Robot escape obstacle crossing method and device

Abstract

The embodiment of the invention discloses a robot escape obstacle crossing method and device, a robot comprises a machine body and a mechanical arm, the mechanical arm is arranged on the machine body, and the current posture of the mechanical arm is obtained; under the condition that the current posture of the mechanical arm represents that the mechanical arm extends out, environment information of a scene where the mechanical arm is located currently is detected; and according to the current posture of the mechanical arm in combination with the environment information, the robot is controlled to conduct out-of-trap obstacle crossing treatment. Therefore, under the condition that the mechanical arm of the robot extends out, different detrapping and obstacle crossing treatments can be executed in combination with different environments where the mechanical arm is located currently, so that the adaptability of the detrapping and obstacle crossing treatments to the current posture and the environment of the mechanical arm is improved; and the damage to the mechanical arm and / or objects around the mechanical arm caused by the fact that the robot conducts out-of-trap obstacle crossing treatment is further reduced.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of mobile robots, and in particular to a method and device for a robot to escape from trouble and overcome obstacles. Background Art

[0002] With the rapid development of science and technology, mobile robots with foldable or retractable robotic arms are increasingly being used. During the application of mobile robots with robotic arms, there are scenarios where they get stuck or need to cross obstacles. When the mobile robot is getting out of trouble and crossing obstacles, the robotic arm and / or objects around the robotic arm may be damaged. Summary of the invention

[0003] In view of this, an embodiment of the present application provides a method and device for a robot to escape from trouble and overcome obstacles.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application embodiment provides a method for a robot to escape from trouble and overcome obstacles. The mobile robot includes a body and a mechanical arm, and the mechanical arm is arranged on the body. The method includes:

[0006] Get the current posture of the robotic arm;

[0007] When the current posture of the robotic arm indicates that the robotic arm is extended, detecting environmental information of the scene in which the robotic arm is currently located;

[0008] According to the current posture of the robotic arm and environmental information, the mobile robot is controlled to escape and overcome obstacles.

[0009] In some embodiments, according to the current posture of the robotic arm and the environmental information, the mobile robot is controlled to perform an obstacle escape process, including:

[0010] Based on the environmental information and the current position information of the manipulator, predict the safety level of the mobile robot in executing the target obstacle-escaping action;

[0011] Based on the safety level, the mobile robot is controlled to escape and overcome obstacles.

[0012] In some embodiments, based on the safety level, controlling the mobile robot to perform obstacle escape processing includes at least one of the following:

[0013] When the safety level meets the target safety conditions, the mobile robot is controlled to execute the target obstacle-escaping action;

[0014] When the safety level does not meet the target safety conditions, the mobile robot is controlled to escape and overcome obstacles based on the load status of the robotic arm.

[0015] In some embodiments, based on the load state of the robotic arm, controlling the mobile robot to perform obstacle escape processing includes at least one of the following:

[0016] When the load state of the robot arm is the loaded state, the mobile robot is controlled to execute a preset leaving action to try to leave the current area to be escaped and surmounted, and / or the current area to be escaped and surmounted is marked as a loaded impassable area in the environment map corresponding to the current scene;

[0017] When the load state of the robotic arm is an empty state, the robotic arm is controlled to be retracted, and the mobile robot is controlled to execute the target obstacle-escaping action.

[0018] In some embodiments, the mobile robot further comprises a liftable mechanism disposed at the bottom of the body;

[0019] When the safety level meets the target safety conditions, the mobile robot is controlled to perform the target obstacle-escaping action, including:

[0020] Control the lifting mechanism to lift the fuselage to perform the target escape and obstacle crossing action;

[0021] When the safety level does not meet the target safety conditions, the mobile robot is controlled to escape and overcome obstacles based on the load status of the robotic arm, including:

[0022] During the process of escaping from trouble and overcoming obstacles, the lifting mechanism is controlled to lower the fuselage.

[0023] In some embodiments, the method further comprises:

[0024] When the current posture of the robotic arm indicates that the robotic arm is retracted, the mobile robot is controlled to execute a target obstacle-escaping action.

[0025] The present application embodiment provides a robot escape and obstacle crossing device, wherein the mobile robot comprises a body and a mechanical arm, wherein the mechanical arm is arranged on the body, and the device comprises:

[0026] The acquisition module is used to obtain the current posture of the robotic arm;

[0027] A detection module, used to detect environmental information of a scene in which the robotic arm is currently located when the current posture of the robotic arm indicates that the robotic arm is extended;

[0028] The control module is used to control the mobile robot to escape from difficulties and overcome obstacles according to the current posture of the robotic arm and environmental information.

[0029] In some embodiments, the control module is further configured to:

[0030] Based on the environmental information and the current position information of the manipulator, predict the safety level of the mobile robot in executing the target obstacle-escaping action;

[0031] Based on the safety level, the mobile robot is controlled to escape and overcome obstacles.

[0032] In some embodiments, the control module is further configured to:

[0033] When the safety level meets the target safety conditions, the mobile robot is controlled to execute the target obstacle-escaping action;

[0034] When the safety level does not meet the target safety conditions, the mobile robot is controlled to escape and overcome obstacles based on the load status of the robotic arm.

