Obstacle processing method and apparatus for robot, and robot and storage medium

Abstract

An obstacle processing method and apparatus for a robot, and a robot and a storage medium. The obstacle processing method comprises: identifying obstacles and marking the identified obstacles on a first map (S101); acquiring a handling command for M identified obstacles, and on the basis of the handling command, determining a target handling mode for the M identified obstacles, wherein the handling command is generated in response to a handling action executed by a user for the M identified obstacles marked on the first map, with M being a positive integer (S102); and according to the target handling mode, handling the M identified obstacles (S103).

Description

Obstacle processing method and device for robot, robot, and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 202411035927.9, filed on July 30, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of robots, and in particular, to an obstacle processing method and device for a robot, a robot, and a storage medium. BACKGROUND

[0004] Household robots are robots that can clean the ground and arrange ground objects based on a traditional floor sweeping machine chassis and a mechanical arm. Current household robots can automatically arrange objects, such as placing slippers at the door, placing toys in the children's room, and throwing paper balls in the trash can, i.e., the household robots have an automatic arrangement function.

[0005] However, in actual home scenarios, the automatic arrangement function of the household robots does not meet the user's expectations, such as toys being identified as paper balls and thrown in the trash can, plastic bags being identified as slippers and placed at the door, and even if there is no misidentified obstacle, the placement of the arranged objects may not meet the user's expectations. Therefore, the household robots are not accurate when arranging ground objects. SUMMARY

[0006] Embodiments of the present disclosure provide an obstacle processing method and device for a robot, a robot, and a storage medium to at least partially solve the technical problem of low accuracy of household robots when arranging ground objects.

[0007] In a first aspect of the present disclosure, an obstacle processing method for a robot is provided, comprising:

[0008] identifying obstacles and marking the identified obstacles on a first map; obtaining disposal commands for M identified obstacles, and determining target disposal manners for the M identified obstacles according to the disposal commands, the disposal commands being generated in response to disposal actions performed by a user on the M identified obstacles marked on the first map, M being a positive integer; and disposing the M identified obstacles according to the target disposal manners.

[0009] In a second aspect of the present disclosure, a device for obstacle processing of a robot is provided, comprising: an identification marking unit that identifies obstacles and marks the identified obstacles on a first map; a disposal determination unit that acquires disposal commands for M identified obstacles, and determines target disposal manners for the M identified obstacles according to the disposal commands, the disposal commands being generated in response to disposal actions performed by a user on the M identified obstacles marked on the first map, M being a positive integer; and a disposal execution unit that disposes of the M identified obstacles according to the target disposal manners.

[0010] In a third aspect of the present disclosure, a robot is provided, comprising: a robot chassis for cleaning a ground; a robot arm connected to the robot chassis, the robot arm being configured to arrange ground objects; a processor; and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the obstacle processing method of the first aspect.

[0011] In a fourth aspect of the present disclosure, a computer readable storage medium is provided, having stored thereon a computer program that, when executed by a processor, implements the obstacle processing method of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative effort based on these drawings.

[0013] FIG. 1 shows a scenario of an obstacle processing method according to some embodiments of the present disclosure.

[0014] FIG. 2 shows a flow of an obstacle processing method for a robot according to some embodiments of the present disclosure.

[0015] FIG. 3A shows a first map displayed on a main interface of an application according to some embodiments of the present disclosure.

[0016] FIG. 3B shows a real scene image of an identified obstacle displayed on an application according to some embodiments of the present disclosure.

[0017] FIG. 3C shows various candidate disposal manners displayed below the real scene image of the identified obstacle according to some embodiments of the present disclosure.

[0018] FIG. 4 shows a structure of a device for obstacle processing of a robot according to some embodiments of the present disclosure.

[0019] FIG. 5 shows a structure of a robot according to some embodiments of the present disclosure. Embodiments of the present application

[0020] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the accompanying drawings and specific embodiments.

[0021] First, the term "and / or" appearing in this paper is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " in this paper generally represents an "or" relationship between the associated objects before and after it.

[0022] As shown in FIG. 1, FIG. 1 shows a scenario of an obstacle processing method according to some embodiments of the present disclosure. The obstacle processing method for a robot provided by the embodiments of the present disclosure can be applied to a robot 20 that has a communication connection with a user device 10. The robot 20 includes a robot chassis and a mechanical arm connected to the robot chassis. The robot chassis is used for cleaning the ground, and the mechanical arm is used for arranging ground objects. The user device can be a mobile phone, a tablet computer or a computer device. The user device is installed with an application program for displaying working information of the robot 20 and for the user to operate the robot. The application program can be an APP on a mobile phone, and the displayed working information includes a map established by the robot, an obstacle recognized by the robot marked on the map, and the like.

[0023] The present disclosure provides an obstacle processing method for a robot. The robot implements the obstacle processing method for the robot through interaction with a user device installed with an application program for the user to operate the robot. In some embodiments, the application program for the user to operate the robot can also be installed on the robot. As shown in FIG. 2, FIG. 2 shows a flow of an obstacle processing method for a robot according to some embodiments of the present disclosure. The obstacle processing method for the robot includes the following steps S101-S104.

[0024] In step S101, an obstacle is recognized and the recognized obstacle is marked on a first map.

[0025] It can be understood that in step S101, an obstacle is recognized by the robot and the recognized obstacle is marked on a first map. The recognized obstacle is an obstacle recognized by the robot, and the obstacle includes one or more. The first map is a map established by the robot for its use environment.

