WO2022268113A1 - 障碍物躲避方法、装置、电子设备和存储介质 - Google Patents

障碍物躲避方法、装置、电子设备和存储介质 Download PDF

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Publication number
WO2022268113A1
WO2022268113A1 PCT/CN2022/100404 CN2022100404W WO2022268113A1 WO 2022268113 A1 WO2022268113 A1 WO 2022268113A1 CN 2022100404 W CN2022100404 W CN 2022100404W WO 2022268113 A1 WO2022268113 A1 WO 2022268113A1
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WO
WIPO (PCT)
Prior art keywords
robot
obstacle
material box
travel
robots
Prior art date
Application number
PCT/CN2022/100404
Other languages
English (en)
French (fr)
Inventor
何家伟
李汇祥
Original Assignee
深圳市海柔创新科技有限公司
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Filing date
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to KR1020237045116A priority Critical patent/KR20240024115A/ko
Priority to EP22827605.1A priority patent/EP4345567A1/en
Publication of WO2022268113A1 publication Critical patent/WO2022268113A1/zh
Priority to US18/392,202 priority patent/US20240118711A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/639—Resolving or avoiding being stuck or obstructed
    • G05D1/642—Resolving or avoiding being stuck or obstructed involving obstacle removal, e.g. opening doors or pushing furniture
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/667—Delivering or retrieving payloads
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G05D2109/14—Land vehicles moving on a grid
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals

Definitions

  • the present application relates to intelligent control technology, and in particular to an obstacle avoidance method, device, electronic equipment and storage medium.
  • a shelf area is provided in the storage space, and the shelf area includes a plurality of shelves, and each shelf includes a multi-layer storage location, and these storage locations are used to place goods, and an aisle is provided between two adjacent shelves.
  • Each shelf is provided with a plurality of vertical tracks and/or a plurality of transverse tracks on one side of the roadway. The robot can pass through the aisle, reach the vertical track, autonomously climb the shelf, pick up the goods, and deliver the goods through the vertical track and/or the horizontal track.
  • the robot may collide with other robots, or be hindered by the goods protruding from the shelf, which will interrupt the operation process and even cause equipment damage.
  • the present application provides an obstacle avoidance method, device, electronic equipment, and storage medium, so as to prevent the robot from being hindered by obstacles and ensure the safety of the robot.
  • the present application provides an obstacle avoidance method, which is applied to a robot, and the robot is used to move on a track in a shelf area, and the method includes:
  • the suspected obstacle is located between the current position of the robot and the target position, then determining that the suspected obstacle is an obstacle;
  • the re-planned travel route includes:
  • the traveling route from the current position to the target position is re-planned.
  • the re-planned travel route includes:
  • the traveling route from the current position to the target position is re-planned.
  • the re-planned travel route includes:
  • the determination of the new target location includes:
  • a new target position corresponding to the new task is determined.
  • the determining a new target location includes:
  • the obstacle is not located between the current position of the other robot and the target position, and the obstacle is not located between the current position of the robot and the corresponding position of the other robot.
  • the current tasks of the robot and the other robots are exchanged, and the target positions corresponding to the other robots are determined as the new target positions.
  • the shelf area includes a plurality of storage locations, and the storage locations are used to store fixed material boxes;
  • the determination of the new target position includes:
  • the obstacle is not located between the current position of the other robot and the target position, and the obstacle is not located between the current position of the robot and the corresponding position of the other robot.
  • the current tasks of the robot and the other robots are exchanged, and the target positions corresponding to the other robots are determined as the new target positions.
  • the detecting whether there is a suspected obstacle in the direction of travel includes:
  • the senor includes at least one of a laser sensor and an optical sensor.
  • the detecting whether there is a suspected obstacle in the direction of travel includes:
  • the image acquisition device includes at least one of a video camera, a video camera, and a depth camera.
  • the determining that the suspected obstacle is an obstacle includes:
  • the suspected obstacle is a material box, then detect the size of the spatial range of the material box protruding from the edge of the shelf;
  • the judging whether the material box will hinder the robot according to the space occupied by the robot and the space of the material box protruding from the edge of the shelf includes:
  • determining that the material box is an obstacle includes:
  • the bin may further include:
  • the robot is used to move on a track on a shelf, and the track on the shelf includes a vertical track and/or a horizontal track, and the method includes:
  • the current position of the robot is on the vertical track, and the current travel direction is upward along the vertical track, and the task of the robot is to perform the picking operation, after the determination that the material box is an obstacle, it also includes :
  • the material box After arriving at the storage location where the material box is located, the material box is taken out and put back into the material box.