[0035] In some embodiments, the control module is further configured to:

[0036] When the load state of the robot arm is the loaded state, the mobile robot is controlled to execute a preset leaving action to try to leave the current area to be escaped and surmounted, and / or the current area to be escaped and surmounted is marked as a loaded impassable area in the environment map corresponding to the current scene;

[0037] When the load state of the robotic arm is an empty state, the robotic arm is controlled to be retracted, and the mobile robot is controlled to execute the target obstacle-escaping action.

[0038] In some embodiments, the mobile robot further comprises a liftable mechanism disposed at the bottom of the body;

[0039] The control module is also used to:

[0040] When the safety level meets the target safety conditions, the lifting mechanism is controlled to lift the fuselage to perform the target obstacle escape action;

[0041] When the safety level does not meet the target safety conditions, the lifting mechanism is controlled to lower the fuselage during the process of escaping and overcoming obstacles.

[0042] In some embodiments, the control module is further configured to:

[0043] When the current posture of the robotic arm indicates that the robotic arm is retracted, the mobile robot is controlled to execute a target obstacle-escaping action.

[0044] An embodiment of the present application provides a mobile robot, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the steps in the above-mentioned robot escape and obstacle crossing method are implemented.

[0045] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-mentioned robot escape and obstacle surmounting method.

[0046] An embodiment of the present application provides a processor, which is communicatively connected to a memory, and the memory stores a computer program that can be run on the processor. When the processor executes the computer program, the steps in the above-mentioned robot escape and obstacle crossing method are implemented.

[0047] In the embodiment of the present application, when the robot detects an obstacle, the current posture of the robot's mechanical arm is obtained; and when the current posture of the mechanical arm indicates that the mechanical arm is extended, the environmental information of the scene in which the mechanical arm is currently located is detected; and then the mobile robot is controlled to perform an obstacle escape process according to the current posture of the mechanical arm and the environmental information. In this way, when the robot detects an obstacle and the mechanical arm is extended, different obstacle escape processes can be performed in combination with the different environments in which the mechanical arm is currently located, thereby improving the adaptability of the obstacle escape process to the current posture of the mechanical arm and the environment in which it is located, and further reducing the damage to the mechanical arm and / or objects around the mechanical arm caused by the mobile robot performing the obstacle escape process. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of the implementation process of a robot escape and obstacle crossing method provided in an embodiment of the present application Figure 1 ;

[0049] Figure 2 A robot posture diagram provided in an embodiment of the present application Figure 1 ;

[0050] Figure 3 A robot posture diagram provided in an embodiment of the present application Figure 2 ;

[0051] Figure 4 A robot posture diagram provided in an embodiment of the present application Figure 3 ;

[0052] Figure 5 A schematic diagram of the implementation process of a robot escape and obstacle crossing method provided in an embodiment of the present application Figure 2 ;

[0053] Figure 6 A schematic diagram of the structure of a robot escape and obstacle crossing device provided in an embodiment of the present application;

[0054] Figure 7 A schematic diagram of the composition structure of a robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0056] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing this application and are not intended to limit this application.

[0058] The embodiment of the present application provides a method for a robot to escape from trouble and overcome obstacles. The method can be applied to a robot, which includes a body and a mechanical arm, and the mechanical arm is arranged on the body (e.g., installed in a storage compartment on the top of the body, folded on the top of the body, etc.). The robot refers to a robot that can move autonomously. For example, the robot may include but is not limited to at least one of a cleaning robot (such as a sweeper, a scrubber, a mop, an all-in-one washer and mop, etc.), a guide robot, a service robot, etc. Figure 1 As shown, the method includes the following steps S101 to S103:

[0059] Step S101, obtaining the current posture of the robotic arm.

[0060] Here, the robotic arm may be used for at least one of grasping, carrying, positioning, assembling, and detecting.

[0061] For example, a robotic arm can use a connected gripper assembly to grab an object and perform a handling task.

[0062] For example, the robotic arm can complete the positioning task by accurately moving the robot out of trouble and overcoming obstacles.

[0063] In some embodiments, the robot may detect an obstacle and obtain the current posture of the robotic arm. The robot detecting the obstacle may indicate that the robot is currently in at least one of a scenario where the robot is stuck by the obstacle or needs to cross the obstacle.

[0064] For example, during the movement of the robot, the moving wheels or the body may be stuck by surrounding obstacles.

[0065] For another example, during the movement of the robot, it may encounter obstacles such as thresholds and steps that need to be passed or crossed.

[0066] In some embodiments, the robot may include a first acquisition component, and the first acquisition component may be used to obtain environmental information of the scene the robot is currently in. The first acquisition component may include but is not limited to at least one of a distance measurement component, an image acquisition component, etc.; the distance measurement component may include but is not limited to at least one of a laser radar distance measurement component, an infrared distance measurement component, a time of flight (TOF) distance measurement component, an ultrasonic distance measurement component, etc.; the image acquisition component may include but is not limited to at least one of a red, green, and blue (RGB) image acquisition component, a depth image acquisition component, an infrared image acquisition component, etc.

[0067] In some embodiments, the types of the first acquisition components are different, and the types of the acquired environmental information may be different. For example, the environmental information may include but is not limited to at least one of point cloud information, image information, and the like.

