Robot information processing method and device, robot, program product and medium

Abstract

The invention provides an information processing method and device of a robot, the robot, a program product and a medium. The method comprises the steps that a first mechanism of the robot is controlled to process a first object; wherein the step of processing the first object by the first mechanism comprises the step of acquiring the first object from a first position by the first mechanism, or the step of placing the first object at a target placement point by the first mechanism; an environment sensing sensor of the robot is controlled to face the first position or the target placement point to collect environment information; updating at least one of obstacle avoidance information at the corresponding position and related display information at the corresponding position according to the collected environment information; wherein the related display information at the corresponding position can be displayed on an environment map.

Description

Technical Field

[0001] This application relates to robot technology, including but not limited to information processing methods and devices for robots, robots, program products, and media. Background Art

[0002] Some robots (such as cleaning robots with robotic arms) have the ability to move obstacles. The robot can identify the type of obstacle through a camera, detect the environment in front of the machine using line lasers / area arrays of light, and determine the type and size of the obstacle in front of the machine. After identifying the obstacle, obstacle avoidance information is generated, and based on this, obstacle avoidance and path planning are carried out. At the same time, an icon of the identified object is displayed on the corresponding position of the map on the robot's screen, and the user can click on the icon to show a real - scene photo of the object at that position. Summary of the Invention

[0003] In a first aspect, an embodiment of this application provides an information processing method for a robot. The method includes: controlling a first mechanism of the robot to process a first object; where the first mechanism processing the first object includes the first mechanism obtaining the first object from a first position, or the first mechanism placing the first object at a target placement point; controlling an environmental perception sensor of the robot to face the first position or the target placement point to collect environmental information; updating at least one of the obstacle avoidance information at the corresponding position and the relevant display information at the corresponding position according to the collected environmental information; where the relevant display information at the corresponding position can be displayed on an environmental map.

[0004] In some embodiments, updating at least one of the obstacle avoidance information at the first position and the relevant display information at the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is no object at the first position, clearing the relevant display information at the first position; where the first environmental information is collected after controlling the first mechanism to obtain the first object at the first position.

[0005] Exemplarily, in some embodiments, the relevant display information at the first position includes a first icon displayed at the first position on the environmental map, and the first icon is used to identify that there is an object at the first position.

[0006] In some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a second object at the first position and the type of the second object is the same as that of the first object, retaining the obstacle avoidance information of the first position and the relevant display information of the first position; wherein, the first environmental information is collected after controlling the first mechanism to acquire the first object at the first position.

[0007] In still some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from that of the first object, determining first obstacle avoidance information according to the first environmental information and updating the obstacle avoidance information of the first position by using the first obstacle avoidance information; and / or, determining first relevant display information according to the first environmental information and updating the relevant display information of the first position by using the first relevant display information; wherein, the first environmental information is collected after controlling the first mechanism to acquire the first object at the first position.

[0008] Exemplarily, in some embodiments, the first relevant display information includes at least one of a second icon to be displayed at the first position on the environmental map and a first image to be displayed at the first position on the environmental map; wherein, the second icon is used to identify that there is an object at the first position, and the first image is an environmental image of the third object at the first position.

[0009] In some embodiments, controlling the first mechanism to place the first object at a target placement point includes: after controlling the environmental perception sensor to collect environmental information towards the first position, controlling the second mechanism of the robot to drive so that the robot moves to a second position; after the robot moves to the second position, controlling the first mechanism to perform a placement action to place the first object at the target placement point.

[0010] In some embodiments, the method further includes: before updating the obstacle avoidance information and the relevant display information of the first position, backing up the obstacle avoidance information and the relevant display information of the first position.

[0011] Further, in some embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: when it is determined according to the second environmental information that there is no object at the target placement point, determining second obstacle avoidance information according to the obstacle avoidance information of the first position backed up and the target placement point, and setting the second obstacle avoidance information at the target placement point; and / or setting at least one of the relevant display information of the backed-up first position at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0012] In some embodiments, the method further includes: after the robot moves to the second position and before the first mechanism performs the placement action, controlling the environmental perception sensor to face the target placement point to collect third environmental information.

[0013] In some embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: when it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, determining third obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backed-up first position, and setting the third obstacle avoidance information at the target placement point; and / or determining second relevant display information according to the second environmental information, and setting the second relevant display information at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0014] In some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: when it is determined according to the second environmental information that there is an object at the target placement point, it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, determining fourth obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backed-up first position, and adding the fourth obstacle avoidance information to the target placement point; and / or determining second relevant display information according to the second environmental information, and adding the second relevant display information to the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0015] Exemplarily, in some embodiments, the second relevant display information includes at least one of a third icon to be displayed at the target placement point on the environmental map and a second image to be displayed at the target placement point on the environmental map; wherein, the third icon is used to identify a first object existing at the target placement point, and the second image is an environmental image of the first object at the target placement point.

[0016] In still some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the target placement point according to the collected second environmental information of the target placement point includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fifth object at the target placement point, and the type of the fifth object is the same as that of the first object, keeping the obstacle avoidance information and the relevant display information of the target placement point unchanged; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0017] In a second aspect, an information processing device of a robot provided by an embodiment of the present application includes: a first control unit configured to control a first mechanism of the robot to process a first object; and control an environmental perception sensor of the robot to collect environmental information towards the first position or the target placement point; wherein, the first mechanism processing the first object includes the first mechanism obtaining the first object from a first position, or the first mechanism placing the first object at a target placement point; an information processing unit configured to update at least one of the obstacle avoidance information and the relevant display information of the first position or the target placement point according to the collected environmental information; wherein, the relevant display information of the first position or the target placement point can be displayed on an environmental map.

[0018] In some embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the collected first environmental information of the first position includes: when it is determined according to the first environmental information that there is no object at the first position, clearing the relevant display information of the first position.

[0019] Exemplarily, in some embodiments, the relevant display information of the first position includes a first icon displayed at the first position on the environmental map, and the first icon is used to identify that there is an object at the first position.

[0020] In some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a second object at the first position and the type of the second object is the same as that of the first object, retaining the obstacle avoidance information of the first position and the relevant display information of the first position.

[0021] In still some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from that of the first object, determining first obstacle avoidance information according to the first environmental information and updating the obstacle avoidance information of the first position by using the first obstacle avoidance information; and / or determining first relevant display information according to the first environmental information and updating the relevant display information of the first position by using the first relevant display information.

[0022] Exemplarily, in some embodiments, the first relevant display information includes at least one of a second icon to be displayed at the first position on the environmental map and a first image to be displayed at the first position on the environmental map; wherein the second icon is used to identify that there is an object at the first position, and the first image is an environmental image of the third object at the first position.

[0023] In some embodiments, controlling the first mechanism to place the first object at the target placement point includes: after controlling the environmental perception sensor to collect environmental information towards the first position, controlling the second mechanism of the robot to drive so that the robot moves to the second position; after the robot moves to the second position, controlling the first mechanism to perform a placement action to place the first object at the target placement point.

[0024] In some embodiments, the device further includes a backup unit; the backup unit is configured to: before updating the obstacle avoidance information and the relevant display information of the first position, back up the obstacle avoidance information and the relevant display information of the first position.

