Obstacle-avoiding review control method and device for robot with body and robot system with body

Abstract

The invention relates to the technical field of bodywork robots, and discloses a bodywork robot obstacle avoidance look-back control method and device and a bodywork robot system.The method comprises the steps that under the condition that soft collision is triggered, a plurality of look-back points are determined on an initial contour according to recognized initial contour information of a current obstacle and the position when the soft collision is triggered; controlling the robot with the body to walk along the initial contour of the current obstacle, and executing a preset look-back action and obtaining a corresponding look-back result when each look-back point is reached; and updating the contour information of the current obstacle based on the playback result meeting the preset condition. According to the method, the obstacle contour information is updated in real time through the look-back point and the preset look-back action, so that the obstacle avoidance stability of the robot with the body can be improved, and collision is avoided.

Description

Technical Field

[0001] This application relates to the technical field of embodied robots, and particularly to an obstacle avoidance and look-back control method, device, and embodied robot system for an embodied robot. Background Art

[0002] In a robot system configured with a single obstacle avoidance sensor (such as a monocular camera), since the sensor can only obtain obstacle information from a single perspective, there are significant technical limitations when it performs an edge following obstacle avoidance task, which are specifically manifested in the following three aspects: First, the system stability is insufficient. When the robot moves around an obstacle, its movement trajectory shows obvious discontinuity, resulting in frequent jitter of the movement posture and affecting the overall running smoothness. Second, the distance control accuracy is poor. Due to the lack of multi-dimensional perception ability, there are large fluctuations in maintaining the distance between the robot and the obstacle, and it is difficult to ensure a constant safe distance. Finally, there is a risk of collision in the system. In certain situations, limited by the field of view and information acquisition ability of the sensor, the robot may not be able to identify the obstacle in time, thus resulting in a collision accident. Summary of the Invention

[0003] In view of this, to solve at least one of the above problems, embodiments of this application provide an obstacle avoidance and look-back control method, device, and embodied robot system for an embodied robot.

[0004] In a first aspect, embodiments of this application provide an obstacle avoidance and look-back control method for an embodied robot, including: In the case of triggering a soft collision, based on the initial contour information of the currently identified obstacle and the position when the soft collision is triggered, determine multiple look-back points on the initial contour; Control the embodied robot to walk along the initial contour of the current obstacle, and when reaching each look-back point, perform a preset look-back action and obtain a corresponding look-back result; Update the contour information of the current obstacle based on the look-back results that meet the preset conditions.

[0005] In an alternative embodiment, the look-back result is the new contour information of the currently identified obstacle re-identified after reaching a look-back point and performing the preset look-back action; The updating the contour information of the current obstacle based on the look-back results that meet the preset conditions includes: In the case where the deviation between the new contour information identified at the current look-back point and the initial contour information exceeds a preset range, update the contour information of the current obstacle according to the new contour information.

[0006] In an alternative embodiment, it further includes: when the deviation between the newly recognized contour information and the initial contour information at the current viewing point does not exceed the preset range, controlling the embodied robot to move to the next viewing point and performing the preset viewing action to determine whether to perform the contour information update operation.

[0007] In an alternative embodiment, after each execution of the contour information update operation, the method further includes: Based on the updated contour information of the current obstacle, re-determining a plurality of new viewing points; Controlling the embodied robot to walk along the updated contour, and when reaching each of the new viewing points, performing the preset viewing action to determine whether to perform the contour information update operation again.

[0008] In an alternative embodiment, it further includes: during the process of controlling the embodied robot to walk along the current contour of the current obstacle, when not reaching the next viewing point, if a new obstacle is detected, and in the case of not triggering a soft collision with the new obstacle, controlling the embodied robot to continue walking along the current contour of the current obstacle until reaching the next viewing point; wherein, the current contour is the initial contour or the updated contour; In the case of triggering a soft collision with the new obstacle, controlling the embodied robot to switch to walking along the initial contour of the new obstacle, and when reaching each corresponding viewing point, performing the preset viewing action to determine whether to perform the contour information update operation of the new obstacle.

[0009] In an alternative embodiment, the determining a plurality of viewing points on the initial contour according to the initial contour information of the recognized current obstacle and the position when the soft collision is triggered includes: Taking the connection line between the position coordinate point when the soft collision is triggered and the center point of the initial contour of the current obstacle as the reference line, and selecting at least one target line that forms a preset angle with the reference line; Taking the non-soft collision intersection point of the reference line and the initial contour, and all the intersection points of each target line and the initial contour as the selected plurality of viewing points.

[0010] In an alternative embodiment, before determining a plurality of viewing points on the initial contour according to the initial contour information of the recognized current obstacle and the position when the soft collision is triggered in the case of triggering a soft collision, it further includes: Collecting scene visual information through an obstacle avoidance sensor; Identify the obstacle type of the current obstacle according to the scene visual information and the preset obstacle types, and determine the initial contour information of the current obstacle based on the identified obstacle type; wherein, the initial contour information includes the polygon contour information of the current obstacle.