[0068] In some embodiments, the robot can perform obstacle detection in real time during movement, and when the environmental information collected by the first acquisition component indicates that the robot has detected an obstacle, it can be determined that the robot is currently in a scenario where it is stuck by an obstacle or needs to cross an obstacle; further, in the current scenario, the current posture of the robotic arm is obtained.

[0069] For example, while moving, the robot can use the radar ranging component to collect point cloud information of its environment in real time; based on the point cloud information, when the robot detects that there is a point cloud in the direction of travel whose distance from the fuselage is less than a distance threshold, it determines that the robot needs to cross obstacles to continue moving in this direction, and obtains the current posture of the robotic arm.

[0070] In some implementations, the current posture of the robotic arm may be detected based on the currently collected environmental information including the robotic arm to obtain the current posture of the robotic arm.

[0071] In some implementations, the current posture of the robotic arm may be determined based on the current angles of the joints of the robotic arm.

[0072] In some embodiments, the current posture of the robot arm may represent at least one of whether the robot arm is loaded, the position of the robot arm, whether the robot arm is folded, etc. For example, the current posture of the robot arm may include but is not limited to at least one of the following: the robot arm is loaded, the robot arm is unloaded, the robot arm is retracted, etc.

[0073] For example, Figure 2 As shown, the current posture of the robot arm is when the robot arm is retracted, and the robot arm can be folded in the body 11 of the robot 10. At this time, the robot 10 will not affect the robot arm.

[0074] For example, Figure 3 As shown, the current posture of the robot arm is when the robot arm is unloaded, and the robot arm 12 extends from the top of the fuselage 11 but does not carry any object. At this time, the robot 10 will drive the robot arm 12.

[0075] For example, Figure 4 As shown, the current posture of the robot arm is when the robot arm is carrying a load, and the robot arm 12 extends from the top of the fuselage 11 and carries an object 13. At this time, the robot 10 will drive the robot arm 12 and the object 13 carried by the robot arm 12.

[0076] Step S102: When the current posture of the robotic arm indicates that the robotic arm is extended, detect environmental information of the scene in which the robotic arm is currently located.

[0077] Here, the environmental information of the scene in which the robotic arm is currently located can characterize at least one of the obstacles around the robotic arm in the current posture, whether the robotic arm is carrying an object, and the object parameters of the object carried by the robotic arm; wherein the object parameters may include but are not limited to at least one of the type, quantity, weight, volume, etc. of the object.

[0078] The robotic arm being extended indicates that the current posture of the robotic arm is in an extended state, which may include but is not limited to at least one of extending from a storage compartment, extending relative to the top plane of the fuselage, etc.

[0079] In some embodiments, the robot may include a second acquisition component, which may be used to obtain environmental information of the scene in which the robot arm is currently located. The second acquisition component may include but is not limited to at least one of a distance measurement component and an image acquisition component; the distance measurement component may include but is not limited to at least one of a laser radar distance measurement component, an infrared distance measurement component, a TOF distance measurement component, an ultrasonic distance measurement component, etc.; the image acquisition component may include but is not limited to at least one of an RGB image acquisition component, a depth image acquisition component, an infrared image acquisition component, etc.

[0080] In some embodiments, the types of the second acquisition components are different, and the types of the environmental information of the scene currently located by the robot arm can be different. For example, the environmental information can include but is not limited to at least one of point cloud information, image information, and the like.

[0081] In some embodiments, the second acquisition component can be used to build a map of the robot's current environment. For example, a three-dimensional map of the robot's current environment can be built using a TOF ranging component or a camera through a Simultaneous Localization and Mapping (SLAM) method.

[0082] In some implementations, the established map may be updated in real time, and the distance between the robot arm and the objects in the map may be detected in real time to prevent collisions.

[0083] In some embodiments, the map may be stored in a local memory of the robot, and / or in the cloud, etc.

[0084] Step S103: Control the robot to escape and overcome obstacles according to the current posture of the robot arm and environmental information.

[0085] Here, the obstacle escape process may include but is not limited to at least one of a process of getting the robot out of a stuck position, a process of passing through an obstacle, a process of crossing an obstacle, and the like.

[0086] For example, when the robotic arm is extended and there is a low obstacle in front of the robot, if the environmental information indicates that there is no obstacle above the robotic arm in the surrounding environment corresponding to the robot's position, the robot can escape from the obstacle by crossing the obstacle.

[0087] For another example, when the robotic arm is extended and the robot is stuck in its current position, after the environmental information indicates that the robotic arm has rotated, and if there are no objects in the surrounding environment corresponding to the robot's position that can collide with the robotic arm, the robot can escape from the obstacle by rotating the fuselage chassis.

[0088] In the embodiment of the present application, when the robot detects an obstacle, the current posture of the robot's mechanical arm is obtained; and when the current posture of the mechanical arm indicates that the mechanical arm is extended, the environmental information of the scene in which the mechanical arm is currently located is detected; and then the robot is controlled to perform an obstacle escape process according to the current posture of the mechanical arm combined with the environmental information. In this way, when the robot detects an obstacle and the mechanical arm is extended, different obstacle escape processes can be performed in combination with the different environments in which the mechanical arm is currently located, thereby improving the adaptability of the obstacle escape process to the current posture of the mechanical arm and the environment in which it is located, and further reducing the damage to the mechanical arm and / or objects around the mechanical arm caused by the robot's obstacle escape process.