[0025] Further, in some embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: when it is determined according to the second environmental information that there is no object at the target placement point, determining second obstacle avoidance information according to the obstacle avoidance information of the first position backed up and the target placement point, and setting the second obstacle avoidance information at the target placement point; and / or setting at least one of the relevant display information of the backed-up first position at the target placement point; wherein the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0026] In some embodiments, the first control unit is further configured to: after the robot moves to the second position and before the first mechanism performs the placement action, control the environmental perception sensor to face the target placement point to collect third environmental information.

[0027] In some embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: when it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, determining third obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backed-up first position, and setting the third obstacle avoidance information at the target placement point; and / or determining second relevant display information according to the second environmental information and setting the second relevant display information at the target placement point; wherein the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0028] In other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, determining fourth obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backed-up first position, and adding the fourth obstacle avoidance information to the target placement point; and / or determining second relevant display information according to the second environmental information and adding the second relevant display information to the target placement point; wherein the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0029] Exemplarily, in some embodiments, the second relevant display information includes at least one of a third icon to be displayed at the target placement point on the environmental map and a second image to be displayed at the target placement point on the environmental map; wherein, the third icon is used to identify a first object existing at the target placement point, and the second image is an environmental image of the first object at the target placement point.

[0030] In still other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fifth object at the target placement point, and the type of the fifth object is the same as that of the first object, keeping the obstacle avoidance information of the target placement point and the relevant display information of the target placement point unchanged; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0031] In a third aspect, an embodiment of the present application provides a robot, including a memory and a processor, where the memory stores a computer program that can run on the processor, and when the processor executes the program, the method described in the first aspect of the present application is implemented.

[0032] In a fourth aspect, an 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 or a robot, the method described in the first aspect of the present application is implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instruction, and when the computer program or instruction is executed by a processor or a robot, the method described in the first aspect of the present application is implemented.

[0034] In a sixth aspect, an embodiment of the present application provides a computer program, and the computer program enables a processor or a robot to execute the method described in the first aspect.

[0035] It can be understood that in the robot provided in the embodiments of the present application, after controlling the first mechanism of the robot to obtain the first object at the first position, the environment at the first position may change accordingly; after controlling the first mechanism of the robot to place the obtained first object at the target placement point, the environment at the target placement point may also change accordingly. Therefore, after controlling the first mechanism of the robot to obtain the first object at the first position, or after controlling the first mechanism of the robot to place the obtained first object at the target placement point, the environment at the first position or the target placement point is collected by the environmental perception sensor, and the obstacle avoidance information and / or the relevant display information at the corresponding position is updated based on the collected environmental information; thus, the obstacle avoidance information and / or the relevant display information at the corresponding position change with the change of the environment at this position; among them, the obstacle avoidance information at the corresponding position changes with the change of the environment at this position, which is beneficial to improving the real-time performance of the obstacle avoidance behavior of the robot, thereby improving the task execution efficiency of the robot; and the relevant display information at the corresponding position changes with the change of the environment at this position, so that the relevant display information at this position displayed on the environmental map is keeping pace with the times and conforms to the real-time environment at this position, thereby being beneficial to improving the user experience.

[0036] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings herein are incorporated into the specification and constitute a part of this specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to explain the technical solutions of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0038] The flowcharts shown in the drawings are only exemplary descriptions, not necessarily including all contents and operations / steps, nor necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0039] Figure 1 Structural schematic of the robot provided in the embodiments of the present application Figure 1 ;

[0040] Figure 2 Schematic diagram of the implementation process of the information processing method of the robot provided in the embodiments of the present application;

[0041] Figure 3 Structural schematic of the robot provided in the embodiments of the present applicationFigure 2 ;

[0042] Figure 4 Structural schematic of the robot provided by an embodiment of the present application Figure 3 ;

[0043] Figure 5 Structural schematic diagram of the control device of the robot provided by an embodiment of the present application;

[0044] Figure 6 Structural schematic of the robot provided by an embodiment of the present application Figure 4 . Detailed implementation manners

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0047] In the following descriptions, references to "some embodiments", "this embodiment", "embodiments of the present application", and examples, etc., describe subsets of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0048] The descriptions such as "first", "second", and "third" that appear in the embodiments of the present application do not have specific meanings (such as no order, nor do they represent special limitations on the number of devices in the embodiments of the present application), and are only for the convenience of clearly describing the embodiments of the present application and cannot constitute any limitation to the embodiments of the present application.

[0049] Figure 1 Structural schematic of the robot provided by an embodiment of the present application Figure 1 . As Figure 1 shown, the robot 100 includes a fuselage main body 101, a first mechanism 102, a screen 103, an environmental perception sensor 104, and a processor 105; where

[0050] the fuselage main body 101;

[0051] the first mechanism 102, connected to the fuselage main body 101, and at least used for acquiring and placing objects;

[0052] the screen 103, arranged on the fuselage main body 101, and used for displaying an environmental map;

[0053] An environmental perception sensor 104 is disposed on the fuselage main body 101 for collecting environmental information;

[0054] A processor 105.

[0055] Figure 2 It is a schematic flowchart of the implementation process of the information processing method of the robot provided by the embodiment of the present application. This control method can be applied to the processor 105. As Figure 2 shown, the method includes the following steps 201 to 203:

[0056] Step 201, controlling a first mechanism of the robot to process a first object; wherein, the first mechanism processing the first object includes the first mechanism obtaining the first object from a first position, or the first mechanism placing the first object at a target placement point;

[0057] Step 202, controlling the environmental perception sensor of the robot to face the first position or the target placement point to collect environmental information.

[0058] It should be noted that in step 202, controlling the environmental perception sensor of the robot to face the first position to collect environmental information includes: after controlling the first mechanism to obtain the first object at the first position, controlling the environmental perception sensor of the robot to face the first position to collect environmental information.

[0059] It should also be noted that in step 202, controlling the environmental perception sensor of the robot to face the target placement point to collect environmental information includes: after controlling the first mechanism of the robot to place the obtained first object at the target placement point, controlling the environmental perception sensor of the robot to face the target placement point to collect environmental information.

[0060] Step 203, updating at least one of the obstacle avoidance information at the corresponding position and the relevant display information at the corresponding position according to the collected environmental information; wherein, the relevant display information at the corresponding position can be displayed on the environmental map of the screen.

[0061] It should be noted that in step 203, updating at least one of the obstacle avoidance information at the corresponding position and the relevant display information at the corresponding position according to the collected environmental information, that is to say, updating at least one of the obstacle avoidance information at the first position and the relevant display information at the first position according to the environmental information at the first position (hereinafter referred to as the first environmental information); updating at least one of the obstacle avoidance information at the target placement point and the relevant display information at the target placement point according to the environmental information at the target placement point (hereinafter referred to as the second environmental information).