[0011] In an alternative embodiment, the obstacle avoidance sensor is in the front of the embodied robot; the execution of the preset look-back action includes: Control the embodied robot to rotate by a specified angle and then retreat a preset distance, so that the current obstacle is within the viewing range of the obstacle avoidance sensor.

[0012] In an alternative embodiment, the determination process of triggering a soft collision includes: Taking the position of the embodied robot as the starting point, construct a prediction area in the moving direction of the embodied robot; If the prediction area contains points on the initial contour of the current obstacle or points inside the initial contour, trigger a soft collision.

[0013] In a second aspect, an embodiment of the present application provides an embodied robot obstacle avoidance look-back control device, including: A determination module, configured to, when a soft collision is triggered, determine a plurality of look-back points on the initial contour according to the initial contour information of the identified current obstacle and the position when the soft collision is triggered; An execution module, configured to control the embodied robot to walk along the initial contour of the current obstacle, and when reaching each look-back point, execute a preset look-back action and obtain a corresponding look-back result; An update module, configured to update the contour information of the current obstacle based on the look-back results that meet the preset conditions.

[0014] In a third aspect, an embodiment of the present application provides an embodied robot system, including: An execution mechanism, configured to execute corresponding actions; A memory, where the memory stores a computer program; A processor, where the processor is configured to execute the computer program to implement the embodied robot obstacle avoidance look-back control method in the foregoing embodiments.

[0015] The embodiments of the present application have the following beneficial effects: By selecting a plurality of look-back points on the initial contour of the obstacle and executing a preset look-back action at each look-back point, and then updating the contour information of the obstacle according to the look-back results that meet the conditions, the embodied robot can gradually complete the actual contour information of the obstacle during the look-back process. In this way, when encountering the same obstacle again, the obstacle avoidance process can be made smoother and jitter can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0017] Figure 1 FIG. shows a schematic structural diagram of an embodied robot system according to an embodiment of the present application; Figure 2 FIG. shows a first flowchart of an obstacle avoidance and look-back control method for an embodied robot according to an embodiment of the present application; Figure 3 FIG. shows a second flowchart of an obstacle avoidance and look-back control method for an embodied robot according to an embodiment of the present application; Figure 4 FIG. shows a third flowchart of an obstacle avoidance and look-back control method for an embodied robot according to an embodiment of the present application; Figure 5 FIG. shows a schematic diagram of constructing a prediction area according to an embodiment of the present application; Figure 6 FIG. shows a fourth flowchart of an obstacle avoidance and look-back control method for an embodied robot according to an embodiment of the present application; Figure 7 FIG. shows a schematic diagram of determining a look-back point according to an embodiment of the present application; Figure 8 FIG. shows a schematic diagram of the process of supplementing obstacle information for an embodied robot according to an embodiment of the present application; Figure 8 (a) of FIG. shows a schematic diagram of an embodied robot starting to walk along the initial contour of an obstacle after walking to a soft collision position according to an embodiment of the present application; Figure 8 (b) of FIG. shows a schematic diagram of an embodied robot reaching one of the look-back points when walking along the initial contour of an obstacle according to an embodiment of the present application; Figure 8 (c) of FIG. shows a schematic diagram of an embodied robot performing a rotation by a specified angle action of a preset look-back action according to an embodiment of the present application; Figure 8 (d) of FIG. shows a schematic diagram of an embodied robot performing a backward movement by a preset distance action of a preset look-back action according to an embodiment of the present application; Figure 8 (e) of FIG. shows a schematic diagram of re-identifying the contour information of the current obstacle according to an embodiment of the present application; Figure 8(f) shows a schematic diagram of re - determining a look - back point based on the new contour information of the currently re - identified obstacle in the embodiment of the present application; Figure 9 shows the fifth flow schematic diagram of the embodied robot obstacle - avoidance look - back control method in the embodiment of the present application; Figure 10 shows a schematic structural diagram of the embodied robot obstacle - avoidance look - back control device in the embodiment of the present application. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0019] Generally, the components of the embodiments of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0020] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be construed as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0021] Unless otherwise defined, all terms (including technical terms and scientific terms) used here have the same meaning as those commonly understood by those of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in a commonly used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or being overly formal, unless clearly defined in the various embodiments of the present application.

[0022] Next, some embodiments of the present application will be described in detail in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0023] For a robot system with a single obstacle avoidance sensor configuration, when performing an edge following obstacle avoidance task, it is found that the single obstacle avoidance sensor located on the front side of the robot body may be easily blocked by the robot's own structure or external objects during the execution of the corresponding task, resulting in information loss. As a result, problems such as jitter, uneven distance from obstacles, and collisions with obstacles are likely to occur. Therefore, this application proposes an embodied robot obstacle avoidance look-back control method, device, and embodied robot system. When a soft collision is triggered, the method determines multiple look-back points on the initial contour based on the identified initial contour information of the current obstacle and the position at which the soft collision is triggered. When the embodied robot reaches each look-back point along the edge, a preset look-back action is executed. Then, based on the look-back result, the contour information of the current obstacle is updated to complete the contour information of the obstacle, thereby solving the problems during the robot's edge following obstacle avoidance and making the entire obstacle avoidance process smoother and more stable.