[0089] In some embodiments, the above step S103 may include the following steps S111 to S112:

[0090] Step S111: Based on the environmental information and the current posture information of the robot arm, predict the safety level of the robot in executing the target obstacle-escaping action.

[0091] Here, the target escape and obstacle-crossing action may include at least one of an escape action that enables the robot to escape from a stuck position, an obstacle-crossing action that enables the robot to pass through an obstacle, an obstacle-crossing action that enables the robot to cross an obstacle, and the like.

[0092] For example, the robot can pass through low obstacles such as thresholds by performing at least one of the actions of accelerating, twisting, and leaping.

[0093] For another example, the robot can escape from the current stuck position by at least one of the actions of rotating, moving forward, and moving backward.

[0094] The safety level can represent at least one of the safety level of the robot, the safety level of the robotic arm, the safety level of the objects carried by the robotic arm, the safety level of the objects around the robot, the safety level of the objects around the robotic arm, etc.

[0095] For example, when the environment around the robotic arm is open and the robotic arm is carrying a load, it can be predicted that the robot has a higher degree of safety in executing the target escape and obstacle-crossing action.

[0096] For another example, when the robotic arm is carrying a heavy object and the robot currently has to pass a low obstacle, it can be predicted that the robot may have problems such as unstable center of gravity and the object may fall out of the robotic arm after performing the target escape and obstacle crossing action. In this case, it can be determined that the safety level of the current robot's target escape and obstacle crossing action is low.

[0097] In some embodiments, the environmental information may include the distance between the robotic arm and surrounding objects. When the distance between the robotic arm and surrounding objects is greater than a distance threshold, the safety level of the robot's execution of the target escape and obstacle crossing action can be predicted to be safe.

[0098] In some embodiments, when the weight of the robot arm carrying a load and the weight of the loaded object is greater than a weight threshold, it can be predicted that the safety level of the robot performing the target obstacle escape action is unsafe.

[0099] Step S112: Based on the safety level, control the robot to escape from difficulties and overcome obstacles.

[0100] Here, based on different safety levels, the robot can be controlled to perform obstacle escape and crossing through a target obstacle escape and crossing action or a non-target obstacle escape and crossing action.

[0101] For example, when the safety level indicates that the robot will not cause damage to the robotic arm, the robot, or the surrounding environment after accelerating forward, the robot can be accelerated forward to escape from an obstacle.

[0102] For another example, when the safety level indicates that the robot will damage its robotic arm if it crosses an obstacle, the robot can escape from the obstacle by not crossing the obstacle.

[0103] In the embodiment of the present application, the safety level of the robot in executing the target obstacle-escaping action is first predicted based on the environmental information and the current position information of the manipulator; then, based on the safety level, the robot is controlled to perform obstacle-escaping processing. In this way, after predicting the safety level of the robot in executing the target obstacle-escaping action based on the environmental information and the current position information of the manipulator, the obstacle-escaping action most suitable for the current scene (for example, the target obstacle-escaping action, or the obstacle-escaping action of the non-target obstacle-escaping action) can be selected based on the safety level to perform obstacle-escaping processing, thereby further improving the adaptability and safety of the obstacle-escaping processing in the current scene.

[0104] In some embodiments, the above step S112 may include at least one of the following steps S121 to S122:

[0105] Step S121: When the safety level meets the target safety conditions, control the robot to execute the target obstacle escape action.

[0106] Here, the target safety condition may represent the target condition that the manipulator arm, the robot and / or surrounding objects are in a safe state after the robot performs the target obstacle escape action.

[0107] For example, after the robot performs a target obstacle-escaping action, when the distance between the robotic arm and / or the robot and surrounding objects is greater than a distance threshold, it can be determined that the safety level meets the target safety condition.

[0108] For another example, after the robot performs a target obstacle-breaking action, when the distance between the object carried by the robotic arm and surrounding objects is greater than a distance threshold, it can be determined that the safety level meets the target safety condition.

[0109] Step S122: When the safety level does not meet the target safety condition, the robot is controlled to perform obstacle escape based on the load state of the robotic arm.

[0110] Here, the load state of the robotic arm can characterize at least one of whether the robotic arm is loaded, the object state of the robotic arm carrying an object, etc., and may include but is not limited to at least one of empty, loaded, the weight of the loaded object is large, the weight of the loaded object is small, the volume of the loaded object is large, the volume of the loaded object is small, etc.

[0111] For example, when the robotic arm is carrying a load and the carried object is a light object such as a sock, a paper ball, or a plastic toy, it can be determined that the load state of the robotic arm is carrying a load and the load is relatively light;

[0112] When the robotic arm is carrying a load, and the carried object is a heavy object such as shoes, furniture, electronic equipment, etc., it can be determined that the load state of the robotic arm is carrying a load and the load is heavy.

[0113] Exemplarily, when the target obstacle-avoiding action is shaking, rotating, twisting or the like, and the load state of the robot arm is loaded and the load is heavy, the obstacle-avoiding process can be performed by moving forward, backward or the like.