[0062] It can be understood that in the robot provided in the embodiments of the present application, after controlling the first mechanism of the robot to obtain the first object at the first position, the environment at the first position may change accordingly; after controlling the first mechanism of the robot to place the obtained first object at the target placement point, the environment at the target placement point may also change accordingly. Therefore, after controlling the first mechanism of the robot to obtain the first object at the first position, or after controlling the first mechanism of the robot to place the obtained first object at the target placement point, the environment at the first position or the target placement point is collected by the environment perception sensor, and the obstacle avoidance information and / or the relevant display information at the corresponding position are updated based on the collected environment information; in this way, the obstacle avoidance information and / or the relevant display information at the corresponding position change with the change of the environment at this position; wherein, the obstacle avoidance information at the corresponding position changes with the change of the environment at this position, which is beneficial to improving the real-time performance of the obstacle avoidance behavior of the robot, thereby improving the task execution efficiency of the robot; and the relevant display information at the corresponding position changes with the change of the environment at this position, so that the relevant display information at this position displayed on the environmental map is up-to-date and consistent with the real-time environment at this position, thereby being beneficial to enhancing the user experience.

[0063] Further, in some embodiments, as Figure 3 shown, the robot 100 further includes a second mechanism 301; the second mechanism 301 is connected to the fuselage main body 101 and is used to move the robot 100 when driven.

[0064] It can be understood that the second mechanism 301 is a component for controlling the movement of the robot 100. In the embodiments of the present application, there is no limitation on the second mechanism 301. In short, this mechanism can move the robot 100 when driven. Exemplarily, the second mechanism 301 includes but is not limited to: drive wheels, driven wheels, omnidirectional wheels, spherical wheels, tracks, track wheels, mechanical legs, etc.

[0065] For step 202 described in the above embodiments, after controlling the first mechanism to obtain the first object at the first position, control the environment perception sensor of the robot to face the first position to collect the first environment information.

[0066] In some embodiments, step 202 may further include: after controlling the first mechanism to obtain the first object at the first position, controlling the second mechanism to drive so that the robot moves in a direction away from the first position (such as moving a first distance), and after controlling the robot to move in a direction away from the first position, controlling the environment perception sensor to face the first position to collect the first environment information.

[0067] It can be understood that before the environmental perception sensor collects the first environmental information at the first position, the robot is controlled to move in a direction away from the first position, aiming to enable the environmental perception sensor to obtain a larger field of view (i.e., viewing angle), so as to obtain the first environmental information within a larger range, which is beneficial to improving the accuracy of the update results of the obstacle avoidance information and related display information at the first position.

[0068] However, considering that there may not be enough space for the robot to move in the direction away from the first position in the actual environment, for this consideration, further, in some embodiments, the control of the second mechanism to drive the robot to move in a direction away from the first position includes: when it is determined that there is movable space in the direction away from the first position, controlling the second mechanism to drive the robot to move in a direction away from the first position. In some embodiments, the method further includes: when it is determined that there is no movable space in the direction away from the first position, controlling the environmental perception sensor to face the first position to collect the first environmental information. That is, when it is determined that there is no movable space in the direction away from the first position, the robot no longer moves in the direction away from the first position, but directly collects the first environmental information at the first position.

[0069] In the above embodiments, it is described that after the robot obtains the first object at the first position, the obstacle avoidance information and / or related display information at the first position need to be updated. That is, after controlling the first mechanism to obtain the first object at the first position, controlling the environmental perception sensor to face the first position to collect the first environmental information; and updating at least one of the obstacle avoidance information at the first position and the related display information at the first position according to the collected first environmental information; wherein, the related display information at the first position can be displayed on the environmental map.

[0070] It should be understood that after the first mechanism obtains the first object at the first position, there may be no object at the first position, or there may be other objects, and these other objects may be of the same or different types as the first object. The following will separately describe the update strategies for the obstacle avoidance information and related display information at the first position for these different situations.

[0071] For step 203, update at least one of the obstacle avoidance information at the corresponding position and the related display information at the corresponding position according to the collected environmental information; wherein, the related display information at the corresponding position can be displayed on the environmental map of the screen.

[0072] It can be understood that in Solution 1 of Step 203, at least one of the obstacle avoidance information and the relevant display information of the first position is updated according to the first environmental information collected at the first position. Further, in some embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is no object at the first position, clearing the relevant display information of the first position; wherein, the first environmental information is collected after controlling the first mechanism to acquire the first object at the first position.

[0073] For example, when it is determined according to the first environmental information that there is no object at the first position, clearing the first icon displayed at the first position on the environmental map, where the first icon is used to identify that there is an object at the first position. For another example, when it is determined according to the first environmental information that there is no object at the first position, clearing the first icon and the third image at the first position, where the third image is the environmental image of the first object.

[0074] In some embodiments, the first icon is used to identify the existence of an object and the type of the existing object at the first position.

[0075] In some embodiments, the user can click on the first icon at the first position on the environmental map to show the third image at that position. That is, the method further includes: in response to a touch operation received by the first icon on the screen of the robot, displaying the third image on the screen.

[0076] For Step 203, at least one of the obstacle avoidance information and the relevant display information at the corresponding position is updated according to the collected environmental information; wherein, the relevant display information at the corresponding position can be displayed on the environmental map of the screen.

[0077] It can be understood that in Solution 1 of Step 203, at least one of the obstacle avoidance information and the relevant display information of the first position is updated according to the first environmental information collected at the first position. Further, in some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a second object at the first position and the type of the second object is the same as the type of the first object, retaining the obstacle avoidance information and the relevant display information of the first position; wherein, the first environmental information is collected after controlling the first mechanism to acquire the first object at the first position.

[0078] It should be noted that the first object and the second object do not refer to specific objects. The "first" in the "first object" and the "second" in the "second object" are only for the convenience of clearly describing the present technical solution. Therefore, determining that there is a second object at the first position described here can also be understood as there is another object at the first position.

[0079] It should be understood that when controlling the first mechanism to obtain the first object at the first position, the actual control result may be that the first mechanism successfully obtains the first object, or the first mechanism fails to successfully obtain the first object. In the case where the first mechanism successfully obtains the first object, the first object and the second object are two different objects. In the case where the first mechanism fails to successfully obtain the first object, the second object is the first object.

[0080] For Solution 1 of Step 203, further, in some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position may include: when it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from the type of the first object, determining first obstacle avoidance information according to the first environmental information and updating the obstacle avoidance information of the first position by using the first obstacle avoidance information.

[0081] In some embodiments, the obstacle avoidance information is used to identify obstacles, plan paths, and optimize cleaning routes. Exemplarily, the first obstacle avoidance information includes at least one of the following information: object type, object position, and obstacle avoidance map. It can be understood that the type of the third object is different from the type of the first object, indicating that the environment at the first position has changed as the first object is taken away by the robot. At this time, new obstacle avoidance information (i.e., the first obstacle avoidance information) is determined according to the new environmental information (i.e., the first environmental information). For example, the first obstacle avoidance information is determined according to the first position, the type of the third object, and the obstacle avoidance information (i.e., the obstacle avoidance information before update) at the first position.

[0082] For Solution 1 of Step 203, further, in still some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from the type of the first object, determining first relevant display information according to the first environmental information and updating the relevant display information of the first position by using the first relevant display information; wherein the first environmental information is collected after controlling the first mechanism to obtain the first object at the first position.

[0083] Exemplarily, in some embodiments, the first relevant display information includes at least one of a second icon to be displayed at a first position on the environmental map and a first image to be displayed at the first position on the environmental map;

[0084] Wherein, the second icon is used to identify that there is an object at the first position, and the first image is an environmental image of the third object at the first position. Further, in some embodiments, the second icon is used to identify that there is an object at the first position and the type of the existing object.