[0024] Among them, the embodied robot in this application (Embodied Robot) refers to a robot that has a physical body (entity) and realizes intelligent behavior through real-time perception, interaction, and action with the real environment. Its core idea stems from the theory of embodied intelligence (Embodied Intelligence), that is, intelligence not only depends on algorithms and data processing but also needs to learn and evolve through the dynamic interaction between the body and the environment. Here, the physical entity means that the embodied robot has a real body (such as a robotic arm, a mobile chassis, sensors, etc.) and can act in the physical world like humans or animals (such as walking, grasping, obstacle avoidance, etc.). In addition, it can also sense the environment in real time through sensors such as vision, touch, hearing, and force sense, and adjust its behavior according to the feedback.

[0025] Figure 1 Fig. shows a schematic structural diagram of an embodied robot 10 according to an embodiment of this application.

[0026] Exemplarily, the embodied robot 10 includes a processor 11, a memory 12, a sensing unit 13, and an actuator 14. Among them, the sensing unit 13 is used to detect the environmental information where the embodied robot is located; the actuator 14 is used to execute corresponding actions; the memory 12 stores a computer program, and the processor 11 runs the computer program to enable the embodied robot to execute the embodied robot obstacle avoidance look-back control method in the following embodiments.

[0027] Among them, the processor 11 can be an integrated circuit chip with signal processing capabilities. The processor 11 can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can implement or execute computer programs to implement the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.

[0028] Among them, the memory 12 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. Among them, the memory 12 is used to store computer programs, and after receiving an execution instruction, the processor 11 can execute the computer program accordingly.

[0029] Among them, the sensing unit 13 can include detection sensors provided on the body of the embodied robot 10. The detection sensors are mainly used to detect targets or obstacles on the traveling path of the embodied robot 10. For example, they can include visual sensors, lidar, etc. Among them, the visual sensor can include a camera, specifically, a conventional RGB (red, green, blue) camera, a depth camera, or a stereo camera, etc. For example, for a cleaning robot, its detection sensors can include visual sensors. By collecting image data in the current environmental space through the visual sensors, information about obstacles in front in the environmental space can be obtained, etc., and thus can be used for tasks such as target recognition and positioning. In some alternative embodiments, the detection sensors can also include infrared sensors, ultrasonic sensors, etc.

[0030] It should be understood that the above-mentioned embodied robot 10 may include, but is not limited to, a floor cleaning robot (also known as a cleaning robot), a towing robot driven by a floor sweeper (i.e., a floor cleaning and towing integrated robot), a food delivery robot, an autonomously driven load-carrying robot, a companion robot, a service robot, etc. It can be understood that the forms of existence of the various robots listed above are not limited. For example, it can be a wheeled robot, or a humanoid robot with two legs, or a multi-legged robot, etc.

[0031] Figure 2 FIG. shows a schematic flow diagram of an obstacle avoidance and look-back control method for an embodied robot according to an embodiment of the present application. Exemplarily, the obstacle avoidance and look-back control method for the embodied robot includes steps S210 - step S230: S210, in the case of triggering a soft collision, determine a plurality of look-back points on the initial contour according to the recognized initial contour information of the current obstacle and the position at the time of triggering the soft collision.

[0032] Among them, a soft collision means that there is a certain distance between the embodied robot and the detected current obstacle, but no real collision occurs with the obstacle. In this embodiment, by setting a soft collision mechanism, when the soft collision mechanism is triggered, it indicates approaching the current obstacle. At this time, the embodied robot can more intelligently adjust its own behavior during the obstacle avoidance process. For example, the robot can switch to a mode of moving along the edge of the obstacle (i.e., "edge avoidance"). During the edge avoidance process, the robot can determine to perform a preset look-back action at the selected look-back point to further optimize the contour information of the obstacle.

[0033] In some embodiments, before step S210, there is also a process of obtaining the initial contour information of the current obstacle, and this process is as Figure 3 shown, including steps S310 - step S320: S310, collect scene visual information through an obstacle avoidance sensor.

[0034] Among them, the obstacle avoidance sensor is mainly used for the embodied robot to sense obstacles in the surrounding environment. Generally, it can be set at the front or side of the robot body, and it can be, but is not limited to, a monocular camera.

[0035] It can be understood that during the process of the embodied robot performing the target task, the obstacle avoidance sensor will collect scene visual information in real time or at a preset time interval. Among them, the scene visual information can be image visual information or point cloud visual information.

[0036] S320, according to the scene visual information and the preset obstacle type, identify the obstacle type of the current obstacle, and determine the initial contour information of the current obstacle based on the recognized obstacle type.

