space corresponding to each tangent line, determining the first target object space corresponding to the first target object space as the guard point, and deploying the robot to perform the guard task. The guard point is flexibly selected at the edge of the appropriate guard range. The guard point is located at the edge of the inaccessible area, and the area of the passable area of the target object behind the robot is the smallest. This can reduce the probability of the target object walking behind the robot and reduce interference with human movement.

[0061] The embodiments of the present disclosure illustrate a method for determining a robot's guard point, specifically through the following embodiments.

[0062] Figure 1 FIG. 1 is a flow chart showing a method for determining a robot guard point in an embodiment of the present disclosure. Figure 1 As shown, the following steps are included:

[0063] S102: In response to the guarding task, determine the target object, the first space where the target object is located, and the guarding range.

[0064] In a possible embodiment, different on-duty tasks have different requirements, corresponding to different on-duty distances. Therefore, after determining the on-duty task, the interface sends down a senseless on-duty task. Based on different on-duty tasks, the interface will send down the business requirement distance corresponding to the on-duty task.

[0065] A business requirement may be to perform a non-invasive health check on a target object. This non-invasive health check requires the robot to maintain a relative distance from the person. The relative distance can be a range. To avoid disturbing the target object, the upper limit of this range is selected as the business requirement distance and sent to the robot.

[0066] Based on this, the method of obtaining the duty range may include: the robot receives the business requirement distance, the business requirement distance is determined according to the task requirements of the duty task, and the duty range is determined with the target object as the center and the business requirement distance as the radius.

[0067] The guard range may be in various shapes, such as a circle, an ellipse, etc. The specific shape is not limited in the embodiments of the present disclosure.

[0068] S104: Determine at least one first intersection point between the guard range and the inaccessible area in the first space.

[0069] In a possible embodiment, the first space determined by the robot may be presented in multiple forms, for example, the first space determined by the robot may be presented in a grid form. Figure 2 A schematic diagram of the first space in an embodiment of the present disclosure is shown. Figure 2 As shown in the figure, we can see the inaccessible and passable areas in the first space. The inaccessible area refers to the area where the target object cannot pass through. Generally, it can include walls, large wardrobes, tables, etc. The passable area refers to the area where the target object can pass through, that is, the area other than the inaccessible area in the space. Figure 2 The black dots in the figure represent the target objects. Figure 2 Shown is the first space.

[0070] In one possible embodiment, Figure 3 A flow chart of determining the first intersection in an embodiment of the present disclosure is shown. Figure 3 As shown, the following steps are included:

[0071] S302: Determine whether there is an intersection between the guard range and the inaccessible area in the first space. If not, execute S304; if so, execute S308.

[0072] S304: Obtain the boundary of the impassable area.

[0073] S306: In the first space, the impassable area is expanded toward the passable area along the boundary of the impassable area, until at least one intersection point between the first space and the expanded impassable area is obtained.

[0074] S308: Determine at least one first intersection point.

[0075] If the first space is presented in a grid format, starting from the boundary of the impassable area and expanding toward the passable area, the impassable area is expanded, that is, the area occupied by the impassable area in the grid map is expanded until at least one intersection appears, and at least one first intersection is determined.

[0076] S106: Using at least one first intersection point as a tangent to the guard range to obtain at least one tangent, wherein each tangent divides the first space into a space with a target object and a space without a target object.

[0077] Connect the first intersection point A and the target object to obtain a connecting line A. Draw a straight line A passing through the first intersection point A and perpendicular to the connecting line A. Straight line A is the tangent corresponding to the first intersection point A. Straight line A can divide the first space into two parts: the part including the target object is the target object space, and the part excluding the target object is the non-target object space.

[0078] S108: Determine a first target-free object space with the smallest traversable area from the target-free object spaces corresponding to each tangent line.

[0079] S110: Determine a first target intersection corresponding to the first target-free object space as a guard point, and deploy a robot to perform a guard mission.

[0080] In one possible embodiment, selecting a first target-free space with the smallest traversable area minimizes the probability of a target object walking behind the robot, thus ensuring that the robot does not interfere with human movement. This first target-free space minimizes the space available for human movement, and the corresponding first target intersection is the intersection of the edge of the guard range and the impassable area. This location is ideal, especially near a wall or corner. Using this first target intersection as the guard point minimizes the probability of a human walking behind the robot, ensuring that the robot does not interfere with human movement.

[0081] Figure 4 A schematic diagram of selecting a guard point in an embodiment of the present disclosure is shown. Figure 4 As shown, from Figure 4 As can be seen in the figure, the guard range of the target object is presented as a circle. In the grid, there are four first intersection points with the inaccessible area. Taking the four first intersection points as tangents, four tangent lines are obtained, namely: d1, d2, d3 and d4.

[0082] The first space is divided into two parts based on d1, d2, d3 and d4. The space including the black dot of the target object is the target object space, and the space not including the black dot is the non-target object space.