[0026] In some embodiments, identifying the obstacles and marking the identified obstacles on the first map comprises: obtaining identification result information by identifying the obstacles, the identification result information comprising location information and category information of each identified obstacle; and for each identified obstacle, marking the identified obstacle on the first map according to the location information and the category information of the identified obstacle. It should be noted that the location information of each identified obstacle represents the position of the identified obstacle in the real environment. The category information of each identified obstacle represents the category of the identified obstacle. A plurality of obstacle categories such as shoes, clothes, sundries, and garbage are pre-divided. The category of each identified obstacle is one of the categories.

[0027] In some embodiments, for each identified obstacle, marking the identified obstacle on the first map according to the location information and the category information of the identified obstacle comprises: for each identified obstacle, adding an icon representing the category of the identified obstacle to a map position corresponding to the real position of the identified obstacle on the first map according to the location information and the category information of the identified obstacle. For example, as shown in FIG. 3A, if an obstacle is identified as a shoe, a shoe icon is added to a map position corresponding to the real position of the shoe on the first map.

[0028] As shown in FIG. 3A, the first map marked with the identified obstacles is displayed on the main interface of the application program, so that the user can see the specific position of each identified obstacle in the room and the category of the obstacle from the first map displayed on the main interface of the application program, facilitating the user to accurately give a disposal action for the identified obstacle.

[0029] In an application scenario in which the application program for the user to operate the robot is installed on the user device, the robot sends the first map marked with the identified obstacles to the user device, and the user device displays the first map marked with the identified obstacles on the main interface of the application program, so that the user can see the specific position of each identified obstacle in the room and the category of the obstacle from the user device.

[0030] In some embodiments, the identification result information can include, in addition to the position information and the category information of each identified obstacle, an object image of each identified obstacle. The object image of each identified obstacle can be a real scene image containing the identified obstacle and its surrounding environment, which is taken by the camera of the robot pointing at the position of the identified obstacle. The icon of the identified obstacle on the first map is associated with the object image of the identified obstacle, so that when the user device obtains a selection operation of the user on the icon of a certain identified obstacle marked on the first map (for example, obtains a click operation of the user on the shoe icon on the first map), the interface of the application jumps to a page displaying the object image of the identified obstacle (as shown in FIG. 3B), which facilitates the user to determine whether the identification of the robot on the identified obstacle is incorrect according to the object image of the identified obstacle, and further reduces the situation of misarranging the object caused by misidentification.

[0031] In some embodiments, the robot performs obstacle identification in the process of executing a target task to obtain the identification result information, and the target task is a task that needs to identify obstacles among various tasks that can be completed by the robot according to its functions, for example, the target task can be a ground cleaning task, a cruising task, etc.

[0032] In some embodiments, for the robot configured with an automatic arrangement function, before the robot identifies obstacles, it is detected whether the automatic arrangement function of the robot is in an enabled state. If the automatic arrangement function of the robot is in the enabled state, the robot identifies obstacles in the process of executing a target task, determines a default placement position of the identified obstacle according to the category of the identified obstacle, and moves the identified obstacle to the default placement position, so as to realize automatic identification of obstacles and automatic classification and arrangement of the identified obstacles by the robot, without the need for the user to participate in the decision-making of disposing the identified obstacles. If the automatic arrangement function of the robot is not in the enabled state, step S101 is executed, that is, obstacles are identified and the identified obstacles are marked on the first map. That is, the user needs to participate in the decision-making of disposing the identified obstacles. Thus, it is realized that whether the user participates in the decision-making of disposing the identified obstacles is selected according to the user's demand, which can improve the diversity of the arrangement function of the robot.

[0033] In some embodiments, the application program for operating the robot, the remote controller or the control panel of the robot can be provided with an option for the user to switch the automatic arrangement function, and if the robot obtains a switching control command generated by the user's operation on the application program for operating the robot, the remote controller or the control panel of the robot, the automatic arrangement function of the robot is switched according to the switching control command.

[0034] At step S102, a treatment command for M identified obstacles is acquired, and a target treatment mode for the M identified obstacles is determined according to the treatment command, the treatment command being generated in response to a user performing a treatment action on the M identified obstacles marked on the first map, M being a positive integer.

[0035] It can be understood that the M identified obstacles are the obstacles that the user needs to treat among all the identified obstacles marked on the first map, that is, the M identified obstacles are all or part of the identified obstacles marked on the first map.

[0036] In some embodiments, the treatment command for the M identified obstacles can be a same treatment command, or can include a sub-treatment command for each of the M identified obstacles. In some embodiments, a plurality of candidate treatment modes are pre-configured for the user to select, a sub-treatment command for each of the M identified obstacles is acquired, and a treatment mode for the identified obstacle is selected from the pre-configured plurality of candidate treatment modes according to the sub-treatment command for the identified obstacle, thereby acquiring M sub-treatment commands one by one for the M identified obstacles, the M sub-treatment commands can be the same or different, realizing that the user can freely select the identified obstacle that needs to be treated and the user can freely select the treatment mode for treating the identified obstacle, and improving the flexibility and diversity of treating obstacles.

[0037] In some embodiments, the various candidate treatment modes for the user to select can only include arrangement type treatment modes. The arrangement type treatment mode is that the robot performs an arrangement action on the identified obstacle to arrange the identified obstacle to a target placement position, wherein the arrangement type treatment mode can include one or more of the following three arrangement modes:

[0038] 1. Arranging to a default placement position;

[0039] 2. Arranging to a new placement position;

[0040] 3. Adding to an arrangement list.

[0041] It should be noted that the default placement positions of different obstacle categories can be set in advance before the robot is shipped, and the default placement positions of different obstacle categories in the use environment of the robot can be calibrated according to the room type and furniture area identified by the robot when mapping the use environment. During the use of the robot, the default placement positions of one or more obstacle categories can also be changed according to user operations. For example, the default placement positions set for different obstacle categories can be as shown in Table 1. The obstacle categories and default placement positions of each obstacle category shown in Table 1 are only for the convenience of understanding the present disclosure and do not limit the present disclosure.