[0037] The controller of the embodied robot 10 in this embodiment is provided with an obstacle recognition module. Among them, some types of obstacles are pre-stored in the obstacle recognition module, such as cotton balls, bases, shoes, toys, humidifiers, pet supplies, feces, dust collection stations, building blocks, dolls, etc., as well as the contour information of these pre-stored obstacles. In one implementation, the contour information mainly refers to the polygon contour information of each obstacle, such as including the coordinate information of each vertex of the polygon corresponding to the obstacle, the information of the sides, etc.

[0038] Exemplarily, after the obstacle avoidance sensor collects the scene visual information, it transmits the scene visual information to the obstacle recognition module. The obstacle recognition module uses a deep learning model (such as the YOLO architecture model, object detection algorithm or semantic segmentation algorithm) to analyze the acquired scene visual information and determine whether there are obstacles in the scene visual information that are the same as the pre-stored obstacle types. If so, it is determined that there is an obstacle in the current scene visual information, and at the same time, the type of the obstacle is determined.

[0039] After determining the type of the current obstacle, the obstacle recognition module will continue to determine the initial contour information of the current obstacle according to the recognized type. Among them, the initial contour information includes the polygon contour information of the current obstacle. When obtaining the initial contour information, the embodied robot can obtain the preset size (the preset contour size of the obstacle) of the obstacle according to the width of the obstacle detection frame (the obstacle detection frame is used to identify the position and size of the detected obstacle in the scene image, usually represented by a rectangular frame) in the size of the detected obstacle, combined with the determined obstacle type, and then obtain the estimated area of the obstacle, and collect the contour information of the obstacle according to the estimated area.

[0040] In some implementations, as Figure 4 shown, the process of determining the trigger of soft collision includes steps S410 - step S440: S410, starting from the position of the embodied robot, construct a prediction area in the movement direction of the embodied robot.

[0041] S420, determine whether there are points on the initial contour of the current obstacle or points inside the initial contour in the prediction area.

[0042] If there are points on the initial contour of the current obstacle or points inside the initial contour in the prediction area, then execute step S430 to determine that the soft collision is triggered. On the contrary, if there are no points on the initial contour of the current obstacle or points inside the initial contour in the prediction area, then execute step S440 to determine that the soft collision is not triggered, and control the embodied robot to continue walking.

[0043] Exemplarily, if an embodied robot identifies an obstacle through an obstacle avoidance sensor, it continues to detect whether the embodied robot triggers a soft collision during movement. As Figure 5 shown ( Figure 5 in which R is the embodied robot and V is the contour of the obstacle), a sector area with a radius of a predetermined length and a central angle of a predetermined angle can be constructed from the center point coordinates of the embodied robot in the movement direction of the embodied robot, and then this sector area can be used as the above-mentioned prediction area.

[0044] After determining the prediction area, since the coordinates of each point included in the prediction area are known, then it is determined whether the points on the initial contour of the current obstacle or the points within the initial contour are included in the prediction area. If so, it means that there is an intersection between the prediction area and the current obstacle, that is, the soft collision condition is satisfied, so it is determined that a soft collision is triggered. On the contrary, if the points on the initial contour of the current obstacle or the points within the initial contour are not included in the prediction area, it means that there is no intersection between the prediction area and the current obstacle, then it is determined that no soft collision is triggered, that is, it means that the distance between the embodied robot and the current obstacle is still within an acceptable range and has no impact on the current movement of the embodied robot. Furthermore, the embodied robot can continue to be controlled to move forward until it is detected that there is an intersection between the prediction area and the polygonal contour of the obstacle and the internal points, and then step S430 is executed.

[0045] Among them, the predetermined length in the above-mentioned prediction area can be determined according to factors such as the movement speed of the embodied robot, the effective detection range of the obstacle avoidance sensor (the predetermined length should not exceed the effective detection range of the obstacle avoidance sensor, otherwise the obstacle cannot be detected), and the actual application scenario. For example, if the movement speed of the embodied robot is relatively fast, the predetermined length needs to be larger so as to have enough time to detect potential collisions and react in time. If the robot moves relatively slowly, the predetermined length can be appropriately shortened; if in a narrow space (such as a home environment), the predetermined length can be shorter; if in an open space (such as a warehouse or an office), the predetermined length can be longer.

[0046] Among them, the predetermined angle in the above-mentioned prediction area generally does not exceed the field of view angle range of the obstacle avoidance sensor, and can be specifically determined according to factors such as the obstacle avoidance accuracy requirements of the embodied robot.

[0047] Through the above method, it can be determined whether the embodied robot and the current obstacle will trigger a soft collision, and the intersection area between the prediction area of the embodied robot and the current obstacle when a soft collision is triggered. Furthermore, the point closest to the center of the embodied robot in the intersection area between the prediction area and the current obstacle can be selected as the position coordinate point when a soft collision is triggered, as Figure 5 the position of the "○" in the figure is the position coordinate point when a soft collision is triggered.