[0083] The target-free space can be sorted according to the area of the passable area, and the first target-free space with the smallest passable area can be determined to obtain the corresponding first target intersection point. Figure 4 The intersection point corresponding to the tangent line d4 is shown as the first target intersection point.

[0084] In one possible embodiment, after a guard point is selected, the robot is deployed to the guard point to perform the guard task. When the robot moves to the guard point, if the guard point is unreachable due to some reasons, the guard point needs to be adjusted. According to the method in the embodiment of the present disclosure, the first target-free object space with the smallest passable area can be deleted from all target-free object spaces, and the first target-free object space can be reselected to adjust the guard point.

[0085] In a possible embodiment, for step S110, when performing the guarding task, it is possible to further consider whether there is any obstruction between the robot and the target object, so as to ensure that the robot can directly monitor the target object when performing the guarding task, and the monitoring will not fail due to the obstruction.

[0086] Figure 5 A flow chart of determining a duty point in an embodiment of the present disclosure is shown. Figure 5 As shown, the following steps are included:

[0087] S502: Determine a first connecting line between a first target intersection point and a target object.

[0088] S504: Execute the obstruction determination process to determine whether there is an obstruction on the first connection line.

[0089] S506: If there is no obstruction, determine the first target intersection point as the guard point.

[0090] It can be determined by visual detection whether there is an obstruction between the first target intersection point and the target object. If not, the first target intersection point is selected as the guard point.

[0091] Figure 6 FIG. 4 shows another flow chart for determining a guard point in an embodiment of the present disclosure. Figure 6 As shown, the following steps are included:

[0092] S602: If there is an occluder on the first connecting line, delete the current first no-target object space from the no-target object space corresponding to each tangent line, and re-acquire a new first no-target object space.

[0093] S604: Determine a second target intersection point in the new first target-free space and a second connecting line between the target object.

[0094] S606: Repeat the occluder determination process until no occluder exists on the second connecting line, and use the second target intersection as the guard point.

[0095] Through the above method, a guard point with no obstructions between it and the target object can be selected to achieve efficient monitoring of the target object.

[0096] In a possible embodiment, after the guard point has been selected, the target object may move. The movement of the target object can be divided into two specific situations: situation 1: the target object moves in the first space, and situation 2: the target object walks out of the first space and enters the second space.

[0097] In the case that the duty mission is not completed, the robot needs to continue to perform the duty mission. For the above two situations, the robot can Figure 7 The method shown is solved.

[0098] Figure 7 A flow chart of following and guarding in an embodiment of the present disclosure is shown as follows Figure 7 As shown, the following steps are included:

[0099] S702: Detecting that the target object leaves the current position, determining whether the target object is in the first space, if so, executing S704; if not, executing S706.

[0100] S704: Wait for the target object to be still and determine a new guard point.

[0101] S706: Follow the target object into the second space, and determine a new guard point in the second space.

[0102] The method for determining the new guard point adopts the method shown in the embodiment of the present disclosure.

[0103] Through the above method, after receiving the duty task, the target object can be followed to complete the duty task, realizing real-time following, a distance that meets business requirements, no obstructions from the duty target, and no interference with the target object's actions. It does not get too close to the user and cause interference to the user, thereby achieving efficient duty for the target object.

[0104] Based on the same inventive concept as the above-mentioned method embodiment, the embodiment of the present application also provides a robot guard point determination device. Figure 8 A schematic structural diagram of a device provided in an embodiment of the present application is shown.

[0105] The device 80 includes: a first determination unit 801, used to determine the target object, the first space where the target object is located, and the duty range in response to the duty task; a second determination unit 802, used to determine at least one first intersection between the duty range and the inaccessible area in the first space; a tangent acquisition unit 803, used to use at least one first intersection as a tangent of the duty range to obtain at least one tangent, wherein each tangent divides the first space into a target object space and a target object space; a third determination unit 804, used to determine the first target object space with the smallest passable area from the target object space corresponding to each tangent; a deployment unit 805, used to determine the first target object intersection corresponding to the first target object space as the duty point, and deploy the robot to perform the duty task.

[0106] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as "circuits," "modules," or "systems."

[0107] Refer to the following Figure 9 An electronic device 900 according to this embodiment of the present invention will be described. Figure 9 The electronic device 900 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0108] like Figure 9 As shown, electronic device 900 is implemented as a general-purpose computing device. Components of electronic device 900 may include, but are not limited to, the aforementioned at least one processing unit 910, the aforementioned at least one storage unit 920, and a bus 930 connecting various system components (including storage unit 920 and processing unit 910).

[0109] The storage unit stores program codes, which can be executed by the processing unit 910, so that the processing unit 910 performs the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0110] The storage unit 920 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 9201 and / or a cache memory unit 9202 , and may further include a read-only memory unit (ROM) 9203 .