[0042] Table 1. Default placement positions of different obstacle categories

[0043] Obstacle category Shoes Clothing Miscellaneous Garbage Specific items Slippers Socks, clothes Toys, thread ball, data cable, pen, dustpan, remote control Paper ball, plastic bag Placement area Shoe rack area Dirty clothes area Miscellaneous area Garbage area Default placement position Hall door mat Side of the wardrobe Corner of the bedroom Kitchen garbage can

[0044] It can be understood that the disposal action on the M identified obstacles marked on the first map can be a selection operation or a voice instruction. The first map marked with the identified obstacles is displayed in the application program for the user to operate the robot, so that the user can perform the disposal action on the marked identified obstacles on the displayed first map.

[0045] In some embodiments, the sub-disposal command for each of the M identified obstacles can be generated by the user selecting an operation from a plurality of candidate disposal methods pre-configured for the identified obstacle.

[0046] In some embodiments, for the target obstacle, the application program displays the selectable items of various candidate disposal methods on the page where the image of the object of the target obstacle is displayed (as shown in FIG. 3C). If a selection operation of any one of the selectable items is detected, the robot obtains the sub-disposal command corresponding to the disposal method selected by the user's selection operation as the sub-disposal command for the target obstacle, and the robot sets the disposal method selected by the user as the disposal method for the target obstacle according to the obtained sub-disposal command, wherein the target obstacle is one of the identified obstacles currently executed by the user. It can be understood that in the application scenario where the application program for the user to operate the robot is installed on the user device, the user device sends the sub-disposal command corresponding to the disposal method selected by the user's selection operation to the robot, so that the robot receives the sub-disposal command for the target obstacle.

[0047] In some embodiments, the sub-disposal command for each of the M identified obstacles can be generated by voice instructions from the user selecting one of the pre-configured candidate disposal manners for the identified obstacle.

[0048] In some embodiments, for the target obstacle, the user is guided to select one disposal manner from the plurality of disposal manners based on the human-computer voice interaction, such as: the user device outputs the voice prompt "shoes are identified, proactive avoidance in advance, do you need to arrange the shoes to the default placement position?", if the voice instruction of the user feedback is "yes", it is determined that the disposal manner for the target obstacle is "arranging to the default placement position", if the voice instruction of the user is "no", other voice prompts can be continuously output until the sub-disposal command for the target obstacle is determined according to the voice instruction of the user feedback. For example, in the application scenario that the application for the user to operate the robot is installed on the user device, the user device sends the determined sub-disposal command for the target obstacle to the robot, so that the robot receives the sub-disposal command for the target obstacle. Wherein, the target obstacle is one of the M identified obstacles currently executed by the user.

[0049] It should be noted that the determined target disposal manner includes the disposal manner of each of the M identified obstacles, wherein the disposal manner of different identified obstacles in the M identified obstacles can be the same or different according to the user selection.

[0050] According to any one of the embodiments of step S102 described above, the disposal manner for each of the M identified obstacles is selected by the user, so that the user participates in the decision of how to dispose the identified obstacles, and helps the robot to more accurately complete the task of disposing the identified obstacles.

[0051] In step S103, the M identified obstacles are disposed according to the target disposal manner.

[0052] In some embodiments, at least one arrangement type disposal manner is included in the pre-configured plurality of candidate disposal manners, and disposing the M identified obstacles according to the target disposal manner includes: in the case that the disposal manner of N identified obstacles in the M identified obstacles is the arrangement type disposal manner, determining the target placement position of the N identified obstacles according to the arrangement type disposal manner for the N identified obstacles; and moving the N identified obstacles from the current position to the respective target placement position according to the target placement position of the N identified obstacles and the position information.

[0053] In the case that the pre-configured arrangement-type disposal manners include at least one arrangement-type disposal manner of arranging to a default placement position, determining the target placement position of each of the N identified obstacles according to the arrangement-type disposal manners of the N identified obstacles comprises: if the arrangement-type disposal manner of the target obstacle is arranging to a default placement position, determining the default placement position matching the target obstacle from a plurality of default placement positions established in advance according to the obstacle categories as the target placement position of the target obstacle, wherein the target obstacle is the obstacle currently being disposed by the user among the N identified obstacles.

[0054] In some embodiments, if the disposal manner of the target obstacle is determined to be "arranging to a default placement position" according to the disposal command of the target obstacle, after the application program for operating the robot detects that the user selects the disposal manner of "arranging to a default placement position", the display interface of the application program jumps to the main interface displaying the first map, and if other identified obstacles are also marked on the first map, the user can continue to perform disposal actions on the remaining identified obstacles.

[0055] In some embodiments, in the case that the pre-configured arrangement-type disposal manners include at least one arrangement-type disposal manner of arranging to a new placement position, determining the target placement position of each of the N identified obstacles according to the arrangement-type disposal manners of the N identified obstacles comprises: if the arrangement-type disposal manner of the target obstacle is arranging to a new placement position, obtaining a position specifying command of the target obstacle. The position specifying command is generated in response to the position specifying action of the user on the target obstacle, and the position specifying command is used to specify the new placement position of the target obstacle, wherein the target obstacle is the obstacle currently being disposed by the user among the N obstacles.

[0056] In some embodiments, for the target obstacle currently being disposed by the user, the application program for operating the robot prompts the user to perform a position specifying action. The position specifying action is the selection operation of the user on the new placement position of the target obstacle in the application program for operating the robot. The selection operation is the operation of the user selecting the new placement position of the target obstacle in the second map displayed by the application program for operating the robot; or the operation of the user selecting the new placement position of the target obstacle in the position list displayed by the application program for operating the robot.