[0048] Among them, the look-back point refers to the position point where the embodied robot re-identifies the obstacle contour during the process of walking along the obstacle contour. By setting the look-back point in this embodiment, the embodied robot can gradually complete the contour information of the obstacle, enabling the embodied robot to better understand the contour of the obstacle, and further enabling the embodied robot to execute the target task smoothly and safely. In this embodiment, multiple look-back points also need to be determined on the initial contour according to the initial contour information of the currently identified obstacle and the position when the soft collision is triggered.

[0049] Exemplarily, as Figure 6 shown, the process of determining multiple look-back points on the initial contour according to the initial contour information of the currently identified obstacle and the position when the soft collision is triggered includes steps S610 - S620: S610, taking the line connecting the position coordinate point when the soft collision is triggered and the center point of the initial contour of the current obstacle as the reference line, and selecting at least one target line that forms a preset angle with the reference line.

[0050] S620, taking the non-soft collision intersection point of the reference line and the initial contour, and all the intersection points of each target line and the initial contour as the selected multiple look-back points.

[0051] Exemplarily, first, the center point of the initial contour of the current obstacle is determined. It can be understood that after determining the initial contour information of the polygon shape and knowing the coordinates of each vertex of the initial contour, the position of the center point of the initial contour of the current obstacle can be calculated through a mathematical formula.

[0052] After determining the position of the center point of the initial contour of the current obstacle, as Figure 7 shown, the line connecting the position coordinate point when the soft collision is triggered and the center point of the initial contour of the current obstacle is taken as the reference line, that is, the coordinate point at the "○" position on the initial contour is connected to the coordinate point at the " " position inside the initial contour to form a reference line A. Then, at least one target line that forms a preset angle with the reference line A is selected, where the preset angle can be 90 degrees, 45 degrees, 60 degrees, 135 degrees, etc. It can be understood that there are two intersection points between the reference line and the initial contour, one of which is the position coordinate point when the soft collision occurs (referred to as the soft collision intersection point here), and the other is called the non-soft collision intersection point. In addition, the more target lines are selected, the more intersection points there are with the initial contour, and correspondingly, the more the number of look-back points.

[0053] In order to be able to complete the contour information of the obstacle with fewer look-back times and complete the edge walking of the entire obstacle faster in the subsequent process, preferably, in one implementation manner, a target line perpendicular to the reference line (i.e., 90 degrees) can be selected, as Figure 7As shown, the target line is line B. In this way, two intersection points are formed between the target line and the initial contour. Together with the non-soft collision intersection points between the reference line and the initial contour, these three intersection points are respectively determined look-back points, that is Figure 7 the position of " " in

[0054] S220, control the embodied robot to walk along the initial contour of the current obstacle. When reaching each look-back point, execute the preset look-back action and obtain the corresponding look-back result.

[0055] Among them, the look-back result is the new contour information of the currently recognized obstacle after reaching a look-back point and executing the preset look-back action.

[0056] Exemplarily, after determining the look-back points, as shown in Figure 8 (a) of Figure 8 , control the embodied robot to enter the process of walking along the contour of the obstacle. Specifically, it continues to walk from the current position. When reaching the soft collision position, control the embodied robot to walk along the initial contour of the current obstacle. During the process of walking along the initial contour of the current obstacle, continuously judge whether it reaches a look-back point. If it reaches one of the look-back points (as shown in Figure 8 (b) of Figure 8 , where the embodied robot is R, " " is the center point of the initial contour of the current obstacle, and " " is the look-back point), trigger the preset look-back action.

[0057] In one implementation, executing the preset look-back action includes: controlling the embodied robot to rotate a specified angle and then retreat a preset distance so that the current obstacle is within the viewing range of the obstacle avoidance sensor.

[0058] Exemplarily, as shown in Figure 8 (b) of Figure 8 , since the embodied robot walks along the contour of the current obstacle and the obstacle avoidance sensor is in the front of the embodied robot, that is, the viewing range of the embodied robot is at the position in front of the robot. As shown in Figure 8As shown in (c), the embodied robot can be controlled to rotate by a specified angle, which can be determined according to whether the embodied robot walks clockwise or counterclockwise along the contour of the current obstacle. Taking clockwise walking as an example, the specified angle can be a 90-degree clockwise rotation, a 270-degree counterclockwise rotation, etc. The main purpose is to make the front of the embodied robot face the current obstacle. Therefore, in order to efficiently execute the preset look-back action, the specified angle can be set to a 90-degree clockwise rotation. After the embodied robot rotates by the specified angle, as Figure 8 shown in (d), the embodied robot is controlled to retreat a preset distance. The retreat is mainly to make the current obstacle within the view range of the embodied robot so as to re-identify the contour of the obstacle subsequently.

[0059] After the preset look-back action is executed at the current look-back point, as Figure 8 shown in (e), the embodied robot will re-acquire the contour information of the current obstacle to obtain the new contour information of the current obstacle ( Figure 8 V' in (e)), and this new contour information is the look-back result of the current look-back point. Among them, the process of re-identifying the contour information of the current obstacle is the same as the above-mentioned process of identifying the obstacle contour information, and will not be elaborated here.

[0060] S230, update the contour information of the current obstacle based on the look-back result that meets the preset conditions.

