CN113997286A - Robot obstacle avoidance method, robot and computer readable storage medium - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a robot obstacle avoidance method, a robot and a computer readable storage medium, wherein the method comprises the following steps: controlling the sonar device to emit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals; determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot; and updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map. The invention aims to improve the accuracy of obstacle avoidance of the robot and ensure the safe operation of the robot.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a robot obstacle avoidance method, a robot and a computer readable storage medium.
Background
With the development of artificial intelligence technology, robots are more and more common in life, at present, in service places such as hotels and the like, the robots are generally used for welcoming guests, bringing guests to destinations, or delivering goods to rooms by using the robots for serving, and the robots can avoid obstacles by identifying obstacles in front during working.
In the related art, a robot usually utilizes a laser radar or a camera to identify obstacles, but in some specific working scenes, for example, when facing obstacles such as glass, the method for identifying the obstacles by the laser radar or the camera fails, and the methods cannot accurately avoid the obstacles, so that the safety of the operation of the robot is affected.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a robot obstacle avoidance method, a robot and a computer readable storage medium, aiming at achieving the effect of improving the accuracy of robot obstacle avoidance.
In order to achieve the purpose, the invention provides a robot obstacle avoidance method, which is applied to a robot provided with a sonar device, and comprises the following steps:
controlling the sonar device to emit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals;
determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot;
and updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map.
Optionally, the step of updating the obstacle area on the grid map according to the obstacle information includes:
determining position information of an obstacle in a map coordinate system according to the obstacle information, wherein the map coordinate system is a coordinate system corresponding to the grid map established based on the position of the robot;
determining pixel point coordinates corresponding to the obstacles on the grid map according to the position information, and updating target cost values corresponding to the pixel point coordinates;
updating the obstacle regions on the grid map according to the target cost value.
Optionally, the step of determining position information of the obstacle in the map coordinate system according to the obstacle information includes:
acquiring a conversion relation between a coordinate system of the obstacle information and the map coordinate system;
and converting the obstacle information into the position information according to the conversion relation.
Optionally, the step of updating the target cost value corresponding to the pixel point coordinate includes:
acquiring a preset cost value of an obstacle area on the grid map;
and updating the target cost value corresponding to the pixel point coordinate according to the preset cost value.
Optionally, after the step of updating the obstacle region on the grid map according to the target cost value, the method further includes:
obtaining an effective path forward according to the current position of the robot in the grid map, and determining a corresponding cost value of the effective path in the grid map;
and determining one effective path as a travelable path according to the cost value, and controlling the robot to move along the travelable path.
Optionally, the robot includes at least two sonar devices, and the step of determining obstacle information from the return signals includes:
acquiring first time when a first sonar device sends the sound wave signal and receives the return signal, and acquiring second time when a second sonar device sends the sound wave signal and receives the return signal;
confirming a first distance between an obstacle and the first sonar device according to the first time, confirming a second distance between the obstacle and the second sonar device according to the second time, and acquiring a third distance between the first sonar device and the second sonar device;
determining a relative position between the obstacle and the robot from the first distance, the second distance, and the third distance.
Optionally, the step of updating the obstacle area on the grid map according to the obstacle information to control the action of the robot through the updated grid map includes:
acquiring the current position of the robot and the operation information of the robot, judging whether an obstacle area exists in front or not according to the current position and the grid map, and determining whether the robot has a collision threat or not according to the operation information and a judgment result;
and if the robot is determined to have collision threat, replanning a travelable path according to the updated grid map, or controlling the robot to slow down or stop acting.
In addition, in order to achieve the above object, the present invention further provides a robot, where the robot includes a memory, a processor, and a robot obstacle avoidance program stored in the memory and operable on the processor, and when the robot obstacle avoidance program is executed by the processor, the steps of the robot obstacle avoidance method described above are implemented.