[0085] It should be understood that the reason why the first relevant display information is the information to be displayed is that it will be displayed only after the relevant display information at the first position is updated using the first relevant display information.

[0086] For Solution 1 of Step 203, further, in still some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information at the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from the type of the first object, determining first obstacle avoidance information according to the first environmental information, and updating the obstacle avoidance information at the first position using the first obstacle avoidance information; and determining first relevant display information according to the first environmental information, and updating the relevant display information at the first position using the first relevant display information; wherein, the first environmental information is collected after controlling the first mechanism to acquire the first object at the first position.

[0087] It can be understood that after the first mechanism acquires the first object at the first position, it is necessary to update the obstacle avoidance information and / or the relevant display information at this first position. The above embodiments describe different update strategies for the obstacle avoidance information and the relevant display information at the first position in response to different situations that may occur at the first position after the first mechanism acquires the first object at the first position.

[0088] In Step 201, control the first mechanism of the robot to process the first object; wherein, the first mechanism processing the first object includes the first mechanism acquiring the first object from the first position, or the first mechanism placing the first object at the target placement point.

[0089] Based on one or more of the above embodiments, further, in some embodiments, controlling the first mechanism to place the first object at the target placement point includes: after controlling the environmental perception sensor of the robot to collect environmental information towards the first position, controlling the second mechanism to drive the robot to move to the second position; after the robot moves to the second position, controlling the first mechanism to perform a placement action to place the first object at the target placement point.

[0090] Further, in some embodiments, the method further includes: after controlling the first mechanism to perform the placement action, controlling the environmental perception sensor to collect second environmental information towards the target placement point; and updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information; wherein, the relevant display information of the target placement point can be displayed on the environmental map.

[0091] For the above embodiments, in some embodiments, the controlling the environmental perception sensor to collect second environmental information towards the target placement point after controlling the first mechanism to perform the placement action may further include: after controlling the first mechanism 102 to perform the placement action, controlling the second mechanism to drive the robot to move in the opposite direction of the target placement point (such as moving a second distance), and after controlling the robot to move in the opposite direction of the target placement point, controlling the environmental perception sensor 104 to collect second environmental information towards the target placement point.

[0092] It can be understood that before the environmental perception sensor collects the second environmental information of the target placement point, controlling the robot to move in the opposite direction of the target placement point aims to enable the environmental perception sensor to obtain a larger field of view (that is, the viewing angle), so as to obtain the second environmental information in a larger range, which is beneficial to improving the accuracy of the update results of the obstacle avoidance information and the relevant display information of the target placement point.

[0093] However, considering that there may not be enough space for the robot to move in the opposite direction of the target placement point in the actual environment, for this consideration, in some embodiments, the controlling the second mechanism to drive the robot to move in the opposite direction of the target placement point includes: when it is determined that there is movable space in the opposite direction of the target placement point, controlling the second mechanism to drive the robot to move in the opposite direction of the target placement point. In some embodiments, the method further includes: when it is determined that there is no movable space in the opposite direction of the target placement point, controlling the environmental perception sensor to collect second environmental information towards the target placement point. That is, when it is determined that there is no movable space in the opposite direction of the target placement point, the robot does not move in the opposite direction of the target placement point, but directly collects the second environmental information of the target placement point.

[0094] In some embodiments, the method further includes: before updating the obstacle avoidance information of the first position and the relevant display information of the first position, backing up the obstacle avoidance information of the first position and the relevant display information of the first position. Exemplarily, in some embodiments, the backed-up obstacle avoidance information of the first position includes at least one of an obstacle avoidance map, the type of the first object, and the position of the first object (i.e., the first position). Exemplarily, in some embodiments, the backed-up relevant display information of the first position includes a third image, and the third image is an environmental image of the first object at the first position.

[0095] In the above embodiments, it is described that after the robot places the first object at the target placement point, it is necessary to update the obstacle avoidance information and / or the relevant display information of the target placement point. That is, after controlling the first mechanism to perform the placement action, controlling the environmental perception sensor to face the target placement point to collect second environmental information; and updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information; wherein, the relevant display information of the target placement point can be displayed on the environmental map.

[0096] It should be understood that after the first mechanism places the first object at the target placement point, there may be no object at the target placement point, or there may be an object but there was no object before placing the first object, or there may be an object and there was also an object before placing the first object, and so on. The update strategies for the obstacle avoidance information and the relevant display information of the target placement point will be described separately for these different situations below.

[0097] In some embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: in the case where it is determined according to the second environmental information that there is no object at the target placement point, determining second obstacle avoidance information according to the backed-up obstacle avoidance information of the first position and the target placement point, and setting the second obstacle avoidance information at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0098] Further, in some embodiments, the second obstacle avoidance information includes at least one of the following information: object type, object position, obstacle avoidance map; wherein, the object type in the second obstacle avoidance information is the object type in the backed-up obstacle avoidance information of the first position; the object position in the second obstacle avoidance information is the target placement point; the obstacle avoidance map in the second obstacle avoidance information is a map obtained by updating the obstacle avoidance map in the backed-up obstacle avoidance information of the first position according to the presence of obstacles at the target placement point, or the obstacle avoidance map in the second obstacle avoidance information is the obstacle avoidance map in the backed-up obstacle avoidance information of the first position.

[0099] It should be understood that the determination that there is no object at the target placement point based on the second environmental information may be because the robot fails to acquire the first object at the first position, or because although the robot successfully acquires the first object at the first position and also successfully places the object at the target placement point, the object is not recognized based on the second environmental information. Therefore, in the above embodiments, when it is determined based on the second environmental information that there is no object at the target placement point, the second obstacle avoidance information is determined according to the backup obstacle avoidance information of the first position and the target placement point, and the second obstacle avoidance information is set at the target placement point; in this way, for the case where the robot successfully acquires the first object at the first position and also successfully places the object at the target placement point, but the object is not recognized based on the second environmental information, it is beneficial for the robot to better plan the obstacle avoidance path, thereby improving the task execution efficiency of the robot.

[0100] In some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined based on the second environmental information that there is no object at the target placement point, setting the relevant display information of the backup first position at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0101] In still some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined based on the second environmental information that there is no object at the target placement point, determining the second obstacle avoidance information according to the backup obstacle avoidance information of the first position and the target placement point, and setting the second obstacle avoidance information at the target placement point; and setting the relevant display information of the backup first position at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0102] In some embodiments, the method further includes: after the robot moves to the second position and before the first mechanism performs the placement action, controlling the environmental perception sensor to face the target placement point to collect the third environmental information.

[0103] In some embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, determining third obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backed-up first position, and setting the third obstacle avoidance information at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0104] It can be understood that when it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, it indicates that the robot has successfully placed the first object at the target placement point. Therefore, the environment of the target placement point has changed compared with that before placing the first object. At this time, setting the third obstacle avoidance information at the target placement point is beneficial for the robot to avoid obstacles in time, thereby improving the task execution efficiency of the robot.