[0057] It should be noted that the position list displayed contains a plurality of candidate placement positions suitable for the target obstacle. It should also be noted that the second map has the same map range as the first map, and the difference between the second map and the first map is that the second map can be operated by the user.

[0058] In some embodiments, in the application program for operating the robot by the user, the user is prompted to perform the position specifying action, i.e. after the application program acquires the disposal action of "arranging to new placement position" selected by the user, the display interface of the application program jumps to a second map or a position list containing multiple candidate placement positions, so that the user can further select the room and the specific position in the room where the target obstacle is to be placed in the second map or the position list. The second map can be used for the user to frame a new placement position, or multiple candidate placement positions are marked on the second map for the user to select.

[0059] In some embodiments, after determining the new placement position of the target obstacle according to the position specifying command, the display interface of the application program jumps to the main interface displaying the first map, and if the icons of other identified obstacles are also marked on the first map, the user can continue to perform disposal actions on the remaining identified obstacles.

[0060] In some embodiments, if the arrangement type disposal manner for the target obstacle is arranging to a new placement position or arranging to a default placement position, moving N identified obstacles from the current positions to the respective target placement positions according to the target placement positions and position information of the N identified obstacles includes: for the target obstacle, moving to the current position of the target obstacle according to the position information of the target obstacle, the target obstacle being the currently executed obstacle among the N identified obstacles by the user. After picking up the target obstacle, move to the target placement position, thereby completing the arrangement of the target obstacle.

[0061] In some embodiments, determining the target placement positions of the N identified obstacles according to the arrangement type disposal manner for the N identified obstacles includes: if the disposal manner of K identified obstacles among the N identified obstacles is adding to the arrangement list, adding the K obstacles to the current arrangement list, K being a positive integer not greater than N. In the current arrangement list, the target placement position of each identified obstacle among the K identified obstacles is determined.

[0062] It should be noted that the values of M, N and K are not fixed values pre-set, M is determined based on the actual situation of the number of obstacles in the environment of the robot, and N and K are determined based on the number of obstacles in the environment of the robot and user selection.

[0063] In some embodiments, for any one of the identified obstacles marked on the first map, if an adding command for the identified obstacle is obtained, the identified obstacle is added to the current sorting list in response to the adding command for the identified obstacle. It should be noted that the adding command for the identified obstacle is generated by a user in the application program for operating the robot by the user, selecting the disposal manner of "adding to the sorting list" for the identified obstacle. In the application scenario where the application program for operating the robot by the user is installed on the user device, the user device sends the adding command for the identified obstacle to the robot, so that the robot receives the adding command for the identified obstacle.

[0064] In some embodiments, in the current sorting list, the target placement positions of the K identified obstacles are determined, including: for each of the K identified obstacles in the current sorting list, if an adjustment command for adjusting the placement position of the identified obstacle is obtained, the new placement position adjusted based on the adjustment command is taken as the target placement position of the identified obstacle, otherwise, according to the category information of the identified obstacle, a default placement position of the identified obstacle is determined from a plurality of default placement positions established in advance according to obstacle categories, as the target placement position of the identified obstacle.

[0065] It should be noted that the adjustment command for the placement position of the identified obstacle is generated by a user in the application program for operating the robot by the user, by performing an action of adjusting from a default placement position to a new placement position for the identified obstacle. In the application scenario where the application program for operating the robot by the user is installed on the user device, the user device sends the adjustment command to the robot, so that the robot obtains the adjustment command for adjusting the placement position of the identified obstacle.

[0066] In some embodiments, the current sorting list includes K identified obstacles of at least one obstacle category. For example, the form of the current sorting list can refer to the following Table 2:

[0067] Table 2. Current sorting list

[0068] Serial number Obstacle category Placement position 1 Shoes Hallway door mat 2 Socks Bedroom closet side 3 Toys Bedroom corner 4 Shoes Hallway door mat 5 Paper ball Kitchen trash can

[0069] To determine the target placement position of each of the K identified obstacles in the current arrangement list, in some embodiments, in response to obtaining an addition command for any one of the identified obstacles marked on the first map, the display interface of the application jumps to display the current arrangement list after adding the identified obstacle to the current arrangement list. In the current arrangement list, the target placement position of the newly added identified obstacle to the current arrangement list is displayed as the default placement position, and if an adjustment command is obtained for adjusting the target placement position of the newly added identified obstacle in the current arrangement list, the new placement position adjusted based on the adjustment command is taken as the target placement position of the identified obstacle. Then, the display interface of the application jumps from the current arrangement list to the main interface displaying the first map, so as to facilitate the user to select the next identified obstacle to be added to the current arrangement list and add it to the current arrangement list, and repeat the above process until the current arrangement list is set.

[0070] In some embodiments, moving the N identified obstacles from the current positions to the respective target placement positions according to the target placement positions and the position information of the N identified obstacles comprises:

[0071] For the K identified obstacles in the current arrangement list, path planning is performed according to the current arrangement list and the position information of the K identified obstacles to generate an article arrangement path, and the K identified obstacles are arranged according to the article arrangement path to move the K identified obstacles from the current positions to the respective target placement positions of the K identified obstacles.

[0072] In some embodiments, the main interface of the application for the user to operate the robot can be provided with a start option for starting to arrange the obstacles in the current arrangement list, and based on a start arrangement command generated by the user's operation of the start option, if the start arrangement command is obtained, the step of performing path planning according to the current arrangement list and the position information of the K identified obstacles to generate an article arrangement path is triggered.