  • the task of the robot is to perform a delivery operation
  • the determination that the material box is an obstacle further include:
  • the determining that the suspected obstacle is an obstacle includes:
  • the motion state of the other robot and the target position that the other robot needs to reach in the current direction of travel determine the other robot whether it will obstruct said robot;
  • the motion state of the other robot and the target position that the robot needs to reach in the current direction of travel to determine whether the other robot will hinder the robot, including:
  • the position information corresponding to each moment in the first route information to reach the target position that the robot needs to reach in the current travel direction
  • determining that the other robot is an obstacle includes:
  • an obstacle avoidance device including:
  • the suspected obstacle detection module is used to detect whether there is a suspected obstacle in the direction of travel, and the suspected obstacle protrudes from the edge of the shelf;
  • a position determination module configured to determine the relative positional relationship between the suspected obstacle and the target position that the robot needs to reach in the current direction of travel when the suspected obstacle is detected
  • An obstacle determination module configured to determine that the suspected obstacle is an obstacle when the suspected obstacle is located between the current position of the robot and the target position;
  • the route planning module is used to re-plan the traveling route to avoid the obstacles.
  • the route planning module is specifically used for:
  • the traveling route from the current position to the target position is re-planned.
  • the route planning module is specifically used for:
  • the traveling route from the current position to the target position is re-planned.
  • the route planning module is specifically used for:
  • the route planning module is specifically used to:
  • a new target position corresponding to the new task is determined.
  • the route planning module is specifically used to:
  • the obstacle is not located between the current position of the other robot and the target position, and the obstacle is not located between the current position of the robot and the corresponding position of the other robot.
  • the current tasks of the robot and the other robots are exchanged, and the target positions corresponding to the other robots are determined as the new target positions.
  • the shelf area includes a plurality of storage locations, and the storage locations are used to store fixed material boxes;
  • the route planning module is specifically used to:
  • the obstacle is not located between the current position of the other robot and the target position, and the obstacle is not located between the current position of the robot and the corresponding position of the other robot.
  • the current tasks of the robot and the other robots are exchanged, and the target positions corresponding to the other robots are determined as the new target positions.
  • the suspected obstacle detection module is specifically used for:
  • the senor includes at least one of a laser sensor and an optical sensor.
  • the suspected obstacle detection module is specifically used for:
  • the image acquisition device includes at least one of a video camera, a video camera, and a depth camera.
  • the obstacle judging module determines that the suspected obstacle is an obstacle, it is specifically used to:
  • the suspected obstacle is a material box, then detect the size of the spatial range of the material box protruding from the edge of the shelf;
  • the obstacle judging module judges whether the material box will hinder the robot according to the space occupied by the robot and the space range in which the material box protrudes from the edge of the shelf, it is specifically used to :
  • determining that the material box is an obstacle includes:
  • the obstacle judging module is further used to:
  • the robot is used to move on a track on the shelf, and the track on the shelf includes a vertical track and/or a horizontal track;
  • the current position of the robot is on the vertical track, and the current travel direction is upward along the vertical track, and the task of the robot is to perform the picking operation, after the determination that the material box is an obstacle, it also includes :
  • the material box After arriving at the storage location where the material box is located, the material box is taken out and put back into the material box.
  • the obstacle judging module determines that the material box is an obstacle, it is further used to:
  • the obstacle judging module determines that the suspected obstacle is an obstacle, it is specifically used to:
  • the motion state of the other robot and the target position that the other robot needs to reach in the current direction of travel determine the other robot whether it will obstruct said robot;
  • the obstacle judging module is based on the movement state of the robot and the target position that the robot needs to reach in the current direction of travel, the movement state of the other robots and the current direction of travel of the other robots
  • the target position that needs to be reached, when judging whether the other robot will hinder the robot, is specifically used for:
  • determining that the other robot is an obstacle includes:
  • the present application provides an electronic device, including: a memory configured to store program instructions; a processor configured to call and execute the program instructions in the memory to execute the method described in the first aspect.
  • the present application provides a computer-readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.
  • the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.
  • the present application provides an obstacle avoidance method, device, electronic equipment and storage medium.
  • the obstacle avoidance method is applied to the robot, and the robot is used to move on the track of the shelf area.
  • the method includes: detecting whether there is a suspected obstacle in the direction of travel, and the suspected obstacle protrudes from the edge of the shelf; When a suspected obstacle is encountered, determine the relative positional relationship between the suspected obstacle and the target position that the robot needs to reach in the current direction of travel; if the suspected obstacle is located between the current position of the robot and the target position, , then determine that the suspected obstacle is an obstacle; re-plan the travel route to avoid the obstacle.
  • the robot moving on the track of the shelf area executes the corresponding obstacle avoidance method, by detecting whether there is a suspected obstacle protruding from the edge of the shelf in the direction of travel, and further judging whether the suspected obstacle will hinder the progress , if it may cause an obstacle, it can be determined as an obstacle, and the travel route can be re-planned to avoid the obstacle, so as to avoid being hindered by the obstacle and ensure the safety of the robot.
  • FIG. 1 is a schematic diagram of an application scenario provided by the present application
  • FIG. 2 is a flowchart of an obstacle avoidance method provided by an embodiment of the present application.
  • Fig. 3a is a schematic diagram of a robot climbing on a shelf provided by an embodiment of the present application.
  • Fig. 3b is a schematic diagram of another robot climbing on a shelf provided by an embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of an obstacle avoidance device provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • Climbing shelves are generally provided with vertical tracks and/or horizontal tracks for robots to climb.