Further, to achieve the above object, the present invention also provides a robot comprising:
the transmitting module is used for controlling the sonar device to transmit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals;
the determining module is used for determining the barrier information according to the return signal and acquiring a grid map of a working area corresponding to the robot;
and the updating module is used for updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, where a robot obstacle avoidance program is stored, and when executed by a processor, the robot obstacle avoidance program implements the steps of the robot obstacle avoidance method as described above.
According to the robot obstacle avoidance method, the robot and the computer readable storage medium provided by the embodiment of the invention, the robot is provided with a sonar device, the sonar device is controlled to transmit sound wave signals to the environment where the robot is located, and return signals of the sound wave signals are received; determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot; the method comprises the steps of updating an obstacle area on a grid map according to obstacle information, controlling the action of the robot through the updated grid map, transmitting a sound wave signal through a sonar device of the robot, generating a return signal if the sound wave is transmitted to an obstacle in the environment where the robot is located, determining the obstacle information, and updating the grid map according to the obstacle information.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an embodiment of a robot obstacle avoidance method according to the present invention;
fig. 3 is a schematic flowchart of another embodiment of the obstacle avoidance method for a robot according to the present invention;
fig. 4 is a schematic diagram of a robot architecture according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Since in the related art, the robot usually uses the laser radar or the camera to identify the obstacle, but in some specific working scenarios, for example, when facing an obstacle such as glass, the method of identifying the obstacle by the laser radar or the camera will fail. Therefore, the robot can avoid the obstacle accurately without people, and the running safety of the robot is influenced.
In order to improve the accuracy of robot obstacle avoidance, the embodiment of the invention provides a robot obstacle avoidance method, a robot and a computer readable storage medium, wherein the method mainly comprises the following steps:
controlling the sonar device to emit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals;
determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot;
and updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map.
The following detailed description of the claimed invention refers to the accompanying drawings.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a robot.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a memory 1003, and a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The memory 1003 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1003 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1003, which is a kind of computer storage medium, may include an operating system and a robot obstacle avoidance program therein.
In the terminal shown in fig. 1, the processor 1001 may be configured to call a robot obstacle avoidance program stored in the memory 1003, and perform the following operations:
controlling the sonar device to emit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals;
determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot;
and updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map.
Further, the processor 1001 may call the robot obstacle avoidance program stored in the memory 1003, and further perform the following operations:
determining position information of an obstacle in a map coordinate system according to the obstacle information, wherein the map coordinate system is a coordinate system corresponding to the grid map established based on the position of the robot;
determining pixel point coordinates corresponding to the obstacles on the grid map according to the position information, and updating target cost values corresponding to the pixel point coordinates;
updating the obstacle regions on the grid map according to the target cost value.
Further, the processor 1001 may call the robot obstacle avoidance program stored in the memory 1003, and further perform the following operations:
acquiring a conversion relation between a coordinate system of the obstacle information and the map coordinate system;
and converting the obstacle information into the position information according to the conversion relation.
Further, the processor 1001 may call the robot obstacle avoidance program stored in the memory 1003, and further perform the following operations:
acquiring a preset cost value of an obstacle area on the grid map;
and updating the target cost value corresponding to the pixel point coordinate according to the preset cost value.
Further, the processor 1001 may call the robot obstacle avoidance program stored in the memory 1003, and further perform the following operations:
obtaining an effective path forward according to the current position of the robot in the grid map, and determining a corresponding cost value of the effective path in the grid map;
and determining one effective path as a travelable path according to the cost value, and controlling the robot to move along the travelable path.
Further, the processor 1001 may call the robot obstacle avoidance program stored in the memory 1003, and further perform the following operations:
acquiring first time when a first sonar device sends the sound wave signal and receives the return signal, and acquiring second time when a second sonar device sends the sound wave signal and receives the return signal;
confirming a first distance between an obstacle and the first sonar device according to the first time, confirming a second distance between the obstacle and the second sonar device according to the second time, and acquiring a third distance between the first sonar device and the second sonar device;
determining a relative position between the obstacle and the robot from the first distance, the second distance, and the third distance.