[0114] In the embodiment of the present application, when the safety level meets the target safety condition, the robot is controlled to perform the target obstacle escape action; when the safety level does not meet the target safety condition, the robot is controlled to perform obstacle escape processing based on the load state of the robotic arm. In this way, the final obstacle escape processing method can be determined based on the different safety levels of performing the target obstacle escape action and the load state of the robotic arm, thereby further improving the adaptability of the obstacle escape processing to the current scene and the load state of the robotic arm, and further improving the safety of the robotic arm, the robot, and / or surrounding objects.

[0115] It can be understood that, when there are multiple target obstacle escape and obstacle crossing actions, each target obstacle escape and obstacle crossing action can correspond to its own safety level and target safety conditions. When the safety levels corresponding to some target obstacle escape and obstacle crossing actions meet the target safety conditions, the final obstacle escape and obstacle crossing processing method can be further determined based on the partial target obstacle escape and obstacle crossing actions and the load status of the robotic arm.

[0116] In some embodiments, the control of the mobile robot to perform obstacle escape processing based on the load state of the robotic arm in the above step S122 may include at least one of the following steps S131 to S132:

[0117] Step S131, when the load state of the robotic arm is a loaded state, control the robot to execute a preset leaving action to try to leave the current area to be escaped and overcome obstacles, and / or mark the current area to be escaped and overcome obstacles as a loaded impassable area in the environmental map corresponding to the current scene.

[0118] Here, the preset leaving action may be pre-configured by the user, and may include but is not limited to attempting to leave the current area to be escaped and overcome obstacles based on a preset speed, a preset rotation angle, and a preset distance, which is not limited in the embodiments of the present application. Among them, the preset speed may be less than a preset speed threshold, the preset rotation angle may be less than a preset angle threshold, or the preset distance may be less than a preset distance threshold, and the speed threshold, angle threshold, and distance threshold may be respectively the upper limit of the distance, the upper limit of the speed, and the upper limit of the rotation angle determined by those skilled in the art according to the actual application scenario to enable the robot to gently leave the current area to be escaped and overcome obstacles.

[0119] In some embodiments, the environment map corresponding to the current scene may include, but is not limited to, at least one of a three-dimensional point cloud map, a two-dimensional plane map, and the like.

[0120] Exemplarily, the environment map corresponding to the current scene may include the three-dimensional map established by the acquisition component in the above embodiment.

[0121] It is understandable that when the load state of the robotic arm is in the loaded state, leaving the current area to be escaped and overcome obstacles can reduce the risk of damage to the robotic arm and the object carried by the robotic arm due to the forced execution of the escape and overcome obstacle action;

[0122] Marking the corresponding area from the environmental map as an impassable area with load can enable devices moving in the current environment based on the environmental map to judge in advance whether to leave the area when loaded, thereby improving the processing efficiency of the device in performing loaded movement tasks.

[0123] Step S132: When the load state of the robotic arm is an unloaded state, the robotic arm is controlled to be retracted, and the robot is controlled to perform a target obstacle-escaping action.

[0124] Here, controlling the retraction of the robotic arm may include but is not limited to at least one of retracting the robotic arm into a storage bin, retracting the robotic arm to fit the top of the fuselage, retracting and folding the robotic arm, etc.

[0125] When the load state of the robotic arm is an empty state, it can be determined that the robotic arm is currently not carrying any objects, and retracting the robotic arm will not cause damage to the robotic arm. Therefore, the robotic arm can be retracted without considering the impact of executing the target escape and obstacle crossing action on the robotic arm, and the robot can be further controlled to execute the target escape and obstacle crossing action.

[0126] In the embodiment of the present application, when the load state of the mechanical arm is the loaded state, the robot is controlled to execute the preset leaving action to try to leave the current area to be escaped and crossed, and / or the current area to be escaped and crossed is marked as a loaded impassable area in the environmental map corresponding to the current scene; when the load state of the mechanical arm is the unloaded state, the mechanical arm is controlled to be retracted, and the robot is controlled to execute the target escape and crossed obstacle action. In this way, on the one hand, considering that the execution of the escape and crossed obstacle action may cause damage to the mechanical arm in the loaded state, the object carried by the mechanical arm, and the objects in the environment around the mechanical arm, the execution of the preset leaving action can improve the safety of the robot in the loaded state to escape and crossed obstacles; on the other hand, by marking the loaded impassable area in the environmental map corresponding to the current scene, other devices including the current robot can improve the processing efficiency of executing the loaded task in the current environment, and reduce the possibility of entering the area again with load; on the other hand, by controlling the unloaded state of the mechanical arm to be retracted, the robot is controlled to execute the target escape and crossed obstacle action, which can improve the robot's completion of escape and crossed obstacles without affecting the function and safety of the mechanical arm, and further improve the robot's performance.

[0127] In some embodiments, the robot further includes a liftable mechanism disposed at the bottom of the body, and the above step S121 may include the following step S141:

[0128] Step S141: When the safety level meets the target safety condition, control the lifting mechanism to lift the fuselage to perform the target obstacle escape action.

[0129] Here, the lifting mechanism can lift the body of the robot to raise the body position of the robot, thereby crossing obstacles or getting out of a stuck position.