  • the robot When the robot performs the task of picking and placing goods, it can climb through the vertical track, and/or switch the direction of travel between the vertical track and the horizontal track, so as to reach the corresponding warehouse location for picking and/or putting goods, and then pass through the vertical track.
  • the rails and/or transverse rails leave the racks.
  • a robot may encounter other robots and be hindered from moving forward, or may be hindered from moving forward by goods protruding from the shelf. Limited by the characteristics of the track on the shelf—fixed, when the robot is hindered, it cannot avoid obstacles by adjusting its direction at any time like when it is traveling on the ground.
  • the present application provides an obstacle avoidance method, device, electronic equipment, and storage medium, which are applicable to the scene where a robot climbing on a shelf avoids obstacles, avoiding the robot from being hindered by obstacles during travel, preventing collisions, and ensuring Robot safety.
  • FIG. 1 is a schematic diagram of an application scenario provided by the present application.
  • the frame of the shelf 100 is provided with a vertical track 101 and a transverse track 102 for the robot to climb, and the vertical track 101 and the transverse track 102 are arranged around the warehouse location 103 and form intersection points at the four corners of the warehouse location .
  • Goods 104 are stored in the warehouse location 103 .
  • the robot 105 can move on the vertical track 101 and the horizontal track 102, and arrive at the corresponding warehouse location to perform the picking task.
  • the obstacle avoidance method of the present application is used for obstacle avoidance.
  • FIG. 2 is a flowchart of an obstacle avoidance method provided by an embodiment of the present application.
  • the method of this embodiment can be applied to a robot, and the robot is used to move on a track in a shelf area.
  • the shelf area includes a plurality of climbing shelves (such as shelf 100).
  • the method of this embodiment includes:
  • FIG. 3a is a schematic diagram of a robot climbing on a shelf, shown in a side view.
  • the robot 300 is provided with a walking mechanism 301 corresponding to the vertical track and/or the horizontal track on the shelf A and the shelf B, which can make the robot 300 move vertically or laterally along the track in the space between the shelf A and the shelf B. It can be determined from the figure that if there are other objects in the space between the shelf A and the shelf B, and it happens to be in the moving direction of the robot 300, it may hinder its progress during the moving process of the robot 300. Therefore, objects protruding from the edge of the shelf in the direction of robot travel are called suspected obstacles.
  • the robot When the robot moves on the track in the shelf area, it can detect in real time whether there are suspected obstacles in its direction of travel.
  • a sensor provided on the robot can be used to detect whether there is a suspected obstacle in the traveling direction; wherein the sensor includes at least one of a laser sensor and a light sensor.
  • the infrared sensor installed on the robot uses the infrared sensor installed on the robot to emit infrared light in the direction of travel, and judge whether there is a suspected obstacle in the direction of travel by receiving the reflected infrared light. If there is a suspected obstacle, the infrared light will be reflected, and the infrared sensor will receive the reflected infrared light.
  • a light source on the shelf with the light direction facing the robot use the brightness detection device installed on the robot to detect the brightness in the direction of travel, and use brightness analysis to determine whether there is a suspected obstacle in the direction of travel. If there is a suspected obstacle, a shadow will be cast on the robot, causing the brightness to dim.
  • the image acquisition device provided on the robot to detect whether there is a suspected obstacle in the direction of travel; wherein the image acquisition device includes at least one of a video camera, a video camera, and a depth camera.
  • the robot can travel according to the planned route during the travel process. It may be that the server performs route planning and then sends the planned route to the robot; it may also be that the robot performs route planning by itself according to the task situation.
  • the planned route must contain information such as the direction of travel of the robot and the moving distance in each direction of travel. Based on this information, the robot can determine the target position that needs to be reached in the current direction.
  • the target location may be the storage location corresponding to the goods to be accessed, or the position on the track where the direction of travel is changed (the intersection of the vertical track and the horizontal track, etc.), or an end point on the track (the intersection of the vertical track and the sky track leaves The position of the shelf, the position where the vertical track intersects with the aisle leaves the shelf, etc.).
  • the relative positional relationship between the suspected obstacle and the target position can be roughly judged.
  • the suspected obstacle is located between the current position of the robot and the target position (that is, if the robot continues to move forward, it will first reach the position where the suspected obstacle is located, and then reach the target position); or, the suspected obstacle is located behind the target position (that is, if the robot continues to move forward It will reach the target position first, and then reach the position of the suspected obstacle).
  • the suspected obstacle is located between the current position of the robot and the target position, that is, if the robot continues to move forward, it will first reach the location of the suspected obstacle. However, because the suspected obstacle protrudes from the edge of the shelf, it occupies the space for the robot to advance, which may hinder the robot's advancement. The robot may not be able to cross the suspected obstacle to reach the target position, so it can be determined that the suspected obstacle is an obstacle.
  • an "obstacle” can be considered as an object that is located on the current route of the robot and may indeed hinder the robot's progress.
  • obstacles may be other robots, goods that are not properly placed and protrude from the edge of the shelf, or other shelf structures.
  • the traveling route is re-planned to avoid the obstacle.
  • the route to the target location may be re-planned.
  • the robot can avoid the obstacle in a detour by adjusting the direction of travel.