[0105] Further, in some embodiments, the third obstacle avoidance information includes at least one of the following information: object type, object position, obstacle avoidance map; wherein, the object type in the third obstacle avoidance information is the object type in the obstacle avoidance information of the backed-up first position; the object position in the third obstacle avoidance information is the target placement point; the obstacle avoidance map in the third obstacle avoidance information is a map obtained by updating the obstacle avoidance map in the obstacle avoidance information of the backed-up first position according to the existence of obstacles at the target placement point, or the obstacle avoidance map in the third obstacle avoidance information is the obstacle avoidance map in the obstacle avoidance information of the backed-up first position.

[0106] In some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, determining second relevant display information according to the second environmental information, and setting the second relevant display information at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0107] Exemplarily, in some embodiments, the second relevant display information includes at least one of a third icon to be displayed at the target placement point on the environmental map and a second image to be displayed at the target placement point on the environmental map; wherein, the third icon is used to identify a first object existing at the target placement point, and the second image is an environmental image of the first object at the target placement point. Further, in some embodiments, the third icon is used to identify the existence of a first object and the type of the existing object at the target placement point.

[0108] It can be understood that after setting the second relevant display information at the target placement point, it supports the display of the second relevant display information at the target placement point on the environmental map.

[0109] In still some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, determining third obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backed-up first position, and setting the third obstacle avoidance information at the target placement point; and, determining second relevant display information according to the second environmental information, and setting the second relevant display information at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0110] In yet some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined according to the second environmental information that there is an object at the target placement point, it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, determining fourth obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backed-up first position, and adding the fourth obstacle avoidance information to the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0111] Further, in some embodiments, the fourth obstacle avoidance information includes at least one of the following information: object type, object position, obstacle avoidance map; wherein, the object type in the fourth obstacle avoidance information is the object type in the obstacle avoidance information of the backup first position; the object position in the fourth obstacle avoidance information is the target placement point; the obstacle avoidance map in the fourth obstacle avoidance information is a map obtained by updating the obstacle avoidance map in the obstacle avoidance information of the backup first position according to the existence of obstacles at the target placement point, or the obstacle avoidance map in the fourth obstacle avoidance information is the obstacle avoidance map in the obstacle avoidance information of the backup first position.

[0112] In some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, determining second relevant display information according to the second environmental information, and adding the second relevant display information to the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0113] Exemplarily, in some embodiments, the second relevant display information includes at least one of a third icon to be displayed at the target placement point on the environmental map and a second image to be displayed at the target placement point on the environmental map; wherein, the third icon is used to identify the first object existing at the target placement point and the type of the existing object, and the second image is an environmental image of the first object at the target placement point.

[0114] It can be understood that after adding the second relevant display information to the target placement point, it is supported to display the second relevant display information at the target placement point on the environmental map.

[0115] In some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, determining fourth obstacle avoidance information according to the target placement point and the obstacle avoidance information of the backup first position, and adding the fourth obstacle avoidance information to the target placement point; and determining second relevant display information according to the second environmental information, and adding the second relevant display information to the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0116] In some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fifth object at the target placement point, and the type of the fifth object is the same as that of the first object, keeping the obstacle avoidance information of the target placement point and the relevant display information of the target placement point unchanged; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action. For example, both the fifth object and the first object are paper balls.

[0117] As mentioned above, the first mechanism 102 is connected to the fuselage main body 101 and is at least used for acquiring and placing objects. In the embodiments of the present application, the specific structure of the first mechanism 102 is not limited. In short, this mechanism only needs to have the ability to acquire and place objects. For example, the first mechanism 102 includes a robotic arm, a robotic hand, a robotic claw, etc. The specific structure of the first mechanism 102 is not limited. In short, this mechanism only needs to have the ability to acquire and place objects. Exemplarily, referring to Figure 4 the robot 100 shown, the first mechanism 102 can be a robotic arm and can be stored in the robotic arm compartment when not in use.

[0118] It should also be noted that the number of the first mechanisms 102 can be one or more. Exemplarily, referring to Figure 4 the robot 100 shown, one or more first mechanisms 102 can be provided on the fuselage main body 101 of the robot 100. The embodiments of the present application do not limit the number of the first mechanisms 102.

[0119] As mentioned above, the environmental perception sensor 104 is arranged on the fuselage main body 101 and is used for collecting environmental information. In the embodiments of the present application, the environmental perception sensor 104 is not limited either. Exemplarily, in some embodiments, the environmental perception sensor 104 includes a camera; in some other embodiments, the environmental perception sensor 104 includes a camera and a lidar sensor (Laser Distance Sensor, LDS). In some other embodiments, the environmental perception sensor 104 includes a camera, a lidar sensor (Laser Distance Sensor, LDS) and a structured light sensor. In some other embodiments, the environmental perception sensor 104 includes a camera and a structured light sensor.

[0120] It should be noted that the number of the environmental perception sensors 104 can be one or more. When the number of the environmental perception sensors 104 is multiple, they can be arranged at different positions on the fuselage main body 101 to sense environmental information in different directions. Exemplarily, referring toFigure 4 As shown, two environment sensing sensors 104A and 105B are arranged on the body 101 of the robot 100, wherein the environment sensing sensor 104A is a forward sensing sensor, which is used to sense the forward environment information in the direction of travel of the robot 100. The environment sensing sensor 104B is a top surface sensing sensor, which is used to sense the environment information on the top of the robot 100.

[0121] In the embodiment of the present application, the type of the robot 100 is not limited, and the robot 100 may be a cleaning robot, a handling robot, or other types of robots. For the cleaning robot, the body of the robot 100 is further provided with a third mechanism, which is used to clean the contacted surface. For example, the third mechanism includes a side brush and a side mop.

[0122] The following examples describe possible implementations of one or more of the above embodiments.

[0123] A robot with a robotic arm has the ability to carry obstacles. When the obstacle is moved to a new location, the environment's traffic status for the robot also changes. The sweeper can identify the type of obstacle through the camera, detect the environment in front of the machine through line laser and / or array light, and determine the type and size of the obstacle in front of the machine. After the obstacle is identified, obstacle avoidance information (such as object type / obstacle type, object position / obstacle position and obstacle avoidance map) will be generated. When the machine is close to the obstacle, it can trigger an object collision signal, and the machine can avoid the identified object based on this signal. At the same time, the sweeper's APP will display the icon of the identified object at the corresponding position on the map. If the user turns on the real-life photo function, the user can click on the icon to display the environmental image of the object, that is, the photo of the object at that location.

[0124] The following scheme aims to provide a strategy for processing obstacle avoidance information when a robot with a robotic arm is carrying obstacles, and to select images of objects to display on the APP.

[0125] Step 1. When the robot successfully grabs an obstacle, it first backs up the type, location, obstacle avoidance map, and image based on the object's icon display, and then enters the recognition confirmation logic.

[0126] Step 2. Usually the robot will move backwards to obtain a wider viewing angle. If there is no space to move backwards, it does not have to move backwards. Then the camera will be used to identify the area in front.

[0127] If there is no recognized object (i.e., no object is recognized), the icon of the object at the corresponding position displayed on the APP is cleared;

[0128] If there is a newly recognized object (i.e., an object is recognized), and the type of the newly recognized object is the same as the original one, then the obstacle avoidance information of the original object (including object type, object position, and obstacle avoidance map) is retained, and the icon displayed at the corresponding position on the original object's APP is also retained.