[0073] In some embodiments, the plurality of candidate disposal modes preconfigured can further include a non-arrangement disposal mode and a non-avoidance disposal mode. The non-arrangement disposal mode: the robot does not perform the arrangement action, and the identified obstacle continues to remain at the original position and is continuously marked on the first map; the non-avoidance disposal mode: the robot does not perform the obstacle avoidance action when the identified obstacle is encountered during the next cleaning task, and the identified obstacle is not continuously marked on the first map.

[0074] In a case where the target disposal manner is pre-configured as a disposal manner without tidying, the disposing the M identified obstacles according to the target disposal manner further includes: in a case where it is determined that the target disposal manner for the target obstacle is the disposal manner without tidying, causing the robot to perform an obstacle avoidance action when moving to a position where the target obstacle is located in a process of performing a subsequent task according to the position information of the target obstacle.

[0075] In a case where the target disposal manner is pre-configured as a disposal manner without avoiding, the disposing the M identified obstacles according to the target disposal manner further includes: in a case where it is determined that the target disposal manner for the target obstacle is the disposal manner without avoiding, removing the target obstacle on the first map, and causing the robot not to perform an obstacle avoidance action when moving to a position where the target obstacle is located in a process of performing a cleaning task, so that the target obstacle is cleaned.

[0076] Based on the same inventive concept, the disclosure also provides an obstacle processing device for a robot, as shown in FIG. 4, which shows the structure of the obstacle processing device for a robot according to some embodiments of the disclosure. The obstacle processing device for a robot includes: an identification and marking unit 401, which identifies obstacles and marks the identified obstacles on a first map; a disposal determination unit 402, which is configured to obtain a disposal command for M identified obstacles, and determine a target disposal manner for the M identified obstacles according to the disposal command, the disposal command being generated in response to a disposal action performed by a user on the M identified obstacles marked on the first map, M being a positive integer; and a disposal execution unit 403, which is configured to control the robot to dispose the M identified obstacles according to the target disposal manner.

[0077] In some embodiments, the disposal determination unit 402 is configured to obtain a sub-disposal command for each of the M identified obstacles, and select a disposal manner for the identified obstacle from a plurality of pre-configured candidate disposal manners according to the sub-disposal command for the identified obstacle.

[0078] In some embodiments, the identification and marking unit 401 is configured to obtain identification result information by identifying obstacles, wherein the identification result information includes position information and category information of each identified obstacle; and for each identified obstacle, mark the identified obstacle on the first map according to the position information and the category information of the identified obstacle.

[0079] In some embodiments, the plurality of candidate disposal manners includes at least one arrangement disposal manner, and the disposal execution unit 403 includes a first disposal unit. The first disposal unit includes: a position determination sub-unit configured to, if the disposal manner of N identified obstacles in the M identified obstacles is the arrangement disposal manner, determine a target arrangement position of the N identified obstacles according to the arrangement disposal manner of the N identified obstacles; and an arrangement sub-unit configured to move the N identified obstacles from the current positions to the respective target arrangement positions according to the target arrangement positions and the position information of the N identified obstacles.

[0080] In some embodiments, the position determination sub-unit is configured to, if the arrangement disposal manner of the target obstacle is to arrange to a default arrangement position, determine a default arrangement position matching the target obstacle from a plurality of default arrangement positions established in advance according to obstacle categories as the target arrangement position of the target obstacle, where the target obstacle is an obstacle currently executed by the user in the N identified obstacles.

[0081] In some embodiments, the position determination sub-unit is configured to, if the arrangement disposal manner of the target obstacle is to arrange to a new arrangement position, acquire a position specifying command of the target obstacle. The position specifying command is generated in response to a position specifying action of the user on the target obstacle, and is used to specify the new arrangement position of the target obstacle, where the target obstacle is an obstacle currently executed by the user in the N identified obstacles. The new arrangement position is taken as the target arrangement position of the target obstacle.

[0082] In some embodiments, the position specifying action is a selection operation of the user on the new arrangement position of the target obstacle in an application program for operating the robot. The selection operation is an operation of the user selecting the new arrangement position of the target obstacle in a second map displayed by the application program, or an operation of the user selecting the new arrangement position of the target obstacle in a position list displayed by the application program, where the position list includes a plurality of candidate arrangement positions suitable for the target obstacle.

[0083] In some embodiments, the arrangement sub-unit is configured to, for the target obstacle, move to the current position of the target obstacle according to the position information of the target obstacle, where the target obstacle is an obstacle currently executed by the user in the N identified obstacles; and move to the target arrangement position after picking up the target obstacle.

[0084] In some embodiments, the position determining subunit comprises: an adding module, configured to, if the disposal manner of K identified obstacles in the N identified obstacles is to be added to the arrangement list, add the K identified obstacles to a current arrangement list, K being a positive integer not greater than N; and a position adjusting module, configured to determine target placement positions of the K identified obstacles in the current arrangement list.

[0085] In some embodiments, the arrangement subunit is configured to, for the K identified obstacles, perform path planning according to the current arrangement list and position information of the K identified obstacles, to generate an article arrangement path; and arrange the K identified obstacles according to the article arrangement path, to move the K identified obstacles from current positions to respective target placement positions of the K identified obstacles.

[0086] In some embodiments, the position adjusting module is configured to, for each of the K identified obstacles, if an adjustment command for adjusting the placement position of the identified obstacle is obtained, take a new placement position adjusted based on the adjustment command as the target placement position of the identified obstacle, or otherwise, according to category information of the identified obstacle, determine a default placement position of the identified obstacle from a plurality of default placement positions established in advance according to obstacle categories, as the target placement position of the identified obstacle.