  • the robot can avoid the obstacle by staggering the time to reach the same position by adjusting the moving speed of the robot.
  • the obstacle avoidance method provided in this embodiment is applied to the robot, and the robot is used to move on the track of the shelf area.
  • the method includes: detecting whether there is a suspected obstacle in the direction of travel, and the suspected obstacle protrudes from the edge of the shelf; In the case of an obstacle, judge the relative positional relationship between the suspected obstacle and the target position that the robot needs to reach in the current direction of travel; if the suspected obstacle is located between the current position of the robot and the target position, determine that the suspected obstacle is an obstacle; Plan your route to avoid obstacles.
  • the robot moving on the track of the shelf area executes the corresponding obstacle avoidance method, by detecting whether there is a suspected obstacle protruding from the edge of the shelf in the direction of travel, and further judging whether the suspected obstacle will hinder the progress , if it may cause an obstacle, it can be determined as an obstacle, and the travel route can be re-planned to avoid the obstacle, so as to avoid being hindered by the obstacle and ensure the safety of the robot.
  • determining the new target location includes: reporting the position information of the obstacle to the management device and requesting a replacement task; A new task is issued; according to the new task, a new target position corresponding to the new task is determined.
  • the current task of the robot is to arrive at the target location to release and/or pick up the goods, that is, the robot's current travel direction is towards the target storage location, and perform the delivery and/or pickup operation after arriving at the target storage location. If an obstacle is detected between the robot's current position and the target location, one of the feasible ways to re-plan the travel route is to determine the new target position by changing the task, and re-plan the travel route to the new target position. Avoid obstacles by changing the course of travel.
  • the specific way to replace the task can be to report the position information of the obstacle to the management device (server or other robot) responsible for task assignment, and request to replace the task; after the management device receives the request from the robot, it can replace the new task for the robot and Send it to the robot; the robot can determine the new target position according to the new task and the route corresponding to the new task.
  • the management device server or other robot responsible for task assignment, and request to replace the task
  • the new task that the management device replaces with the robot may be a task that has not been assigned, or a task that has been assigned to other robots but has not yet been executed. If it is a task that has been assigned to another robot but has not yet been executed, two tasks can be exchanged. Specifically, the management device can search for assigned tasks within a certain range near the robot, determine a most suitable task, and then send the warehouse location information and travel route information corresponding to the task to the robot. The target location information of the task is sent to the robot that was previously assigned the task.
  • the premise of the task exchange is that the new path after the exchange will not be affected by this obstacle. In order to meet the condition that the new path after exchange will not be affected by the obstacle, the exchanged path can be planned in advance, and the exchange can be performed after confirming that it will not be affected by the obstacle.
  • tasks corresponding to storage locations whose distance from the target storage location is within a preset range may be preferentially selected as new tasks.
  • the current task of the robot is to reach the target location to pick up and/or release the goods
  • determine the new target location including: detecting whether there are other robots in the target area, and the current task of other robots is to reach the corresponding location of other robots. If there are other robots in the target area, and the obstacle is not located between the current position of other robots and the target position, and the obstacle is not located in the target corresponding to the current position of the robot and other robots Between positions, the current tasks of the robot and other robots are exchanged, and the target positions corresponding to other robots are determined as the new target positions.
  • the current task of the robot is to arrive at the target location to release and/or pick up the goods, that is, the robot’s current travel direction is towards the target storage location, and an obstacle is detected between the robot’s current location and the target storage location. And determine the new target position by changing the task.
  • the specific way of exchanging tasks is that the robot detects whether there are other robots in the target area that are going to the corresponding target position to perform tasks; if so, it can initiate a request to other robots to obtain the target position information of other robots; and then Plan the path after exchanging tasks to determine whether the two robots will be affected by obstacles after exchanging tasks; if it is determined that both robots will not be affected by obstacles after exchanging tasks, then exchange the tasks of the two robots, That is, the target positions corresponding to other robots are determined as the new target positions of the robot.
  • the method of determining the new target position in this embodiment is similar to that in the previous embodiment, and the main difference lies in the difference in the execution subject.
  • the previous embodiment is applicable to the scenario where the management device performs unified task assignment and/or path planning and/or robot management.
  • This embodiment is applicable to the scenario where the robot performs task exchange and/or path planning autonomously. The functions of the robot Higher requirements.
  • this embodiment can be applied to the scenario where the goods are not bound to the storage location, and the exchange of pick-up tasks and pick-up tasks, and the exchange of delivery tasks and delivery tasks can be performed.
  • There is no binding relationship between goods and storage locations that is, each product or its material box has no designated storage location and can be placed in any storage location.
  • the shelf area includes multiple storage locations, and the storage locations are used to store fixed material boxes (in this application, material boxes refer to the things stored in the storage locations, in essence It may be the goods themselves, or it may be containers such as pallets on which the goods are loaded). That is, each material box can only be placed in the designated storage location. In this scenario, only pick-up tasks can be exchanged with pick-up tasks. Because, once the delivery task is switched, the material box may be placed in an uncorresponding location, which may affect the management of the inventory in the shelf area.