[0061] Exemplarily, in the case where the deviation between the new contour information identified at the current look-back point and the initial contour information exceeds the preset range, update the contour information of the current obstacle according to the new contour information. It can be understood that if there is a deviation between the identified new contour information and the initial contour information, and the deviation is large, that is, it exceeds the preset range, it is considered that the identified initial contour information is inaccurate. In order to make the contour information of the current obstacle more accurate, the identified new contour information is updated as the contour information of the current obstacle.

[0062] As an alternative solution, in the case where the deviation between the new contour information identified at the current look-back point and the initial contour information does not exceed the preset range, that is, the difference between the identified new contour information and the initial contour information is not large, control the embodied robot to continue walking along the initial contour of the current obstacle to the next look-back point, and after reaching the next look-back point, execute the preset look-back action to determine whether to perform the contour information update operation. It can be understood that every time a look-back point is reached, a preset look-back action will be executed, and the contour information of the current obstacle will be re-identified, and then it will be judged whether the contour information of the current obstacle needs to be updated.

[0063] In some embodiments, after each execution of the contour information update operation, as Figure 9 shown, the method further includes steps S910 - step S920: S910. Based on the updated contour information of the current obstacle, re-determine multiple new look-back points.

[0064] Since the contour information of the current obstacle has been updated, if the preset look-back action is still executed at the position of the previous look-back point, it may lead to incorrect or untimely recognition of the contour of the current obstacle. Therefore, after the contour information of the current obstacle is updated to new contour information, it is necessary to re-determine the new look-back points (the re-determination of the new look-back points is as shown in (f) of Figure 8 ). The process of determining the new look-back points is the same as the above process of determining the look-back points, and will not be elaborated here.

[0065] After updating the contour information of the current obstacle and determining the new look-back points, step S920 is executed to control the embodied robot to walk along the updated contour. When each new look-back point is reached, execute the preset look-back action to determine whether to perform the contour information update operation again.

[0066] In this embodiment, by executing a preset look-back action every time a look-back point is reached and re-identifying the contour information of the obstacle once, the contour of the obstacle can be better verified and complemented, so that the finally determined contour information of the obstacle is accurate. In addition, re-identifying the contour information of the obstacle every time a look-back point is reached and updating the contour information of the obstacle when the preset conditions are met can ensure that the embodied robot can safely walk along the contour of the obstacle and avoid collisions.

[0067] As an optional solution, the obstacle avoidance look-back control method for the embodied robot further includes: During the process of controlling the embodied robot to walk along the current contour of the current obstacle, it will be continuously judged whether there is a new obstacle. If a new obstacle is detected before reaching the next look-back point, it is judged whether the embodied robot has a soft collision with the new obstacle. In the case of not triggering a soft collision with the new obstacle, control the embodied robot to continue walking along the current contour of the current obstacle until reaching the next look-back point; where the current contour is the initial contour or the updated contour.

[0068] It can be understood that in the case where the embodied robot triggers a soft collision with the new obstacle, it means that the distance between the new obstacle and the current obstacle is relatively close, and at the same time it also means that the distance between the embodied robot and the new obstacle is relatively close. In order to avoid an actual collision with the new obstacle when avoiding the current obstacle, therefore, the embodied robot needs to identify the contour information of the new obstacle.

[0069] Exemplarily, when the embodied robot triggers a soft collision with a new obstacle, it will obtain the initial contour information of the new obstacle, and then control the switch from the contour of the current obstacle to walking along the initial contour of the new obstacle. It should be understood that before switching the walking, it is also necessary to determine multiple look-back points on the initial contour of the new obstacle according to the confirmation method of the look-back points as described above. Then, when each corresponding look-back point is reached, the above-mentioned preset look-back action is executed to determine whether to perform the update operation of the contour information of the new obstacle until the process of walking along the entire contour of the new obstacle is completed.

[0070] It should be understood that the embodied robot in this embodiment can be a cleaning robot, a food delivery robot, a companion robot, a load-carrying robot, etc. If the embodied robot is a cleaning robot, during the edge avoidance process by the method of this embodiment, not only can the garbage around the obstacle be cleaned up, but also during the process of bypassing the obstacle along the edge, the contour information of the obstacle can be recorded. When re-planning the path, the obstacle information will be considered, so as to avoid the obstacle. In addition, if the embodied robot is a food delivery robot, an autonomously driven load-carrying robot or a companion robot, etc., after performing obstacle avoidance and completing the contour information of the obstacle by the obstacle avoidance look-back method of this embodiment, when re-planning the path, the obstacle information will be considered, so as to avoid the obstacle.