[0087] In some embodiments, the plurality of candidate disposal manners comprises a no-arrangement disposal manner and / or a no-avoidance disposal manner. The disposal executing unit 403 comprises a second disposal unit or a third disposal unit. The second disposal unit is configured to, if it is determined that the disposal manner for a target obstacle is the no-arrangement disposal manner, cause the robot to perform an obstacle avoidance action when moving to a position where the target obstacle is located in a process of executing a subsequent task, according to position information of the target obstacle. The third disposal unit is configured to, if it is determined that the target disposal manner for a target obstacle is the no-avoidance disposal manner, remove the target obstacle on the first map, so that the robot does not perform an obstacle avoidance action when moving to a position where the target obstacle is located in a process of executing a cleaning task. The target obstacle is an obstacle in the M identified obstacles that is currently being disposed of by a user.

[0088] In some embodiments, the obstacle processing apparatus for the robot further comprises: a function detection unit configured to detect whether an automatic arrangement function of the robot is in an open state; an automatic arrangement unit configured to, if the automatic arrangement function is in the open state, identify an obstacle during execution of a target task, determine a default placement position of the identified obstacle according to a category of the identified obstacle, and move the identified obstacle to the default placement position; and an identification marking unit 401 configured to, if the automatic arrangement function is not in the open state, identify an obstacle and mark the identified obstacle on a first map.

[0089] The specific functions of the various functional units in the above apparatus have been described in detail in the obstacle processing method for the robot provided by some embodiments of the present disclosure, and will not be described in detail here.

[0090] Based on the same inventive concept, the embodiments of the present disclosure further provide a robot, comprising: a robot chassis configured to clean a floor; and a mechanical arm connected to the robot chassis, the mechanical arm being configured to arrange items on the floor. As shown in FIG. 5, FIG. 5 shows the structure of a robot according to some embodiments of the present disclosure, which further comprises: a processor 502; and a memory 504 configured to store instructions executable by the processor 502. The processor 502 is configured to execute the instructions to implement the obstacle processing method for the robot described in any of the above embodiments.

[0091] In FIG. 5, a bus architecture (represented by bus 500) can include any number of interconnecting buses and bridges, the bus 500 linking together various circuits such as one or more processors represented by processor 502, and memory represented by memory 504. The bus 500 can also link various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art. Therefore, they will not be described further herein. A bus interface 505 provides an interface between the bus 500 and a receiver 501 and a transmitter 503. The receiver 501 and the transmitter 503 can be the same element, i.e. a transceiver, which provides a unit for communicating with various other devices over a transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, while the memory 504 can be used to store data used by the processor 502 in performing operations.

[0092] Based on the same inventive concept, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the obstacle processing method for the robot described in any of the above embodiments.

[0093] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0094] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0096] In a first aspect of the present disclosure, a method for obstacle handling of a robot is provided, comprising:

[0097] identifying obstacles and marking the identified obstacles on a first map; obtaining disposal commands for M identified obstacles, and determining target disposal manners for the M identified obstacles according to the disposal commands, the disposal commands being generated in response to disposal actions performed by a user on the M identified obstacles marked on the first map, M being a positive integer; and disposing the M identified obstacles according to the target disposal manners.

[0098] In combination with the first aspect, in some embodiments, the determining the target disposal manners for the M identified obstacles according to the disposal commands comprises: for each of the M identified obstacles, obtaining a sub-disposal command for the identified obstacle, and selecting a disposal manner for the identified obstacle from a plurality of pre-configured candidate disposal manners according to the sub-disposal command for the identified obstacle.

[0099] With reference to the first aspect, in some embodiments, the identifying the obstacles and marking the identified obstacles on the first map comprises: obtaining identification result information by identifying the obstacles, wherein the identification result information comprises location information and category information of each identified obstacle; and for each identified obstacle, marking the identified obstacle on the first map according to the location information and the category information of the identified obstacle.

[0100] With reference to the first aspect, in some embodiments, the plurality of candidate disposal manners comprises at least one arrangement type disposal manner, and the disposing the M identified obstacles according to the target disposal manner comprises: in a case where a disposal manner of N identified obstacles among the M identified obstacles is the arrangement type disposal manner, determining target placement positions of the N identified obstacles according to the arrangement type disposal manner for the N identified obstacles; and moving the N identified obstacles from current locations to respective target placement positions according to the target placement positions and the location information of the N identified obstacles.

[0101] With reference to the first aspect, in some embodiments, the determining the target placement positions of the N identified obstacles according to the arrangement type disposal manner for the N identified obstacles comprises: in a case where the arrangement type disposal manner for a target obstacle is to arrange to a default placement position, determining, according to category information of the target obstacle, a default placement position matched with the target obstacle from a plurality of default placement positions established in advance according to obstacle categories, as the target placement position of the target obstacle; wherein the target obstacle is an obstacle currently performing a disposal action by a user among the N identified obstacles.

[0102] With reference to the first aspect, in some embodiments, the determining the target placement positions of the N identified obstacles according to the arrangement type disposal manner for the N identified obstacles comprises: in a case where the arrangement type disposal manner for a target obstacle is to arrange to a new placement position, obtaining a location specifying command for the target obstacle, wherein the location specifying command is generated by responding to a location specifying action of a user on the target obstacle, and the location specifying command is used to specify a new placement position of the target obstacle, the target obstacle is an obstacle currently performing a disposal action by a user among the N identified obstacles; and taking the new placement position as the target placement position of the target obstacle.

[0103] In some embodiments of the first aspect, the position specifying action is a selection operation of a new placement position of the target obstacle in an application program for operating the robot by the user; wherein the selection operation is a selection operation of a new placement position of the target obstacle in a second map displayed by the application program; or a selection operation of a new placement position of the target obstacle in a position list displayed by the application program, the position list containing a plurality of candidate placement positions suitable for the target obstacle.