  • the new target position including: detecting whether there are other robots in the target area, and the current task of the other robots is to reach the target position corresponding to other robots to pick up the goods; If there are other robots in the target area, and the obstacle is not between the current position of the other robot and the target position, and the obstacle is not between the current position of the robot and the corresponding target position of the other robot, then exchange the position of the robot with the other robot. For the current task, determine the target positions corresponding to other robots as the new target positions.
  • FIG. 3b it is a top view corresponding to FIG. 3a. It can be seen from Fig. 3b that the walking mechanism 301 of the robot forms a gap between the main body of the robot and the shelf. That is to say, as long as the part of the suspected obstacle protruding from the shelf can pass through the gap, the suspected obstacle will not cause substantial obstacles to the robot, and it is not enough to become an obstacle.
  • the way of judging whether the suspected obstacle is an obstacle may include: detecting whether the suspected obstacle is a material box; if the suspected obstacle is a material box, then detecting the size of the space where the material box protrudes from the edge of the shelf; Range, the space range where the material box protrudes from the edge of the shelf, and judge whether the material box will hinder the robot; if the material box will hinder the robot, determine the material box as an obstacle.
  • the shape projection of the part protruding from the shelf in the current direction of the robot's travel may be a geometric shape such as a triangle, a quadrangle, or an arc. If the suspected obstacle is another robot, its shape projection is the shape of the robot. Relatively speaking, the two types of suspected obstacles can be easily distinguished.
  • the space occupied by the robot can be determined in advance according to the shape of the robot, the structure of the shelf track, and the connection between the robot and the track. Therefore, as long as the space occupied by the part of the material box protruding from the edge of the shelf is collected and compared with the space occupied by the robot, it can be judged whether the material box will hinder the robot. If the space occupied by the part of the material box protruding from the edge of the shelf is just within the range of the gap formed between the robot and the shelf, the material box will not hinder the robot, and it is not an obstacle. Otherwise, the material box can be determined to be an obstacle. things.
  • suspected obstacles and obstacles can be more accurately divided, and misjudgment of obstacles can be reduced. Do not dodge the suspected obstacles that do not cause obstacles, which can actually reduce the large amount of data processing for dodging, and does not affect the work efficiency of the robot.
  • the material box is judged whether the material box will hinder the robot, including: constructing a three-dimensional structure diagram according to the space occupied by the robot; protruding the material box Fit the space range at the edge of the shelf to the three-dimensional structure diagram; determine whether the three-dimensional structure of the robot and the three-dimensional structure of the material box overlap after the robot moves to the plane where the material box is located; if the material box will hinder the robot, determine the material
  • the box is an obstacle, including: if the three-dimensional structure of the robot overlaps with the three-dimensional structure of the box, then the box is determined to be an obstacle.
  • the three-dimensional structure diagram of the space occupied by the robot can be constructed in advance according to the shape of the robot and the shelf structure; based on the shape projection of the part of the box protruding from the shelf in the current direction of the robot's travel, the three-dimensional structure of the output box protruding from the edge of the shelf can be constructed Fig.
  • Two 3D structure diagrams are fitted to get the relative positional relationship when the robot moves to the plane where the material box is located.
  • the structure of the robot and the material box may overlap. If there is an overlap, it means that the robot will actually be hindered by the material box. At this time, it can be determined that the material box is an obstacle.
  • the relative positional relationship between the robot and the material box can be judged more accurately, and then whether the material box is an obstacle can be determined.
  • the travel of the robot in order to ensure the accuracy of the detection of the size of the spatial range of the material box protruding from the edge of the shelf in the above embodiment, it is also possible to reduce the travel of the robot before detecting the size of the spatial range of the material box protruding from the edge of the shelf speed.
  • deceleration can also prevent getting too close to the material box, and the direction of travel can be adjusted in time after the material box is determined to be an obstacle.
  • bins protruding from the shelves can also be organized.
  • the tracks on the shelves include vertical tracks and/or horizontal tracks.
  • the current location of the robot is on the vertical track, and the current travel direction is upward along the vertical track, and the task of the robot is to perform the picking operation, after determining that the material box is an obstacle, it also includes: determining the storage location where the material box is located; After arriving at the storage location where the bin is located, remove the bin and put it back into the bin.
  • the conditions to be met in the scenario of this embodiment are: first, the robot can currently perform the operation of picking up goods; second, the robot can operate the material box before reaching the plane where the material box is located in the current direction of travel.
  • the function of a certain robot is to pick up the goods by extending the manipulator located on the upper part of the robot and inserting it into the bottom of the material box for pulling.
  • the obstacle material box in front of it when it is determined that the obstacle is a material box protruding from the shelf, it is referred to as an obstacle) material box, which can be removed and replaced to adjust the position of the material box in the location so that it no longer protrudes from the shelf.
  • the distance between the material box and the robot can be detected by the distance sensor, and combined with the current height of the robot, the storage location of the material box can be determined.
  • the robot By sorting out the obstacle material box, the robot is prevented from being hindered by it, and a large amount of data processing for avoiding is also saved. At the same time, one obstacle in this direction is reduced, and one obstacle is reduced for other robots, which improves the overall obstacle avoidance efficiency.