[0129] If there is a newly recognized object, but the newly recognized object is of a different type from the original object, then the obstacle avoidance information of the original recognized object is updated with the obstacle avoidance information of the newly recognized object, the object icon is replaced on the APP, and the first frame image of the newly recognized object is used as the display image for the object icon.

[0130] 3. When the robot walks near the placement position (i.e., the target placement point) while holding an object, the robotic arm performs a placing action. After successfully placing the object, usually the machine will first move backward to obtain a larger viewing angle. If there is no space to move backward, it can also not move backward. Subsequently, the front area is recognized through the camera.

[0131] If there is no recognized object (i.e., no object is recognized), then the obstacle avoidance information of the original position of the object in the backup and the image used for displaying the object icon are set at the placement position; here, when setting the obstacle avoidance information of the original position of the object in the backup at the placement position, the original position of the object in the obstacle avoidance information needs to be updated to this placement position; optionally, the obstacle avoidance map in the obstacle avoidance information of the original position of the object in the backup can also be updated according to this placement position, and the updated obstacle avoidance map is set at this placement position.

[0132] If there is a recognized object (i.e., an object is recognized), and there was no recognized object at this position before placement, then the obstacle avoidance information of the original position of the object in the backup is set at the placement position, and the first frame image of the newly recognized object is used as the display image for the object icon; here, when setting the obstacle avoidance information of the original position of the object in the backup at the placement position, the original position of the object in the obstacle avoidance information needs to be updated to this placement position; optionally, the obstacle avoidance map in the obstacle avoidance information of the original position of the object in the backup can also be updated according to this placement position, and the updated obstacle avoidance map is set at this placement position.

[0133] If there is a recognized object, and there was already a recognized object of another type at this position before placement, then the obstacle avoidance information of the original position of the object in the backup is added to the placement position, a new object icon is added at this position, and the first frame image of the newly recognized object is used as the display image for the object icon; here, when adding the obstacle avoidance information of the original position of the object in the backup to the placement position, the original position of the object in the obstacle avoidance information needs to be updated to this placement position; optionally, the obstacle avoidance map in the obstacle avoidance information of the original position of the object in the backup can also be updated according to this placement position, and the updated obstacle avoidance map is added at this placement position.

[0134] If there is an identified object and there is already an identified object of the same type at the position before placement, no processing is performed on the obstacle avoidance information and the object icon at the placement position.

[0135] It can be understood that in the above solution, when the robot with a robotic arm transports an obstacle avoidance object, the obstacle avoidance information, the object icon displayed on the APP, and the image for display can change accordingly, so as to improve the real-time performance of the robot's obstacle avoidance behavior and enable the user to intuitively feel the result of the object being transported.

[0136] It should be noted that although the steps of the method in this application are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be executed in this specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution, etc.; or, the steps in different embodiments can be combined into a new technical solution.

[0137] Based on the foregoing embodiments, an embodiment of this application provides a control device for a robot, which can be implemented by a processor; of course, it can also be implemented by specific logic circuits; during implementation, the processor can be an AI acceleration engine (such as an NPU, etc.), a GPU, a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0138] Figure 5 FIG. is a schematic structural diagram of the control device for a robot provided by an embodiment of this application, as Figure 5 shown, the information processing device 500 of the robot includes a first control unit 501 and an information processing unit 502, where:

[0139] The first control unit 501 is configured to control a first mechanism of the robot to process a first object; and control the environmental perception sensor of the robot to collect environmental information towards the first position or the target placement point; where, the first mechanism processing the first object includes the first mechanism obtaining the first object from the first position, or the first mechanism placing the first object at the target placement point;

[0140] The information processing unit 502 is configured to update at least one of the obstacle avoidance information of the first position or the target placement point and the relevant display information of the first position or the target placement point according to the collected environmental information; where, the relevant display information of the first position or the target placement point can be displayed on the environmental map.

[0141] In some embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is no object at the first position, clearing the relevant display information of the first position.

[0142] Exemplarily, in some embodiments, the relevant display information of the first position includes a first icon displayed at the first position on the environmental map, and the first icon is used to identify that there is an object at the first position.

[0143] In some other embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a second object at the first position and the type of the second object is the same as the type of the first object, retaining the obstacle avoidance information and the relevant display information of the first position.

[0144] In some further embodiments, updating at least one of the obstacle avoidance information and the relevant display information of the first position according to the first environmental information collected at the first position includes: when it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from the type of the first object, determining first obstacle avoidance information according to the first environmental information and updating the obstacle avoidance information of the first position by using the first obstacle avoidance information; and / or determining first relevant display information according to the first environmental information and updating the relevant display information of the first position by using the first relevant display information.

[0145] Exemplarily, in some embodiments, the first relevant display information includes at least one of a second icon to be displayed at the first position on the environmental map and a first image to be displayed at the first position on the environmental map; wherein, the second icon is used to identify that there is an object at the first position, and the first image is an environmental image of the third object at the first position.

[0146] In some embodiments, controlling the first mechanism to place the first object at the target placement point includes: after controlling the environmental perception sensor to collect environmental information towards the first position, controlling the second mechanism of the robot to drive so that the robot moves to the second position; after the robot moves to the second position, controlling the first mechanism to perform a placement action to place the first object at the target placement point.

[0147] In some embodiments, the information processing device 500 of the robot further includes a backup unit; the backup unit is configured to: before updating the obstacle avoidance information of the first position and the related display information of the first position, back up the obstacle avoidance information of the first position and the related display information of the first position.

[0148] Further, in some embodiments, updating at least one of the obstacle avoidance information of the target placement point and the related display information of the target placement point according to the collected second environmental information of the target placement point includes: when it is determined according to the second environmental information that there is no object at the target placement point, determining second obstacle avoidance information according to the backed-up obstacle avoidance information of the first position and the target placement point, and setting the second obstacle avoidance information at the target placement point; and / or setting at least one of the related display information of the backed-up first position at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0149] In some embodiments, the first control unit 501 is further configured to: after the robot moves to the second position and before the first mechanism performs the placement action, control the environmental perception sensor to face the target placement point to collect third environmental information.

[0150] In some embodiments, updating at least one of the obstacle avoidance information of the target placement point and the related display information of the target placement point according to the collected second environmental information of the target placement point includes: when it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, determining third obstacle avoidance information according to the target placement point and the backed-up obstacle avoidance information of the first position, and setting the third obstacle avoidance information at the target placement point; and / or determining second related display information according to the second environmental information, and setting the second related display information at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0151] In some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the second environmental information collected includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, determining fourth obstacle avoidance information according to the obstacle avoidance information of the target placement point and the backed-up first position, and adding the fourth obstacle avoidance information to the target placement point; and / or determining second relevant display information according to the second environmental information, and adding the second relevant display information to the target placement point; wherein the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0152] Exemplarily, in some embodiments, the second relevant display information includes at least one of a third icon to be displayed at the target placement point on the environmental map and a second image to be displayed at the target placement point on the environmental map; wherein the third icon is used to identify the first object existing at the target placement point, and the second image is an environmental image of the first object at the target placement point.

[0153] In still some other embodiments, updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the second environmental information collected includes: when it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fifth object at the target placement point, and the type of the fifth object is the same as that of the first object, keeping the obstacle avoidance information of the target placement point and the relevant display information of the target placement point unchanged; wherein the second environmental information is collected after controlling the first mechanism to perform the placement action.