[0130] Exemplarily, the liftable mechanism may include at least one of a liftable servo, a liftable bracket, and the like.

[0131] In some embodiments, after controlling the liftable mechanism to lift the fuselage and completing the target obstacle escape action, the liftable mechanism can be controlled to lower the fuselage to a target position; wherein the target position may include but is not limited to at least one of a position corresponding to an original height, a position corresponding to a preset height, etc.

[0132] In the embodiment of the present application, when the safety level meets the target safety condition, the mobile robot is controlled to perform the target obstacle-escaping action, and the lifting mechanism arranged at the bottom of the body is controlled to lift the body during the target obstacle-escaping action. In this way, the possibility of the robot completing the obstacle-escaping action by performing the target obstacle-escaping action can be increased by increasing the height of the robot body, thereby further increasing the success rate of the robot completing the obstacle-escaping action.

[0133] In some embodiments, the above step S122 may include the following step S151:

[0134] Step S151: When the safety level does not meet the target safety condition, based on the load state of the robot arm, the robot is controlled to perform an obstacle escape process, and during the obstacle escape process, the lifting mechanism is controlled to lower the body.

[0135] Here, the lifting mechanism can lower the body of the robot to lower the position of the body of the robot, thereby lowering the center of gravity and position of the robotic arm and the robot.

[0136] For example, when the robot is performing an obstacle escape and obstacle crossing process, if there is an obstacle above the robotic arm, the robotic arm may be damaged. Therefore, the damage to the robotic arm can be reduced by controlling the lifting mechanism to lower the fuselage.

[0137] In the embodiment of the present application, when the safety level does not meet the target safety condition, the robot is controlled to perform obstacle escape processing based on the load state of the robot arm, and the lifting mechanism is controlled to lower the body during the obstacle escape processing. In this way, the safety level of the robot's obstacle escape processing can be improved by lowering the center of gravity and position of the robot arm and the robot while reducing the possibility of damage to the robot arm, the robot, and / or surrounding objects.

[0138] In some embodiments, the robot escape and obstacle crossing method may further include the following step S161:

[0139] Step S161: When the current posture of the robotic arm indicates that the robotic arm is retracted, control the robot to execute a target obstacle-escaping action.

[0140] Here, when the robotic arm is retracted, it can be determined that the current robot's execution of the target obstacle escape operation has little impact on the robotic arm. Therefore, the robot can be directly controlled to execute the target obstacle escape operation.

[0141] In the embodiment of the present application, when the current posture of the robotic arm indicates that the robotic arm is retracted, the robot is controlled to perform the target obstacle escape action. In this way, when the current posture of the robotic arm does not affect the robot's obstacle escape processing, the robot can be controlled to directly perform the target obstacle escape action, and the efficiency of the robot's obstacle escape can be improved on the basis of considering the safety of the robotic arm and the objects around the robotic arm.

[0142] In the related art, a robot with a foldable or retractable robotic arm can perform grasping operations, and further cooperate with a movable body to carry the grasped object and move together.

[0143] The present application embodiment provides a method for a robot to escape from trouble and overcome obstacles. The method can be applied to a robot, which includes a body and a mechanical arm, and the mechanical arm is installed in a storage compartment on the top of the body. Figure 5 As shown, the method includes the following steps S501 to S509:

[0144] Step S501: Determine an obstacle escape strategy.

[0145] Here, when the robot is triggered to escape from an obstacle, it can perform the escape and obstacle handling according to different escape and obstacle strategies.

[0146] In some implementations, the obstacle escape strategy can be divided into a strict obstacle escape strategy and a loose obstacle escape strategy.

[0147] In some embodiments, the robot's obstacle escape strategy may be determined based on the current posture and / or load status of the robotic arm.

[0148] For example, when the robot grasps a heavy object, the robot's escape and obstacle strategy can be determined to be a strict escape and obstacle strategy. In this way, the safety of the robot, the object grasped by the robot, the robot, and / or surrounding objects can be improved.

[0149] For example, when the robot arm is grabbing a light object, is empty, is close to the top of the fuselage, or is retracted, the robot's obstacle escape strategy can be determined to be a loose obstacle escape strategy. In this way, the robot's obstacle escape handling restrictions can be reduced and the efficiency of obstacle escape can be improved.

[0150] In some embodiments, for a robot with a liftable mechanism, when a strict obstacle escape strategy is executed, the mechanism is not used to lift the body when the robot arm is outside the body; when a loose obstacle escape strategy is executed, the mechanism may be used or not to lift the body.

[0151] Step S502: The robot detects an obstacle under a strict obstacle escape strategy.

[0152] Here, when the robot executes a strict obstacle-escaping strategy, after detecting an obstacle, step S503 is executed.

[0153] Step S503: Determine whether the robot arm is loaded.

[0154] Here, the current posture and / or load status of the robot arm in the above-mentioned robot escape and obstacle crossing method can be judged accordingly.

[0155] When it is determined that the robot arm is loaded, step S504 is executed; when it is determined that the robot arm is unloaded, step S505 is executed.

[0156] Step S504: Leave gently and add a non-passable area.