  • the robot cannot protrude from the bins of the shelf for sorting
  • other robots can also be used for sorting.
  • the task of the robot is to perform the operation of releasing goods, that is, the machine does not meet the first condition above, (because it is not empty) it cannot perform the operation of picking up goods.
  • the storage location where the material box is located can be determined; the information of the storage location is synchronized to the server and/or other robots, so that other robots avoid the material box or adjust the state of the material box.
  • the location information can be sent to the server, and the server can synchronize all the robots to avoid it, or the server can directly avoid the obstacle material box during the path planning process, or the server can specify a certain location.
  • the robot goes to the corresponding storage location to sort out the obstacle material boxes.
  • the location information of the obstacle material box can also be sent to a nearby robot that meets the sorting conditions, and the robot that meets the sorting conditions goes to the corresponding location to sort the obstacle material box.
  • obstacles may be other robots, or goods that are not placed well and protrude from the edge of the shelf, or other shelf structures .
  • the obstacle robot in this application, when it is determined that the obstacle is another robot, it is called an obstacle robot, is not a fixed obstacle Objects need to be combined with the state of the obstacle robot to further determine whether it will cause substantial obstacles to the robot, and then further determine the avoidance plan.
  • the above-mentioned determining that the suspected obstacle is an obstacle includes: detecting whether the suspected obstacle is another robot; Target position: According to the motion state of the robot and the target position that the robot needs to reach in the current direction of travel, the motion state of other robots and the target position that other robots need to reach in the current direction of travel, determine whether other robots will hinder the robot; If other robots will obstruct the robot, then determine other robots as obstacles.
  • the motion state of other robots and the target position that other robots need to reach in the current direction of travel it is judged whether other robots will cause obstacles to the robot, including : According to the moving speed of the robot, determine the location information corresponding to each moment in the first route information to reach the target position that the robot needs to reach in the current moving direction; determine the arrival of other robots in the current moving direction according to the moving speed of other robots The position information corresponding to each moment in the second route information of the target position that needs to be reached; judge whether there is a distance value corresponding to the position at the same time in the first route information and the second route information within the preset range; if other robots will If the robot is obstructed, other robots are determined to be obstacles, including: if the distance value of the position corresponding to the same moment in the first route information and the second route is within a preset range, then other robots are determined to be obstacles
  • the position of the robot changes dynamically, if the position of other robots coincides with the position of the robot at a certain moment, it means that the two machines may collide, that is, other robots hinder the robot, and it is determined to be an obstacle robot . Whether there will be coincidence or not needs to be analyzed in combination with the respective motion states of the two robots.
  • a robot is currently moving upward along a vertical track to reach the target position, and other robots are currently moving upward along the vertical track to reach the target position of other robots.
  • the position information corresponding to the robot and other robots at each moment can be further judged by combining the movement speed. If the distance value of the corresponding positions of the two robots at a certain moment is within the preset range, it means that other robots are obstructing the robot.
  • the preset range is less than or equal to the length or height of the robot.
  • the preset range should be less than or equal to the length of the robot; when two robots are traveling on the vertical track, they may meet on the vertical track.
  • the preset range should be less than or equal to the height of the robot; when two robots travel on the vertical track and the horizontal track respectively, they may meet at the intersection of the horizontal track and the vertical track, and the preset range should be less than or equal to
  • FIG. 4 is a schematic structural diagram of an obstacle avoidance device provided by an embodiment of the present application.
  • the obstacle avoidance device 400 of this embodiment includes: a suspected obstacle detection module 401, a position determination module 402, Obstacle judging module 403, route planning module 404.
  • the suspected obstacle detection module 401 is configured to detect whether there is a suspected obstacle in the traveling direction, and the suspected obstacle protrudes from the edge of the shelf.
  • the position determination module 402 is configured to determine the relative positional relationship between the suspected obstacle and the target position that the robot needs to reach in the current traveling direction when the suspected obstacle is detected.
  • the obstacle judging module 403 is configured to determine that the suspected obstacle is an obstacle when the suspected obstacle is located between the current position of the robot and the target position.
  • the route planning module 404 is configured to re-plan the traveling route to avoid obstacles.
  • the route planning module 404 is specifically used for:
  • the route planning module 404 is specifically used for:
  • the route planning module 404 is specifically used for:
  • the route planning module 404 is specifically used to:
  • a new target position corresponding to the new task is determined.
  • the route planning module 404 is specifically used to:
  • the shelf area includes multiple storage locations, and the storage locations are used to store fixed material boxes;
  • the route planning module 404 is specifically used to:
  • the suspected obstacle detection module 401 is specifically used for:
  • the senor includes at least one of a laser sensor and an optical sensor.
  • the suspected obstacle detection module 401 is specifically used for:
  • the image acquisition device includes at least one of a video camera, a video camera, and a depth camera.
  • the obstacle judging module 403 determines that the suspected obstacle is an obstacle, it is specifically used to:
  • the suspected obstacle is a material box, detect the size of the space where the material box protrudes from the edge of the shelf;
  • the obstacle judging module 403 is specifically used to:
  • the material box is determined to be an obstacle.