Further, the processor 1001 may call the robot obstacle avoidance program stored in the memory 1003, and further perform the following operations:
acquiring the current position of the robot and the operation information of the robot, judging whether an obstacle area exists in front or not according to the current position and the grid map, and determining whether the robot has a collision threat or not according to the operation information and a judgment result;
and if the robot is determined to have collision threat, replanning a travelable path according to the updated grid map, or controlling the robot to slow down or stop acting.
With the development of artificial intelligence technology, robots are more and more common in life, at present, in service places such as hotels and the like, the robots are generally used for welcoming guests, bringing guests to destinations, or delivering goods to rooms by using the robots for serving, and the robots can avoid obstacles by identifying obstacles in front during working.
In the related art, the robot can utilize laser radar or camera to discern the barrier, can utilize mark barriers such as two-dimensional code, but under some specific work scenes, for example when facing barriers such as glass, laser radar or make a video recording the method of discerning the barrier through optical principle will be invalid, and two-dimensional code mark this kind of predetermined mode can't solve the problem that the two-dimensional code drops in real time, shelters from the scheduling, leads to the robot can't accurately keep away the barrier, influences the security that the robot moved.
Therefore, in the related robot obstacle avoidance method, the defects exist. In order to solve the above defects, the embodiment of the invention provides a robot obstacle avoidance method applied to a robot, aiming at achieving the effect of improving the accuracy of robot obstacle avoidance so as to improve the safety of robot operation.
Hereinafter, the contents of the claims of the present invention are explained by specific exemplary embodiments so that those skilled in the art can better understand the scope of the claims of the present invention. It is to be understood that the following exemplary embodiments are not intended to limit the scope of the present invention, but are merely illustrative of the present invention.
Exemplarily, referring to fig. 2, in an embodiment of the robot obstacle avoidance method of the present invention, the robot obstacle avoidance method includes the following steps:
s10: controlling the sonar device to emit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals;
in this embodiment, the main body of the robot obstacle avoidance method may be a robot, the robot is a moving object that can determine a drivable path according to destination information, the robot is further provided with a sonar device, the sonar may be composed of main components such as a transmitter, an energy converter, a receiver, a display, and a timer controller, the transmitter transmits an electric signal to the electric signal, the electric signal is converted into a sound signal through the energy converter (generally using a piezoelectric crystal) and is transmitted, the sound signal bounces back after an obstacle is detected to form a return signal, since the sound wave speed is a fixed value, the timer records the flight time of the sound wave, the distance from the obstacle to the sonar can be obtained through calculation of a speed formula, and the relative position of the obstacle and the sonar device can be determined.
Optionally, the sonar device can be adorned in robot head place ahead, also can install 6 sonars in 180 degrees within ranges in the place ahead, so can reduce installation cost, obtains the detection range that coverage is wider.
S20: determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot;
in this embodiment, the grid map is a bitmap, which is also called a dot matrix image or a drawing image, and is composed of single points called pixels (picture elements). The grid map is established when the robot carries out the work, the robot carries out navigation work by depending on the grid map of a work scene, the grid map is divided into a feasible region, an unknown region and an obstacle region, and the robot can only pass through the feasible region.
Optionally, the relative position of the obstacle and the sonar device can be determined by a return signal formed by emitting a sound wave signal through the sonar device, when the object is identified by the sonar, the obstacle information can be determined according to the return signal, and the relative position of the obstacle and the sonar device is also determined, optionally, the obstacle information can be in the form of coordinate data, and the corresponding sonar coordinate system (sonar _ link coordinate system) is coordinates with the sonar device as the origin.
Optionally, the robot may include at least two sonar devices, acquiring a first time when a first sonar device transmits the acoustic wave signal and receives the return signal, and acquiring a second time when a second sonar device transmits the acoustic wave signal and receives the return signal; confirming a first distance between an obstacle and the first sonar device according to the first time, confirming a second distance between the obstacle and the second sonar device according to the second time, and acquiring a third distance between the first sonar device and the second sonar device; determining a relative position between the obstacle and the robot from the first distance, the second distance, and the third distance.