[0154] The description of the above device embodiments is similar to that of the above method embodiments, and has similar beneficial effects to the method embodiments. For the technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0155] It should be noted that the division of modules in the embodiments of the present application is schematic, only a logical function division, and there may be other division methods in actual implementation. In addition, each functional unit in the various embodiments of the present application may be integrated in one processing unit, may exist separately physically, or two or more units may be integrated in one unit. The above integrated unit may be implemented in the form of hardware, or in the form of a software functional unit, or in the form of a combination of software and hardware.

[0156] It should be noted that in the embodiments of the present application, if the above-mentioned method is implemented in the form of software function modules 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 embodiments of the present application, in essence or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), magnetic disks, or optical discs that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0157] The embodiments of the present application provide a robot. Figure 6 The structural schematic of the robot provided by the embodiments of the present application Figure 4 is shown in Figure 6 As shown, the robot 600 includes a memory 601 and a processor 602. The memory 601 stores a computer program that can run on the processor 602. When the processor 602 executes the program, it implements the steps in the method provided in the above embodiments.

[0158] It should be noted that the memory 601 is configured to store instructions and applications executable by the processor 602, and can also cache data (such as image data, audio data, voice communication data, and video communication data) to be processed or already processed in the processor 602 and each module of the robot 600, and can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0159] The embodiments of the present application also provide a computer-readable storage medium for storing a computer program.

[0160] Optionally, this computer-readable storage medium can be applied to the processor or the robot in the embodiments of the present application, and this computer program causes the processor or the robot to execute the various methods in the embodiments of the present application. For the sake of brevity, it will not be elaborated here.

[0161] The embodiments of the present application also provide a computer program product, including computer program instructions.

[0162] Optionally, this computer program product can be applied to the processor or the robot in the embodiments of the present application, and these computer program instructions cause the processor or the robot to execute the various methods in the embodiments of the present application. For the sake of brevity, it will not be elaborated here.

[0163] The embodiments of the present application also provide a computer program.

[0164] Optionally, the computer program can be applied to the processor or the robot in the embodiments of the present application. When the computer program runs on the processor or the robot, the processor or the robot is caused to execute the various methods of the embodiments of the present application. For the sake of brevity, details are not described herein again.

[0165] It should be noted here that the descriptions of the above storage medium, computer program product, and computer program embodiments are similar to the descriptions of the above method embodiments and have beneficial effects similar to those of the method embodiments. For the technical details not disclosed in the storage medium, computer program product, and computer program embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0166] It should be understood that the phrase "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" or "in some embodiments" that appear throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the present application, the sequence numbers of the above processes do not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The sequence numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments. The above descriptions of the various embodiments tend to emphasize the differences between the various embodiments, and the same or similar parts can be referred to each other. For the sake of brevity, details are not described herein again.

[0167] The term "and / or" in this document is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, object A and / or object B can represent: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0168] It should be noted that in this document, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article, or device. Without further limitation, the element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article, or device including the element.

[0169] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules or components can be combined, or 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 with each other can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0170] The modules described above as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules; they can be located in one place or distributed to multiple network units; some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0171] In addition, each functional module in the embodiments of the present application can be all integrated in a processing unit, or each module can be separately used as a unit, or two or more modules can be integrated in a unit; the above-mentioned integrated modules can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0172] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM), magnetic disks, or optical disks and other various media that can store program codes.

[0173] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software functional 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 embodiments of the present application essentially or the part that contributes to the related technology 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 enabling an electronic device to execute all or part of the methods described in the embodiments of the present application. And the foregoing storage medium includes: removable storage devices, ROM, magnetic disks, or optical disks and other various media that can store program codes.

[0174] The methods disclosed in several method embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments.

[0175] The features disclosed in several product embodiments provided by this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0176] The features disclosed in several method or device embodiments provided by this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0177] As mentioned above, it is only the implementation mode of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by this application, and all should be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claimed rights.

Claims

1. An information processing method for a robot, characterized in that, The method includes: Controlling a first mechanism of the robot to process a first object; wherein, the first mechanism processing the first object includes the first mechanism obtaining the first object from a first position, or the first mechanism placing the first object at a target placement point; Controlling an environmental perception sensor of the robot to face the first position or the target placement point to collect environmental information; Updating at least one of obstacle avoidance information at a corresponding position and relevant display information at the corresponding position according to the collected environmental information; wherein, the relevant display information at the corresponding position can be displayed on an environmental map.

2. The method according to claim 1, characterized in that, Updating at least one of the obstacle avoidance information at the first position and the relevant display information at the first position according to the first environmental information collected at the first position includes: When it is determined according to the first environmental information that there is no object at the first position, clearing the relevant display information at the first position; wherein, the first environmental information is collected after controlling the first mechanism to obtain the first object at the first position.

3. The method according to claim 2, wherein The relevant display information at the first position includes a first icon displayed at the first position on the environmental map, and the first icon is used to identify that there is an object at the first position.

4. The method according to claim 1, wherein Updating at least one of the obstacle avoidance information at the first position and the relevant display information at the first position according to the first environmental information collected at the first position includes: When it is determined according to the first environmental information that there is a second object at the first position and the type of the second object is the same as the type of the first object, retaining the obstacle avoidance information at the first position and the relevant display information at the first position; wherein, the first environmental information is collected after controlling the first mechanism to obtain the first object at the first position.

5. The method according to claim 1, wherein Updating at least one of the obstacle avoidance information at the first position and the relevant display information at the first position according to the first environmental information collected at the first position includes: When it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from the type of the first object, determining first obstacle avoidance information according to the first environmental information, and updating the obstacle avoidance information at the first position by using the first obstacle avoidance information; and / or, determining first relevant display information according to the first environmental information, and updating the relevant display information at the first position by using the first relevant display information; wherein, the first environmental information is collected after controlling the first mechanism to obtain the first object at the first position.

6. The method according to claim 5, wherein The first relevant display information includes at least one of a second icon to be displayed at the first position on the environmental map and a first image to be displayed at the first position on the environmental map; wherein, the second icon is used to identify that there is an object at the first position, and the first image is an environmental image of the third object at the first position.

7. The method according to any one of claims 1-6, characterized in that, Controlling the first mechanism to place the first object at the target placement point includes: After controlling the environmental perception sensor to face the first position to collect environmental information, control the second mechanism of the robot to drive so that the robot moves to the second position; After the robot moves to the second position, control the first mechanism to perform a placement action to place the first object at the target placement point.

8. The method according to claim 7, wherein The method further includes: Before updating the obstacle avoidance information of the first position and the relevant display information of the first position, back up the obstacle avoidance information of the first position and the relevant display information of the first position.