  • the obstacle judging module 403 detects the size of the space where the bin protrudes from the edge of the shelf, it is also used to:
  • the robot is used to move on a track on the shelf, and the track on the shelf includes a vertical track and/or a horizontal track;
  • the current position of the robot is on the vertical track, and the current travel direction is upward along the vertical track, and the task of the robot is to perform the picking operation, after determining that the material box is an obstacle, it also includes:
  • the obstacle determination module 403 determines that the material box is an obstacle, it is also used to:
  • the obstacle judging module 403 determines that the suspected obstacle is an obstacle, it is specifically used to:
  • the motion state of other robots and the target position that other robots need to reach in the current direction of travel determine whether other robots will hinder the robot;
  • the obstacle judging module 403 judges other robots according to the motion state of the robot and the target position that the robot needs to reach in the current direction of travel, the motion state of other robots, and the target positions that other robots need to reach in the current direction of travel. Whether it will hinder the robot, specifically for:
  • the robot determine the position information corresponding to each moment in the first route information to reach the target position that the robot needs to reach in the current traveling direction;
  • the device in this embodiment can be used to execute the method in any of the foregoing embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device 500 of this embodiment may include: a memory 501 and a processor 502 .
  • the memory 501 is used for storing program instructions.
  • the processor 502 is configured to call and execute the program instructions in the memory 501 to execute the methods in the foregoing embodiments.
  • the electronic device of this embodiment can be provided as a kind of robot.
  • the present application also provides a computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the methods in the foregoing embodiments are implemented.
  • the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the methods in the foregoing embodiments are implemented.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

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Abstract

一种障碍物躲避方法、装置、电子设备和存储介质。其中，障碍物躲避方法应用于机器人，机器人用于在货架区域的轨道上移动，方法包括：检测行进方向上是否存在疑似障碍物，疑似障碍物突出于货架边缘（S201）；在检测到疑似障碍物时，判断疑似障碍物与机器人在当前行进方向上需要到达的目标位置的相对位置关系（S202）；若疑似障碍物位于机器人当前所在位置与目标位置之间，则确定疑似障碍物为障碍物（S203）；重新规划行进路线，以躲避障碍物（S204）。由在货架区域的轨道上移动的机器人执行对应的障碍物躲避方法，通过检测障碍物，并重新规划行进路线，以躲避该障碍物，以避免被障碍物阻碍行进，同时保证机器人的安全。

Description

障碍物躲避方法、装置、电子设备和存储介质
本申请要求于2021年6月25日提交中国专利局、申请号为202110713731.0、申请名称为“障碍物躲避方法、装置、电子设备和存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能控制技术，尤其涉及一种障碍物躲避方法、装置、电子设备和存储介质。
背景技术