It will be appreciated that a triangle may be formed between the barrier and the two sonar devices, with the two sonar devices being horizontally disposed. Because the speed of sound wave signal can not change, be provided with the timer in the sonar device, can follow and acquire the flight time between barrier and the sonar in the sound wave signal, calculate through the speed formula and obtain first distance and second distance, and the third distance is then the fixed distance between two sonar device, can predetermine in the memory, call during the calculation, triangle-shaped trilateral confirm the back, through triangle-shaped computational formula, can confirm triangle-shaped internal angle size, confirm through triangle-shaped trilateral and internal angle relative position between barrier and the robot, can confirm barrier information according to relative position.
S30: and updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map.
Optionally, the position information of the obstacle in a map coordinate system is determined according to the obstacle information, wherein the map coordinate system is a coordinate system corresponding to the grid map created based on the position of the robot.
Specifically, the obstacle information is coordinate data in a coordinate system, which needs to be converted into position information in a map coordinate system, and the position information may be coordinate data in a map coordinate system (map coordinate system) that is a coordinate system with an initial position when the robot starts creating the grid map as an origin.
Optionally, the conversion relationship between the coordinate system of the obstacle information, which may be a coordinate system with a sonar device as an origin, and a map coordinate system, which may also be a coordinate system with a robot current position as an origin, is generally obtained through a tf tree, which is the conversion of each coordinate system in the robot, for example, the conversion relationship between coordinate systems such as map (map coordinate system), odom (robot odometer coordinate system), base _ link (robot center coordinate system), laser _ link (radar coordinate system), and sonar _ link (sonar coordinate system) can be correspondingly found in tf, the conversion between the odom coordinate system, base _ link coordinate system, laser _ link coordinate system, and sonar _ link coordinate system is a relative relationship, and the conversion between the map coordinate system and the other three coordinate systems is an absolute relationship, independent of positioning, depending on the positioning. The conversion relationship may be implemented by the following formula:
a’＝Ra+t
wherein a is a coordinate system to be converted, a' is a converted coordinate system, R is a rotation matrix, and t is a translation matrix.
Further, the air conditioner is provided with a fan,
wherein the content of the first and second substances,
is a transformation relationship between coordinate systems.
Further, the transformation formula between the rotation matrix and the rotation vector is as follows:
R＝cosθI+(1-cosθ)nnT+sinθn^
wherein n is a rotation vector and R is a rotation matrix.
It is to be understood that the coordinate values of the obstacle information and the position information may be expressed by (x, y, the) or may be expressed by a matrix.
Further, pixel point coordinates of the barrier on the grid map are determined according to the position information, and a target cost value corresponding to the pixel point coordinates is updated.
The grid map is divided into three parts, namely an unknown area, an obstacle area and a feasible area, the grid map is divided into the obstacle area according to the grid map where object coordinates detected by sonar are located, namely, pixel point coordinates on the grid map are determined according to position information, and a pixel point coordinate system is a coordinate system with a point at the leftmost lower corner of the grid map as an origin. Converting the position information into pixel point coordinates according to the following formula:
mx＝((X0-origin_x)/0.05)；
my＝((Y0-origin_y)/0.05)；
wherein, (mx, my) is a pixel coordinate, (origin _ X, origin _ Y) is an origin coordinate of the grid map, and (X0, Y0) is position information, that is, a coordinate corresponding to the obstacle in the map coordinate system.
Each pixel point is correspondingly provided with a cost value corresponding to the regional attribute of the grid map, a target cost value is set on the pixel point coordinate confirmed according to the position information, firstly, a preset cost value of the barrier region on the grid map needs to be obtained, the target cost value corresponding to the pixel point coordinate is updated according to the preset cost value, the target cost value can be the preset cost value, and after the updating, the regional attribute corresponding to the pixel point coordinate is updated, namely, the barrier region of the grid map is updated.