[0157] Here, under a strict escape and obstacle crossing strategy, when the robot is in the obstacle crossing area to be escaped, it does not perform the escape and obstacle crossing action. It detects the position where it is stuck or needs to cross the obstacle, adds the position as an inaccessible area with load and gently leaves the area.

[0158] Gentle departure may include departure from the current obstacle surviving area based on at least one of a preset speed, a preset rotation angle, and a preset distance, which may correspond to executing a preset departure action in the above-mentioned robot obstacle surviving method.

[0159] After leaving and adding the non-passable area for carrying, step S509 is executed.

[0160] Step S505: retract the robotic arm.

[0161] Step S506: Execute the obstacle-escaping action.

[0162] Here, it can correspond to executing the target obstacle escaping action in the above-mentioned robot obstacle escaping method.

[0163] After executing the obstacle escape action, execute step S509.

[0164] Step S507: The robot detects an obstacle under a loose obstacle escape strategy.

[0165] Here, when the robot executes a relaxed obstacle escape strategy, after an obstacle is detected, step S508 is executed.

[0166] Step S508: Detection is performed using sensors combined with a three-dimensional map.

[0167] Here, the safety level of the robot in executing the target obstacle escaping action can be predicted based on the environmental information and the current posture information of the robot arm in the above-mentioned robot escape and obstacle escaping method.

[0168] In some embodiments, sensors and three-dimensional maps can be used to detect the distance between the robotic arm and obstacles above, in front of, and on the sides of the robotic arm, that is, to detect whether there are obstacles in the activity space of the robotic arm; and to detect parameters such as the volume, weight, and type of objects grasped by the robotic arm, that is, to detect whether the objects grasped by the robotic arm will affect the robot's ability to escape and overcome obstacles.

[0169] When the detection result is safe, that is, it corresponds to the case where the safety level in the above-mentioned robot obstacle escape method meets the target safety conditions, step S506 is executed; when the detection result is unsafe, that is, it corresponds to the case where the safety level in the above-mentioned robot obstacle escape method does not meet the target safety conditions, the obstacle escape strategy is switched to a strict obstacle escape strategy, and step S502 is executed.

[0170] Step S509: execute the target task.

[0171] Here, it can be the task that the robot is performing before getting out of trouble and overcoming obstacles, or it can be the next task before getting out of trouble and overcoming obstacles.

[0172] In an embodiment of the present application, when the robotic arm is outside the body, the robot selects different escape and obstacle crossing strategies according to the load status of the robotic arm and environmental information, thereby reducing the problem of damage to the robotic arm, robot, and surrounding objects due to excessive movement of the body.

[0173] The present application embodiment provides a robot obstacle-escaping device, wherein the robot comprises a body and a mechanical arm, and the mechanical arm is arranged on the body. Figure 6 As shown, the device 600 includes:

[0174] An acquisition module 610 is used to acquire the current posture of the robotic arm;

[0175] A detection module 620, configured to detect environmental information of a scene in which the robotic arm is currently located when the current posture of the robotic arm indicates that the robotic arm is extended;

[0176] The control module 630 is used to control the robot to escape from difficulties and overcome obstacles according to the current posture of the robot arm and the environmental information.

[0177] In some embodiments, the control module is further configured to:

[0178] Based on the environmental information and the current posture information of the robotic arm, predict the safety level of the robot in performing a target obstacle-escaping action;

[0179] Based on the safety level, the robot is controlled to escape from trouble and overcome obstacles.

[0180] In some embodiments, the control module is further configured to:

[0181] When the safety level meets the target safety condition, controlling the robot to perform the target obstacle-escaping action;

[0182] When the safety level does not meet the target safety condition, the robot is controlled to perform obstacle escape based on the load state of the robotic arm.

[0183] In some embodiments, the control module is further configured to:

[0184] When the load state of the robot arm is a loaded state, the robot is controlled to perform a preset leaving action to try to leave the current area to be escaped and overcome obstacles, and / or the current area to be escaped and overcome obstacles is marked as a loaded impassable area in the environment map corresponding to the current scene;

[0185] When the load state of the robotic arm is an unloaded state, the robotic arm is controlled to be retracted, and the robot is controlled to perform the target obstacle escape action.

[0186] In some embodiments, the robot further comprises a liftable mechanism disposed at the bottom of the body;

[0187] The control module is also used for:

[0188] When the safety level meets the target safety condition, controlling the elevating mechanism to lift the fuselage to perform the target obstacle-escaping action;

[0189] In the case where the safety level does not meet the target safety condition, the liftable mechanism is controlled to lower the fuselage during the obstacle escape process.

[0190] In some embodiments, the control module is further configured to:

[0191] When the current posture of the robotic arm indicates that the robotic arm is retracted, the robot is controlled to execute a target obstacle-escaping action.

[0192] The description of the above robot escape obstacle crossing device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the robot escape obstacle crossing device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0193] It should be noted that in the embodiment of the present application, if the above-mentioned robot escape obstacle crossing method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or partly reflected in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0194] The present application embodiment provides a robot, such as Figure 7 As shown, the robot 700 includes a memory 710 and a processor 720. The memory 710 stores a computer program that can be run on the processor 720. When the processor 720 executes the program, part or all of the steps in the above method are implemented.