[0111] The storage unit 920 may also include a program / utility 9204 having a set (at least one) of program modules 9205, such program modules 9205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0112] Bus 930 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0113] The electronic device 900 may also communicate with one or more external devices 940 (e.g., a keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 900, and / or any device that enables the electronic device 900 to communicate with one or more other computing devices (e.g., a router, modem, etc.). This communication may occur via an input / output (I / O) interface 950. Furthermore, the electronic device 900 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 960. As shown, the network adapter 960 communicates with other modules of the electronic device 900 via a bus 930. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 900, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0114] Through the description of the above embodiments, it will be readily understood by those skilled in the art that the example embodiments described herein can be implemented via software or via a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or mobile hard drive) or on a network and includes several instructions for enabling a computing device (such as a personal computer, server, terminal device, or network device) to execute the methods according to the embodiments of the present disclosure.

[0115] In exemplary embodiments of the present disclosure, a computer-readable storage medium is also provided, on which is stored a program product capable of implementing the aforementioned methods of this specification. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product comprising program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the "Exemplary Methods" section of this specification.

[0116] A program product for implementing the above-described method according to an embodiment of the present invention is described. The program product may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0117] The program product may utilize any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0118] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0119] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0120] Program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0121] It should be noted that although several modules or units of the device for action execution are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0122] Furthermore, although the steps of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0123] Through the description of the above embodiments, it will be readily understood by those skilled in the art that the example embodiments described herein can be implemented via software or via a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or mobile hard drive) or on a network and includes several instructions for enabling a computing device (such as a personal computer, server, mobile terminal, or network device) to execute the methods according to the embodiments of the present disclosure.

[0124] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

Claims

1. A method for determining a robot guard point, characterized in that: The method comprises: In response to the guarding task, determining a target object, a first space where the target object is located, and a guarding range; Determine at least one first intersection point between the guard range and an impassable area in the first space; the impassable area represents an area in which the target object cannot pass; Taking the at least one first intersection point as a tangent to the guard range, obtaining at least one tangent line; wherein each tangent line divides the first space into a space with a target object and a space without a target object; Determine a first target-free space with the smallest traversable area from the target-free space corresponding to each tangent line; Determining a first target intersection corresponding to the first target-free object space as a guarding point, and deploying the robot to perform the guarding task; Determining at least one first intersection point between the guard range and the impassable area in the first space includes: If there is an intersection between the guarded range and the inaccessible area in the first space, determining at least one first intersection point; If there is no intersection between the guard range and the impassable area in the first space, obtaining a boundary of the impassable area; In the first space, the impassable area is expanded toward the passable area along the boundary of the impassable area until at least one intersection point between the first space and the expanded impassable area is obtained, and the at least one first intersection point is determined.

2. The method according to claim 1, characterized in that The determining the first target intersection point corresponding to the first target-free object space as a guard point includes: determining a first connecting line between the first target intersection point and the target object; Executing an obstruction determination process to determine whether there is an obstruction on the first connecting line; If the obstruction does not exist, the first target intersection point is determined as the guard point.

3. The method according to claim 2, characterized in that The method further comprises: If there is an occluder on the first connecting line, deleting the current first no-target object space from the no-target object space corresponding to each tangent line, and re-obtaining a new first no-target object space; Determining a second connecting line between a second target intersection point of the new first target-free space and the target object; The obstruction determination process is repeatedly executed until no obstruction exists on the second connecting line, and the second target intersection point is used as the guard point.

4. The method according to claim 1, wherein The method further comprises: detecting that the target object leaves the current position, and determining whether the target object is in the first space; If so, wait for the target object to be still and determine a new guard point; If not, follow the target object into a second space, and determine a new guard point in the second space.

5. The method according to claim 1, wherein Determine the scope of duty, including: Receive business requirement distance; the business requirement distance is determined according to the task requirements of the on-duty task; The guard range is determined with the target object as the center and the business requirement distance as the radius.

6. A robot guard point determination device, characterized in that: include: A first determining unit is configured to determine, in response to a guarding task, a target object, a first space where the target object is located, and a guarding range; a second determining unit, configured to determine at least one first intersection point between the guard range and an impassable area in the first space; The impassable area refers to an area where the target object cannot pass; a tangent acquisition unit, configured to use the at least one first intersection point as a tangent to the guard range to obtain at least one tangent; wherein each tangent divides the first space into a space with a target object and a space without a target object; a third determining unit, configured to determine a first target-free space having the smallest passable area from the target-free spaces corresponding to each tangent line; a deployment unit, configured to determine a first target intersection corresponding to the first target-free object space as a guarding point, and deploy the robot to perform the guarding task; The second determination unit is also used to determine at least one first intersection if there is an intersection between the guard range and the impassable area in the first space; if there is no intersection between the guard range and the impassable area in the first space, obtain the boundary of the impassable area; in the first space, expand the impassable area to the impassable area along the boundary of the impassable area until at least one intersection between the first space and the expanded impassable area is obtained, and determine the at least one first intersection.

7. An electronic device, characterized in that: include: processor; and a memory for storing executable instructions for the processor; The processor is configured to perform the method according to any one of claims 1 to 5 by executing the executable instructions.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

9. A computer program product comprising: A computer program or instruction, characterized in that when the computer program or instruction is executed by a processor, it implements the method according to any one of claims 1 to 5.

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