[0104] In some embodiments of the first aspect, the moving the N identified obstacles from the current positions to the respective target placement positions according to the target placement positions and the position information of the N identified obstacles comprises: for a target obstacle, moving to a current position of the target obstacle according to the position information of the target obstacle, the target obstacle being an obstacle currently operated by the user among the N identified obstacles; and moving to the target placement position after picking up the target obstacle.

[0105] In some embodiments of the first aspect, the determining the target placement positions of the N identified obstacles according to the arrangement type of disposal for the N identified obstacles comprises: if a disposal type of K identified obstacles among the N identified obstacles is adding to an arrangement list, adding the K identified obstacles to a current arrangement list, K being a positive integer not greater than N; and determining the target placement positions of the K identified obstacles in the current arrangement list.

[0106] In some embodiments of the first aspect, the moving the N identified obstacles from the current positions to the respective target placement positions according to the target placement positions and the position information of the N identified obstacles comprises: for the K identified obstacles, performing path planning according to the current arrangement list and the position information of the K identified obstacles to generate an article arrangement path; and performing arrangement on the K identified obstacles according to the article arrangement path to move the K identified obstacles from the current positions to the respective target placement positions of the K identified obstacles.

[0107] In some embodiments of the first aspect, the determining, in the current arrangement list, the target placement position of the K identified obstacles comprises: for each of the K identified obstacles, if an adjustment command for adjusting the placement position of the identified obstacle is obtained, a new placement position adjusted based on the adjustment command is taken as the target placement position of the identified obstacle; otherwise, according to category information of the identified obstacle, a default placement position of the identified obstacle is determined from a plurality of default placement positions established in advance according to obstacle categories, and the default placement position is taken as the target placement position of the identified obstacle.

[0108] In some embodiments of the first aspect, the plurality of candidate treatment modes include a treatment mode without arrangement and / or a treatment mode without avoidance; and the disposing, according to the target treatment mode, the M identified obstacles comprises: in a case where it is determined that the treatment mode for a target obstacle is the treatment mode without arrangement, causing the robot to perform an obstacle avoidance action when moving to a position where the target obstacle is located in a process of performing a subsequent task according to position information of the target obstacle; and / or

[0109] In a case where it is determined that the target treatment mode for a target obstacle is the treatment mode without avoidance, clearing the target obstacle on the first map, so that the robot does not perform an obstacle avoidance action when moving to a position where the target obstacle is located in a process of performing a cleaning task; wherein the target obstacle is an obstacle of the M identified obstacles that is currently subjected to a treatment action performed by a user.

[0110] In some embodiments of the first aspect, before the step of identifying obstacles and marking the identified obstacles on the first map, the method further comprises: detecting whether an automatic arrangement function of the robot is in an open state; if yes, identifying obstacles in a process of performing a target task, determining a default placement position of the identified obstacle according to a category of the identified obstacle, and moving the identified obstacle to the default placement position; if not, performing the step of identifying obstacles and marking the identified obstacles on the first map.

[0111] In a second aspect of the present disclosure, a device for obstacle processing of a robot is provided, comprising: an identification and marking unit configured to identify obstacles and mark the identified obstacles on a first map; a treatment determination unit configured to obtain a treatment command for M identified obstacles, and determine a target treatment mode for the M identified obstacles according to the treatment command, the treatment command being generated in response to a treatment action performed by a user on the M identified obstacles marked on the first map, M being a positive integer; and a treatment execution unit configured to dispose the M identified obstacles according to the target treatment mode.

[0112] In a third aspect of the present disclosure, a robot is provided, comprising: a robot base for cleaning a ground; a robotic arm connected with the robot base, the robotic arm being configured to arrange an object on the ground; a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the obstacle processing method of the first aspect.

[0113] In a fourth aspect of the present disclosure, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, implements the obstacle processing method of the first aspect.

[0114] The one or more technical solutions provided by the present disclosure at least achieve the following technical effects or advantages:

[0115] The present disclosure obtains disposal commands for M identified obstacles, M being a positive integer, and determines target disposal manners for the M identified obstacles according to the disposal commands, and disposes the M identified obstacles according to the target disposal manners. Since the disposal commands for the M identified obstacles are obtained by responding to disposal actions performed by a user on the M identified obstacles marked on the first map, the user can participate in the disposal of the identified obstacles, so as to reduce the situation that the robot misarranges objects, make the arrangement result of the robot on the objects closer to the user's expectation, and further improve the accuracy of the arrangement function of the robot.

[0116] Although the preferred embodiments of the present disclosure have been described, those skilled in the art can make additional changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present disclosure.

[0117] Obviously, various modifications and changes can be made to the present disclosure by those skilled in the art without departing from the spirit and scope of the present disclosure. Thus, it is intended that the present disclosure cover the modifications and changes as falling within the scope of the claims of the present disclosure and their equivalents.

[0118] The above description is merely illustrative of the embodiments of the present disclosure and is not intended to limit the present disclosure. The present disclosure can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

1. An obstacle handling method for a robot, comprising: Identify obstacles and mark the identified obstacles on the first map; Obtain handling commands for M identified obstacles, and determine a target handling method for the M identified obstacles based on the handling commands. The handling commands are generated in response to a user's handling action on the M identified obstacles marked on the first map, where M is a positive integer. The M identified obstacles are handled according to the target handling method.

2. The method as described in claim 1, wherein, The step of determining the target handling method for the M identified obstacles according to the handling command includes: For each of the M identified obstacles, a sub-disposal command for that identified obstacle is obtained, and a disposal method for that identified obstacle is selected from a variety of pre-configured candidate disposal methods based on the sub-disposal command for that identified obstacle.