[0071] In this embodiment, after the embodied robot recognizes an obstacle, it judges whether a soft collision occurs with the current obstacle. If a soft collision is triggered, multiple look-back points are determined on the initial polygon contour of the current obstacle recognized by the obstacle recognition module; then the embodied robot is controlled to walk along the polygon contour, and when each look-back point is reached, a preset look-back action is executed, and the contour information of the current obstacle is re-recognized; then, when the deviation between the re-recognized obstacle contour information and the previous contour information is large, the contour information of the current obstacle is updated, and new look-back points are determined on the updated contour and the process of walking along the contour is executed again until the walking along the contour of the current obstacle is completed or a new obstacle is encountered. Through this look-back operation, the actual contour of the obstacle can be re-obtained, the contour information of the obstacle can be continuously completed during the walking process of the embodied robot, so that the embodied robot can better obtain the shape of the obstacle, and then make the embodied robot more stable and smooth when bypassing the obstacle next time, and can timely adjust the distance from the obstacle to avoid collision. In addition, since the contour of the obstacle is completed, correspondingly, during the subsequent path planning, the path can be optimized according to the completed contour information of the obstacle, so that the path is more adaptable to the current environment, etc.

[0072] Figure 10The figure shows a schematic structural diagram of an embodied robot obstacle avoidance and look-back control device according to an embodiment of the present application. Exemplarily, the embodied robot obstacle avoidance and look-back control device includes: A determination module 100, configured to determine a plurality of look-back points on an initial contour according to the recognized initial contour information of the current obstacle and the position at the time of triggering a soft collision when a soft collision is triggered.

[0073] An execution module 200, configured to control the embodied robot to walk along the initial contour of the current obstacle, and when reaching each look-back point, execute a preset look-back action and obtain a corresponding look-back result.

[0074] An update module 300, configured to update the contour information of the current obstacle based on the look-back results that meet the preset conditions.

[0075] In an implementation manner, the look-back result is the new contour information of the current obstacle re-recognized after reaching a look-back point and executing a preset look-back action.

[0076] The update module 300 is specifically configured to update the contour information of the current obstacle according to the new contour information when the deviation between the new contour information recognized at the current look-back point and the initial contour information exceeds a preset range.

[0077] In an implementation manner, the embodied robot obstacle avoidance and look-back control device further includes: A control module (not shown in the figure), configured to control the embodied robot to go to the next look-back point and execute a preset look-back action to determine whether to perform a contour information update operation when the deviation between the new contour information recognized at the current look-back point and the initial contour information does not exceed a preset range.

[0078] In an implementation manner, after each execution of a contour information update operation, the determination module 100 is further configured to re-determine a plurality of new look-back points based on the updated contour information of the current obstacle; and the execution module 200 is further configured to control the embodied robot to walk along the updated contour, and when reaching each new look-back point, execute a preset look-back action to determine whether to perform a contour information update operation again.

[0079] In an implementation manner, the control module is further configured to control the embodied robot to walk along the current contour of the current obstacle. During the process of not reaching the next look-back point, if a new obstacle is detected, and when there is no soft collision with the new obstacle, control the embodied robot to continue walking along the current contour of the current obstacle until reaching the next look-back point; where the current contour is the initial contour or the updated contour.

[0080] Further, the control module is further configured to control the embodied robot to switch to walking along the initial contour of the new obstacle in the case of a soft collision triggered with the new obstacle, and when reaching each corresponding look-back point, execute a preset look-back action to determine whether to perform an update operation on the contour information of the new obstacle.

[0081] In an implementation manner, the determining module 100 is specifically configured to use the line connecting the position coordinate point at the time of triggering the soft collision and the center point of the initial contour of the current obstacle as the reference line, and select at least one target line that forms a preset angle with the reference line; then use the non-soft collision intersection point of the reference line and the initial contour, and all intersection points of each target line and the initial contour as multiple selected look-back points.

[0082] In an implementation manner, the embodied robot obstacle avoidance look-back control device further includes: An information acquisition module (not shown in the figure), configured to acquire scene visual information through an obstacle avoidance sensor.

[0083] The determining module 100 is further configured to identify the obstacle type of the current obstacle according to the scene visual information and a preset obstacle type, and determine the initial contour information of the current obstacle based on the identified obstacle type; wherein, the initial contour information includes the polygon contour information of the current obstacle.

[0084] In an implementation manner, the obstacle avoidance sensor is in the front of the embodied robot; executing the preset look-back action includes: controlling the embodied robot to rotate a specified angle and then retreat a preset distance, so that the current obstacle is within the viewing range of the obstacle avoidance sensor.

[0085] In an implementation manner, the embodied robot obstacle avoidance look-back control device further includes: A soft collision detection module (not shown in the figure), configured to construct a prediction area in the movement direction of the embodied robot with the position where the embodied robot is located as the starting point; if the prediction area contains points on the initial contour of the current obstacle or points inside the initial contour, a soft collision is triggered.

[0086] It can be understood that the device in this embodiment corresponds to the embodied robot obstacle avoidance look-back control method in the above embodiment, and the optional items in the above embodiment are also applicable to this embodiment, so they will not be repeated here.

[0087] The present application also provides a computer-readable storage medium for storing the computer program used in the above-mentioned embodied robot. When the computer program is executed on a processor, the above-mentioned obstacle avoidance and look-back control method of the embodied robot is implemented. For example, the computer-readable storage medium may include, but is not limited to: various media such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0088] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the apparatus, method, and computer program product according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0089] In addition, in each embodiment of the present application, the various functional modules or units may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0090] If the above functions are implemented in the form of software functional modules and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application.