Optionally, the target cost value set on the pixel point coordinate is not necessarily the preset cost value of the obstacle area on the grid map, but also other values, the preset cost value of the obstacle area on the grid map is acquired after updating, the preset cost value and the target cost value are compared, and whether the pixel point coordinate corresponding to the target cost value is updated to the obstacle area is determined according to the comparison result.
After the grid map is updated, the robot needs to be controlled to act according to the updated grid map. Optionally, a current position of the robot and operation information of the robot are obtained, the operation information includes a robot operation speed, a robot model and the like, whether an obstacle area exists in front or not is judged according to the current position and the grid map, and if an obstacle area exists, whether the robot has a collision threat or not is determined according to the operation information and a judgment result; and if the obstacle area is judged to be absent, normal operation is continued.
If the robot is determined to have collision threat, replanning a travelable path according to the updated grid map, or controlling the robot to slow down or stop moving, so that the collision between the robot and the obstacle is avoided by controlling the movement of the robot, and the robot can safely operate.
In the technical scheme disclosed in this embodiment, the sonar device is controlled to emit sound wave signals to the environment where the robot is located and receive return signals of the sound wave signals; determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot; the method comprises the steps of updating an obstacle area on the grid map according to the obstacle information, controlling the action of the robot through the updated grid map, detecting the obstacle by emitting a sound wave signal through a sonar device, obtaining a return signal and determining the obstacle information, updating the grid map according to the obstacle information, controlling the action of the robot through the updated map, and detecting the obstacle by the sound wave signal more commonly.
Optionally, referring to fig. 3, based on any one of the above embodiments, in another embodiment of the robot obstacle avoidance method of the present invention, the robot obstacle avoidance method includes:
s40: obtaining an effective path forward according to the current position of the robot in the grid map, and determining a cost value of the effective path in the grid map;
in this embodiment, the robot determines a driving route through the grid map, after the grid map is updated, the robot drives around the obstacle detected by the sonar device, and the robot samples forward (driving direction) according to the current position of the robot to obtain a plurality of effective paths that can be driven, where the sampling mode may be an a-algorithm or a D-algorithm.
S50: and determining one effective path as a travelable path according to the cost value, and controlling the robot to move along the travelable path.
The grid map is divided into three parts, namely an unknown area, an obstacle area and a feasible area, wherein the preset cost value of the unknown area is-1, the preset cost value of the feasible area is 1, the preset cost value of the unknown area is 0, an effective path with the cost value of 0 corresponding to the pixel point coordinate in the grid map is determined from multiple effective paths to be the feasible path, and the robot is controlled to move along the feasible path, so that the areas moved by the robot in the operation process can be safe and feasible areas.
According to the technical scheme disclosed by the embodiment, a plurality of effective paths are obtained by the robot through forward sampling according to the current position of the robot, one effective path is determined as a travelable path according to the cost value of the effective path in the grid map, and the robot is controlled to move along the travelable path. Therefore, the obstacle detection and grid map updating by the sonar device are realized, the driving route is determined according to the grid map, on one hand, the normal work and operation of the robot are guaranteed, on the other hand, the accuracy of the robot for avoiding the obstacle is improved, and the operation safety of the robot is guaranteed.
In addition, an embodiment of the present invention further provides a robot, where the robot includes a memory, a processor, and a robot obstacle avoidance program stored on the memory and operable on the processor, and when the robot obstacle avoidance program is executed by the processor, the steps of the robot obstacle avoidance method according to the above embodiments are implemented.