9. The method according to claim 8, wherein Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information of the target placement point includes: When it is determined according to the second environmental information that there is no object at the target placement point, determine the second obstacle avoidance information according to the backed-up obstacle avoidance information of the first position and the target placement point, and set the second obstacle avoidance information at the target placement point; and / or, set at least one of the backed-up relevant display information of the first position at the target placement point; Wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

10. The method according to claim 8, characterized in that The method further includes: After the robot moves to the second position and before the first mechanism performs the placement action, control the environmental perception sensor to face the target placement point to collect the third environmental information; Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information of the target placement point includes: When it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, determine the third obstacle avoidance information according to the target placement point and the backed-up obstacle avoidance information of the first position, and set the third obstacle avoidance information at the target placement point; and / or, determine the second relevant display information according to the second environmental information, and set the second relevant display information at the target placement point; Wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

11. The method according to claim 8, characterized in that The method further includes: After the robot moves to the second position and before the first mechanism performs the placement action, control the environmental perception sensor to face the target placement point to collect the third environmental information; Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information includes: When it is determined according to the second environmental information that there is an object at the target placement point, it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, determine the fourth obstacle avoidance information according to the target placement point and the backed-up obstacle avoidance information of the first position, and add the fourth obstacle avoidance information to the target placement point; And / or, determining second relevant display information according to the second environmental information, and adding the second relevant display information at the target placement point; Wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

12. The method according to claim 10 or 11, characterized in that The second relevant display information includes at least one of a third icon to be displayed at the target placement point on the environmental map and a second image to be displayed at the target placement point on the environmental map; Wherein, the third icon is used to identify a first object existing at the target placement point, and the second image is an environmental image of the first object at the target placement point.

13. The method according to claim 8, wherein The method further includes: After the robot moves to the second position and before the first mechanism performs the placement action, controlling the environmental perception sensor to face the target placement point to collect third environmental information; Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information of the target placement point, including: When it is determined according to the second environmental information that there is an object at the target placement point, and it is determined according to the third environmental information that there is a fifth object at the target placement point, and the fifth object is of the same type as the first object, keeping the obstacle avoidance information of the target placement point and the relevant display information of the target placement point unchanged; Wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

14. An information processing device for a robot, characterized in that, The device includes: A first control unit, configured to control a first mechanism of the robot to process a first object; and control the environmental perception sensor of the robot to face a first position or a target placement point to collect environmental information; wherein, the first mechanism processing the first object includes the first mechanism obtaining the first object from the first position, or the first mechanism placing the first object at the target placement point; An information processing unit, configured to update at least one of the obstacle avoidance information at the corresponding position and the relevant display information at the corresponding position according to the collected environmental information; wherein, the relevant display information at the corresponding position can be displayed on the environmental map.

15. The device according to claim 14, characterized in that, Updating at least one of the obstacle avoidance information of the first position and the relevant display information of the first position according to the collected first environmental information of the first position, including: When it is determined according to the first environmental information that there is no object at the first position, clearing the relevant display information of the first position.

16. The device according to claim 14, characterized in that, The relevant display information of the first position includes a first icon displayed at the first position on the environmental map, and the first icon is used to identify that there is an object at the first position.

17. The device according to claim 14, characterized in that, Updating at least one of the obstacle avoidance information of the first position and the relevant display information of the first position according to the collected first environmental information of the first position, including: When it is determined according to the first environmental information that there is a second object at the first position and the type of the second object is the same as the type of the first object, the obstacle avoidance information of the first position and the relevant display information of the first position are retained.

18. The device according to claim 14, wherein Updating at least one of the obstacle avoidance information of the first position and the relevant display information of the first position according to the first environmental information collected at the first position includes: When it is determined according to the first environmental information that there is a third object at the first position and the type of the third object is different from the type of the first object, determining first obstacle avoidance information according to the first environmental information and updating the obstacle avoidance information of the first position by using the first obstacle avoidance information; And / or determining first relevant display information according to the first environmental information and updating the relevant display information of the first position by using the first relevant display information.

19. The device according to claim 18, wherein: The first relevant display information includes at least one of a second icon to be displayed at the first position on the environmental map and a first image to be displayed at the first position on the environmental map; Wherein, the second icon is used to identify that there is an object at the first position, and the first image is an environmental image of the third object at the first position.

20. The device according to any one of claims 14 - 19, characterized in that, Controlling the first mechanism to place the first object at the target placement point includes: After controlling the environmental perception sensor to collect environmental information towards the first position, controlling the second mechanism of the robot to drive so that the robot moves to the second position; After the robot moves to the second position, controlling the first mechanism to perform a placement action to place the first object at the target placement point.

21. The device according to claim 20, characterized in that, The device further includes a backup unit; the backup unit is configured to: Before updating the obstacle avoidance information of the first position and the relevant display information of the first position, back up the obstacle avoidance information of the first position and the relevant display information of the first position.

22. The device according to claim 21, characterized in that, Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: When it is determined according to the second environmental information that there is no object at the target placement point, determining second obstacle avoidance information according to the backed-up obstacle avoidance information of the first position and the target placement point and setting the second obstacle avoidance information at the target placement point; and / or setting at least one of the backed-up relevant display information of the first position at the target placement point; Wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

23. The device according to claim 21, wherein The first control unit is further configured to: after the robot moves to the second position and before the first mechanism performs the placement action, control the environmental perception sensor to collect third environmental information towards the target placement point; Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the second environmental information collected at the target placement point includes: When it is determined according to the second environmental information that there is an object at the target placement point and it is determined according to the third environmental information that there is no object at the target placement point, third obstacle avoidance information is determined according to the obstacle avoidance information of the target placement point and the backed-up first position, and the third obstacle avoidance information is set at the target placement point; and / or, second relevant display information is determined according to the second environmental information, and the second relevant display information is set at the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

24. The device according to claim 21, characterized in that, The first control unit is further configured to: after the robot moves to the second position and before the first mechanism performs the placement action, control the environmental perception sensor to face the target placement point to collect third environmental information; Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information of the target placement point includes: When it is determined according to the second environmental information that there is an object at the target placement point, it is determined according to the third environmental information that there is a fourth object at the target placement point, and the type of the fourth object is different from that of the first object, fourth obstacle avoidance information is determined according to the obstacle avoidance information of the target placement point and the backed-up first position, and the fourth obstacle avoidance information is added to the target placement point; and / or, second relevant display information is determined according to the second environmental information, and the second relevant display information is added to the target placement point; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

25. The device according to claim 23 or 24, wherein the second relevant display information includes at least one of a third icon to be displayed at the target placement point on the environmental map and a second image to be displayed at the target placement point on the environmental map; wherein, the third icon is used to identify the first object existing at the target placement point, and the second image is an environmental image of the first object at the target placement point.

26. The device according to claim 21, characterized in that, The first control unit is further configured to: after the robot moves to the second position and before the first mechanism performs the placement action, control the environmental perception sensor to face the target placement point to collect third environmental information; Updating at least one of the obstacle avoidance information of the target placement point and the relevant display information of the target placement point according to the collected second environmental information of the target placement point includes: When it is determined according to the second environmental information that there is an object at the target placement point, it is determined according to the third environmental information that there is a fifth object at the target placement point, and the type of the fifth object is the same as that of the first object, the obstacle avoidance information of the target placement point and the relevant display information of the target placement point are kept unchanged; wherein, the second environmental information is collected after controlling the first mechanism to perform the placement action.

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

28. A computer program product comprising a computer program or instructions, characterized in that, When the computer program or instruction is executed by a processor or a robot, the steps in the method according to any one of claims 1 to 13 are implemented.

29. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor or a robot, the steps in the method according to any one of claims 1 to 13 are implemented.

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