[0091] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

Claims

1. An embodied robot obstacle avoidance and look-back control method, characterized in that, Including: In the case of triggering a soft collision, based on the recognized initial contour information of the current obstacle and the position at which the soft collision is triggered, determine a plurality of look-back points on the initial contour; Control the embodied robot to walk along the initial contour of the current obstacle, and when reaching each of the look-back points, execute a preset look-back action and obtain a corresponding look-back result; Update the contour information of the current obstacle based on the look-back results that meet the preset conditions.

2. The embodied robot obstacle avoidance and look-back control method according to claim 1, wherein The look-back result is the new contour information of the current obstacle re-recognized after reaching one of the look-back points and executing the preset look-back action; The updating the contour information of the current obstacle based on the look-back results that meet the preset conditions includes: In the case where the deviation between the new contour information recognized at the current look-back point and the initial contour information exceeds a preset range, update the contour information of the current obstacle according to the new contour information.

3. The embodied robot obstacle avoidance and look-back control method according to claim 2, characterized in that, Also including: In the case where the deviation between the new contour information recognized at the current look-back point and the initial contour information does not exceed the preset range, control the embodied robot to go to the next look-back point and execute the preset look-back action to determine whether to perform the contour information update operation.

4. The embodied robot obstacle avoidance and look-back control method according to claim 3, wherein, After each execution of the contour information update operation, the method further includes: Based on the updated contour information of the current obstacle, re-determine a plurality of new look-back points; Control the embodied robot to walk along the updated contour, and when reaching each of the new look-back points, execute the preset look-back action to determine whether to perform the contour information update operation again.

5. The embodied robot obstacle avoidance and look-back control method according to claim 4, wherein Also including: During the process of controlling the embodied robot to walk along the current contour of the current obstacle, when not reaching the next look-back point, if a new obstacle is detected, in the case of not triggering a soft collision with the new obstacle, control the embodied robot to continue walking along the current contour of the current obstacle until reaching the next look-back point; wherein, the current contour is the initial contour or the updated contour; In the case of triggering a soft collision with the new obstacle, control the embodied robot to switch to walking along the initial contour of the new obstacle, and when reaching each corresponding look-back point, execute the preset look-back action to determine whether to perform the contour information update operation of the new obstacle.

6. The embodied robot obstacle avoidance and look-back control method according to claim 1, wherein The determining a plurality of look-back points on the initial contour according to the recognized initial contour information of the current obstacle and the position at which the soft collision is triggered includes: Taking the line connecting the position coordinate point at which the soft collision is triggered and the center point of the initial contour of the current obstacle as a reference line, and selecting at least one target line that forms a preset angle with the reference line; Taking the non-soft collision intersection point of the reference line and the initial contour, and all the intersection points of each target line and the initial contour as the selected plurality of look-back points.

7. The embodied robot obstacle avoidance and look-back control method according to claim 1, characterized in that, Before the determining a plurality of look-back points on the initial contour according to the recognized initial contour information of the current obstacle and the position at which the soft collision is triggered in the case of triggering a soft collision, further including: Collect scene visual information through an obstacle avoidance sensor; Identify the obstacle type of the current obstacle based on the scene visual information and the preset obstacle types, and determine the initial contour information of the current obstacle based on the identified obstacle type; wherein, the initial contour information includes the polygon contour information of the current obstacle.

8. The embodied robot obstacle avoidance and look-back control method according to claim 7, characterized in that, The obstacle avoidance sensor is in the direct front of the embodied robot; the execution of the preset look-back action includes: Controlling the embodied robot to rotate by a specified angle and then retreat by a preset distance, so that the current obstacle is within the viewing angle range of the obstacle avoidance sensor.

9. The embodied robot obstacle avoidance and look-back control method according to claim 1, characterized in that, The determination process of triggering a soft collision includes: Taking the position where the embodied robot is located as the starting point, construct a prediction area in the moving direction of the embodied robot; If the prediction area contains points on the initial contour of the current obstacle or points inside the initial contour, a soft collision is triggered.

10. An embodied robot obstacle avoidance and look-back control device, characterized in that, Includes: A determination module, configured to, when a soft collision is triggered, determine a plurality of look-back points on the initial contour according to the initial contour information of the currently identified obstacle and the position when the soft collision is triggered; An execution module, configured to control the embodied robot to walk along the initial contour of the current obstacle, and when reaching each look-back point, execute a preset look-back action and obtain a corresponding look-back result; An update module, configured to update the contour information of the current obstacle based on the look-back results that meet the preset conditions.

11. An embodied robot system, characterized in that, Includes: An actuator for performing corresponding actions; A memory, the memory stores a computer program; A processor, the processor is configured to execute the computer program to implement the embodied robot obstacle avoidance look-back control method according to any one of claims 1-9.

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