Furthermore, an embodiment of the present invention further provides a robot, and exemplarily, referring to fig. 4, the robot 100 includes:
the system comprises an emission module 101, a determination module 102 and an update module 103, wherein the emission module 101 is used for controlling a sonar device to emit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals; the determining module 102 determines the obstacle information according to the return signal, and obtains a grid map of a working area corresponding to the robot; the updating module 103 is configured to update the obstacle area on the grid map according to the obstacle information, so as to control the action of the robot through the updated grid map.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a robot obstacle avoidance program is stored on the computer-readable storage medium, and when the robot obstacle avoidance program is executed by a processor, the steps of the robot obstacle avoidance method described in the above embodiments are implemented.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on this understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing the network function NF to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot obstacle avoidance method is characterized by being applied to a robot provided with a sonar device and comprising the following steps:
controlling the sonar device to emit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals;
determining obstacle information according to the return signal, and acquiring a grid map of a working area corresponding to the robot;
and updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map.
2. A robot obstacle avoidance method according to claim 1, wherein the step of updating the obstacle area on the grid map according to the obstacle information includes:
determining position information of an obstacle in a map coordinate system according to the obstacle information, wherein the map coordinate system is a coordinate system corresponding to the grid map established based on the position of the robot;
determining pixel point coordinates corresponding to the obstacles on the grid map according to the position information, and updating target cost values corresponding to the pixel point coordinates;
updating the obstacle regions on the grid map according to the target cost value.
3. A robot obstacle avoidance method according to claim 2, wherein the step of determining position information of an obstacle in a map coordinate system based on the obstacle information comprises:
acquiring a conversion relation between a coordinate system of the obstacle information and the map coordinate system;
and converting the obstacle information into the position information according to the conversion relation.
4. The robot obstacle avoidance method of claim 2, wherein the step of updating the target cost value corresponding to the pixel coordinates comprises:
acquiring a preset cost value of an obstacle area on the grid map;
and updating the target cost value corresponding to the pixel point coordinate according to the preset cost value.
5. The method of claim 2, wherein after the step of updating the obstacle area on the grid map according to the target cost value, the method further comprises:
obtaining an effective path forward according to the current position of the robot in the grid map, and determining a corresponding cost value of the effective path in the grid map;
and determining one effective path as a travelable path according to the cost value, and controlling the robot to move along the travelable path.
6. A robot obstacle avoidance method according to claim 1, wherein the robot includes at least two sonar devices, and the step of determining obstacle information from the return signals includes:
acquiring first time when a first sonar device sends the sound wave signal and receives the return signal, and acquiring second time when a second sonar device sends the sound wave signal and receives the return signal;
confirming a first distance between an obstacle and the first sonar device according to the first time, confirming a second distance between the obstacle and the second sonar device according to the second time, and acquiring a third distance between the first sonar device and the second sonar device;
determining a relative position between the obstacle and the robot from the first distance, the second distance, and the third distance.
7. The robot obstacle avoidance method of claim 1, wherein the step of updating the obstacle area on the grid map according to the obstacle information to control the action of the robot through the updated grid map comprises:
acquiring the current position of the robot and the operation information of the robot, judging whether an obstacle area exists in front or not according to the current position and the grid map, and determining whether the robot has a collision threat or not according to the operation information and a judgment result;
and if the robot is determined to have collision threat, replanning a travelable path according to the updated grid map, or controlling the robot to slow down or stop acting.
8. A robot, characterized in that the robot comprises: a memory, a processor and a robot obstacle avoidance program stored on the memory and executable on the processor, the robot obstacle avoidance program when executed by the processor implementing the steps of the robot obstacle avoidance method of any of claims 1 to 7.
9. A robot, characterized in that the robot comprises:
the transmitting module is used for controlling the sonar device to transmit sound wave signals to the environment where the robot is located and receiving return signals of the sound wave signals;
the determining module is used for determining the barrier information according to the return signal and acquiring a grid map of a working area corresponding to the robot;
and the updating module is used for updating the obstacle area on the grid map according to the obstacle information so as to control the action of the robot through the updated grid map.
10. A computer-readable storage medium, having a robot obstacle avoidance program stored thereon, which when executed by a processor implements the steps of the robot obstacle avoidance method of any of claims 1 to 7.
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