3. The method as described in claim 2, wherein, The process of identifying obstacles and marking the identified obstacles on the first map includes: The identification result information is obtained by identifying obstacles, wherein the identification result information includes the location information and category information of each identified obstacle; For each identified obstacle, the identified obstacle is marked on the first map according to its location and category information.

4. The method of claim 3, wherein, The multiple candidate handling methods include at least one sorting-type handling method. The handling of the M identified obstacles according to the target handling method includes: If the handling method for N out of the M identified obstacles is the sorting-type handling method, the target placement position of the N identified obstacles is determined according to the sorting-type handling method used for the N identified obstacles; Based on the target placement position and position information of the N identified obstacles, the N identified obstacles are moved from their current positions to their respective target placement positions.

5. The method of claim 4, wherein, The step of determining the target placement position of the N identified obstacles based on the sorting and handling method used for the N identified obstacles includes: If the sorting method for the target obstacle is to sort it to the default placement position, based on the category information of the target obstacle, a default placement position that matches the target obstacle is determined from a variety of default placement positions established in advance according to the obstacle category, and this is taken as the target placement position of the target obstacle; The target obstacle is the obstacle among the N identified obstacles that the user is currently acting on.

6. The method of claim 4, wherein, The step of determining the target placement position of each of the N identified obstacles according to the sorting and handling method used for the N identified obstacles includes: If the disposal method for the target obstacle is to move it to a new placement position, a position specification command for the target obstacle is obtained. The position specification command is generated in response to the user's action of specifying the position of the target obstacle, and the position specification command is used to specify the new placement position of the target obstacle. The target obstacle is the obstacle among the N identified obstacles that is currently being disposed of by the user. The new placement position is taken as the target placement position of the target obstacle.

7. The method of claim 6, wherein, The position designation action is a user's selection of a new placement position for the target obstacle in an application used to operate the robot. The selection operation can be either a user selecting a new placement location for the target obstacle from a second map displayed in the application, or a user selecting a new placement location for the target obstacle from a list of locations displayed in the application, where the list contains multiple candidate placement locations suitable for the target obstacle.

8. The method of claim 4, wherein, The step of moving the N identified obstacles from their current positions to their respective target positions based on their target placement positions and position information includes: For a target obstacle, move to the current location of the target obstacle based on the location information of the target obstacle. The target obstacle is the obstacle currently being acted upon by the user among the N identified obstacles. After picking up the target obstacle, move it to the target placement position.

9. The method of claim 4, wherein, The step of determining the target placement position of the N identified obstacles based on the sorting and handling method used for the N identified obstacles includes: If the handling method for K out of the N identified obstacles is to add them to the sorting list, then add the K identified obstacles to the current sorting list, where K is a positive integer not greater than N; In the current sorting list, determine the target placement positions of the K identified obstacles.

10. The method of claim 9, wherein, The step of moving the N identified obstacles from their current positions to their respective target positions based on their target placement positions and position information includes: For the K identified obstacles, a path is planned based on the current sorting list and the location information of the K identified obstacles to generate an item sorting path; The K identified obstacles are organized according to the item sorting path, so as to move the K identified obstacles from their current positions to their respective target placement positions.

11. The method of claim 9, wherein, Determining the target placement positions of the K identified obstacles in the current sorting list includes: For each of the K identified obstacles, if an adjustment command is obtained to adjust the placement of the identified obstacle, the new placement position after adjustment based on the adjustment command will be used as the target placement position of the identified obstacle; otherwise, based on the category information of the identified obstacle, the default placement position of the identified obstacle will be determined from a variety of default placement positions established in advance according to the obstacle category, and used as the target placement position of the identified obstacle.

12. The method of claim 3, wherein, The various candidate handling methods include handling methods that do not require sorting and / or handling methods that do not require avoidance; The step of processing the M identified obstacles according to the target processing method includes: If it is determined that the method for handling the target obstacle is a non-organizational method, then, based on the location information of the target obstacle, the robot performs an obstacle avoidance maneuver when it moves to the location of the target obstacle during the execution of subsequent tasks; and / or If it is determined that the target obstacle is a non-avoidance type of handling method, the target obstacle is cleared on the first map so that the robot does not perform obstacle avoidance actions when moving to the location of the target obstacle during the cleaning task. The target obstacle is the obstacle among the M identified obstacles that the user is currently acting on.

13. The method of claim 1, wherein, Before identifying obstacles and marking the identified obstacles on the first map, the method further includes: Check whether the robot's automatic sorting function is enabled; If so, during the execution of the target task, obstacles are identified, the default placement position of the identified obstacles is determined according to the category of the identified obstacles, and the identified obstacles are moved to the default placement position; If not, perform the step of identifying obstacles and marking the identified obstacles on the first map.

14. An obstacle handling device for a robot, comprising: The identification and marking unit identifies obstacles and marks the identified obstacles on the first map; The disposal determination unit is used to acquire disposal commands for M identified obstacles and determine the target disposal method for the M identified obstacles based on the disposal commands. The disposal commands are generated in response to the disposal actions performed by the user on the M identified obstacles marked on the first map, where M is a positive integer. The disposal execution unit is used to dispose of the M identified obstacles in accordance with the target disposal method.

15. A robot comprising: The chassis of a sweeper, used for cleaning floors; A robotic arm is connected to the chassis of the sweeper, and the robotic arm is used to clean up items on the ground. processor; A memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the obstacle handling method as described in any one of claims 1 to 13.

16. A computer-readable storage medium comprising a computer program stored thereon, which, when executed by a processor, implements the obstacle handling method of any one of claims 1 to 13.

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