[0195] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0196] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK) and the like.

[0197] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method.

[0198] An embodiment of the present application provides a processor, which is communicatively connected to a memory, and the memory stores a computer program that can be run on the processor. When the processor executes the computer program, the steps in the above method are implemented.

[0199] It should be noted here that the description of the above storage medium, computer program product and device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the storage medium, computer program product and device embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0200] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0201] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0202] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the 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 can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0203] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; 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 present embodiment.

[0204] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0205] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0206] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0207] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A robot escape and obstacle crossing method, characterized in that: The robot comprises a body and a mechanical arm, wherein the mechanical arm is arranged on the body; and the method comprises: Obtaining the current posture of the robotic arm; When the current posture of the robotic arm indicates that the robotic arm is extended, detecting environmental information of a scene in which the robotic arm is currently located; According to the current posture of the robotic arm and the environmental information, the robot is controlled to perform escape and obstacle crossing.

2. The robot obstacle-breaking method according to claim 1, characterized in that: According to the current posture of the mechanical arm and the environmental information, the robot is controlled to perform an obstacle escape process, including: Based on the environmental information and the current posture information of the robotic arm, predict the safety level of the robot in performing a target obstacle-escaping action; Based on the safety level, the robot is controlled to escape from trouble and overcome obstacles.

3. The robot obstacle-escaping method according to claim 2, characterized in that: The controlling the robot to perform an obstacle escape process based on the safety level includes at least one of the following: When the safety level meets the target safety condition, controlling the robot to perform the target obstacle-escaping action; When the safety level does not meet the target safety condition, the robot is controlled to perform obstacle escape based on the load state of the robotic arm.

4. The robot obstacle-escaping method according to claim 3, characterized in that: The controlling the robot to perform obstacle escape processing based on the load state of the mechanical arm comprises at least one of the following: When the load state of the robot arm is a loaded state, the robot is controlled to perform a preset leaving action to try to leave the current area to be escaped and overcome obstacles, and / or the current area to be escaped and overcome obstacles is marked as a loaded impassable area in the environment map corresponding to the current scene; When the load state of the robotic arm is an unloaded state, the robotic arm is controlled to be retracted, and the robot is controlled to perform the target obstacle escape action.

5. The robot obstacle-escaping method according to claim 3 or 4, characterized in that: The robot also includes a liftable mechanism disposed at the bottom of the body; In the case where the safety level meets the target safety condition, controlling the robot to perform the target obstacle-escaping action includes: controlling the elevating mechanism to lift the body to perform the target obstacle-escaping action; In the case that the safety level does not meet the target safety condition, based on the load state of the robot arm, controlling the robot to perform an escape and obstacle crossing process includes: controlling the elevating mechanism to lower the body during the escape and obstacle crossing process.

6. The robot obstacle escaping method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the current posture of the robotic arm indicates that the robotic arm is retracted, the robot is controlled to execute a target obstacle-escaping action.

7. A robot obstacle-crossing device, characterized in that: The robot comprises a body and a mechanical arm, wherein the mechanical arm is arranged on the body; the device comprises: An acquisition module, used to acquire the current posture of the robotic arm; A detection module, configured to detect environmental information of a scene in which the robotic arm is currently located when the current posture of the robotic arm indicates that the robotic arm is extended; The control module is used to control the robot to escape from difficulties and overcome obstacles according to the current posture of the robot arm and the environmental information.

8. The robot obstacle-escaping device according to claim 7, characterized in that: The control module is also used for: Based on the environmental information and the current posture information of the robotic arm, predict the safety level of the robot in performing a target obstacle-escaping action; Based on the safety level, the robot is controlled to escape from trouble and overcome obstacles.

9. The robot obstacle escape device according to claim 8, characterized in that: The control module is also used for at least one of the following: When the safety level meets the target safety condition, controlling the robot to perform the target obstacle-escaping action; When the safety level does not meet the target safety condition, the robot is controlled to perform obstacle escape based on the load state of the robotic arm.

10. The robot obstacle escape device according to claim 9, characterized in that: The control module is also used for at least one of the following: When the load state of the robot arm is a loaded state, the robot is controlled to perform a preset leaving action to try to leave the current area to be escaped and overcome obstacles, and / or the current area to be escaped and overcome obstacles is marked as a loaded impassable area in the environment map corresponding to the current scene; When the load state of the robotic arm is an unloaded state, the robotic arm is controlled to be retracted, and the robot is controlled to perform the target obstacle escape action.

11. The robot obstacle escape device according to claim 9 or 10, characterized in that: The robot also includes a liftable mechanism disposed at the bottom of the body; The control module is also used for: When the safety level meets the target safety condition, controlling the elevating mechanism to lift the fuselage to perform the target obstacle-escaping action; In the case where the safety level does not satisfy the target safety condition, the liftable mechanism is controlled to lower the fuselage during the obstacle escape process.

12. The robot obstacle escape device according to any one of claims 7 to 11, characterized in that: The control module is also used for: When the current posture of the robotic arm indicates that the robotic arm is retracted, the robot is controlled to execute a target obstacle-escaping action.

13. A robot, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the steps in the method according to any one of claims 1 to 6 are implemented.

14. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 6 are implemented.

15. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

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