在传统的仓储行业当中，货物的搬运移动需要消耗大量的人力成本和时间成本。为了节省人力成本的支出，结合智能控制技术，专用于货物搬运的机器人应运而生，一般被称为机器人小车。同时，还有适应于这些机器人的可攀爬货架。
一般，在仓储空间内设置有货架区域，货架区域包括多个货架，每一货架包括多层库位，这些库位用于放置货物，相邻两货架之间设置有巷道。每个货架上在巷道一侧都设置有多条垂直轨道和/或多条横向轨道。机器人可以在巷道中通行，到达垂直轨道处，通过垂直轨道和/或横向轨道自主爬升货架、拿取货物、运送货物。
在运行过程中，机器人可能与其它机器人发生碰撞，或者被突出货架的货物阻碍行进，造成运行过程中断，甚至导致设备损坏。
发明内容
本申请提供一种障碍物躲避方法、装置、电子设备和存储介质，避免机器人被障碍物阻碍行进，保证机器人的安全。
第一方面，本申请提供一种障碍物躲避方法，应用于机器人，所述机器人用于在货架区域的轨道上移动，所述方法包括：
检测行进方向上是否存在疑似障碍物，所述疑似障碍物突出于货架边缘；
在检测到疑似障碍物时，判断所述疑似障碍物与所述机器人在当前行进方向上需要到达的目标位置的相对位置关系；
若所述疑似障碍物位于所述机器人当前所在位置与所述目标位置之间，则确定所述疑似障碍物为障碍物；
重新规划行进路线，以躲避所述障碍物。
可选的，所述重新规划行进路线，包括：
通过调整所述机器人的行进方向，重新规划从当前位置去往所述目标位置的行进路线。
可选的，所述重新规划行进路线，包括：
通过调整所述机器人的行进速度，重新规划从当前位置去往所述目标位置的行进路线。
可选的，所述重新规划行进路线，包括：
确定新的目标位置；
重新规划从当前位置去往所述新的目标位置的行进路线。
可选的，若所述机器人当前任务为到达所述目标位置放货和/或取货，则所述确定新的目标位置，包括：
向管理设备上报所述障碍物的位置信息，并请求更换任务；
接收所述管理设备下发的新任务；
根据所述新任务，确定所述新任务对应的新的目标位置。
可选的，若所述机器人当前任务为到达所述目标位置取货和/或放货，则所述确定新的目标位置，包括：
检测目标区域内是否有其它机器人，所述其它机器人当前任务为到达所述其它机器人对应的目标位置取货和/或放货；
若目标区域内有其它机器人，且所述障碍物不位于所述其它机器人当前所在位置与所述目标位置之间，且所述障碍物不位于所述机器人当前所在位置与所述其它机器人对应的目标位置之间，则交换所述机器人与所述其它机器人的当前任务，将所述其它机器人对应的目标位置确定为新的目标位置。
可选的，所述货架区域包括多个库位，所述库位用于存放固定的料箱；
若所述机器人当前任务为到达所述目标位置取货，则所述确定新的目标位置，包括：
检测目标区域内是否有其它机器人，所述其它机器人当前任务为到达所述其它机器人对应的目标位置取货；
若目标区域内有其它机器人，且所述障碍物不位于所述其它机器人当前所在位置与所述目标位置之间，且所述障碍物不位于所述机器人当前所在位置与所述其它机器人对应的目标位置之间，则交换所述机器人与所述其它机器人的当前任务，将所述其它机器人对应的目标位置确定为新的目标位置。
可选的，所述检测行进方向上是否存在疑似障碍物，包括：
利用所述机器人上设置的传感器检测行进方向上是否存在疑似障碍物；
其中，所述传感器包括激光传感器、光传感器中的至少一种。
可选的，所述检测行进方向上是否存在疑似障碍物，包括：
利用所述机器人上设置的图像采集装置检测行进方向上是否存在疑似障碍物；
其中，所述图像采集装置包括摄影机、摄像机、深度相机中的至少一种。
可选的，所述确定所述疑似障碍物为障碍物，包括：
检测所述疑似障碍物是否为料箱；
若所述疑似障碍物是料箱，则检测所述料箱突出于货架边缘的空间范围大小；
根据所述机器人所占空间范围、所述料箱突出于货架边缘的空间范围，判断所述料箱是否会对所述机器人造成阻碍；
若所述料箱会对所述机器人造成阻碍，则确定所述料箱为障碍物。
可选的，所述根据所述机器人所占空间范围、所述料箱突出于货架边缘的空间范围，判断所述料箱是否会对所述机器人造成阻碍，包括：
根据所述机器人所占空间范围，构建三维结构图；
将所述料箱突出于货架边缘的空间范围拟合到所述三维结构图中；
判断所述机器人移动到所述料箱所在平面后，所述机器人的三维结构与所述料箱的三维结构是否有重叠；
所述若所述料箱会对所述机器人造成阻碍，则确定所述料箱为障碍物，包括：
若所述机器人的三维结构与所述料箱的三维结构有重叠，则确定所述料箱为障碍物。
可选的，在所述检测所述料箱突出于货架边缘的空间范围大小之前，还包括：
减小所述机器人的行进速度。
可选的，所述机器人用于在货架上的轨道上移动，所述货架上的轨道包括垂直轨道和/或水平轨道，所述方法包括：
若所述机器人当前所在位置位于垂直轨道上，且当前行进方向为沿垂直轨道向上，且所述机器人的任务为执行取货操作，则在所述确定所述料箱为障碍物之后，还包括：
确定所述料箱所在的库位；
到达所述料箱所在的库位后，取出所述料箱，并重新放回所述料箱。
可选的，若所述机器人的任务为执行放货操作，在所述确定所述料箱为障碍物之后，还包括：
确定所述料箱所在的库位；
将所述库位的信息同步给服务器和/或其它机器人，以使其它机器人躲避所述料箱或者调整所述料箱状态。
可选的，所述确定所述疑似障碍物为障碍物，包括：
检测所述疑似障碍物是否为其它机器人；
若所述疑似障碍物是其它机器人，则确定所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置；
根据所述机器人的运动状态和所述机器人在当前行进方向上需要到达的目标位置、所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置，判断所述其它机器人是否会对所述机器人造成阻碍；
若所述其它机器人会对所述机器人造成阻碍，则确定所述其它机器人为障碍物。
可选的，所述根据所述机器人的运动状态和所述机器人在当前行进方向上需要到达的目标位置、所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置，判断所述其它机器人是否会对所述机器人造成阻碍，包括：
根据所述机器人的行进速度，确定到达所述机器人在当前行进方向上需要到达的目标位置的第一路线信息中每一时刻对应的位置信息；
根据所述其它机器人的行进速度，确定到达所述其它机器人在当前行进方向上需要到达的目标位置的第二路线信息中每一时刻对应的位置信息；
判断所述第一路线信息和所述第二路线信息中是否存在同一时刻对应的位置的距离值在预设范围内；
所述若所述其它机器人会对所述机器人造成阻碍，则确定所述其它机器人为障碍物，包括：
若所述第一路线信息和所述第二路线中存在同一时刻对应的位置的距离值在预设范围内，则确定所述其它机器人为障碍物。
第二方面，本申请提供一种障碍物躲避装置，包括：
疑似障碍物检测模块，用于检测行进方向上是否存在疑似障碍物，所述疑似障碍物突出于货架边缘；
位置确定模块，用于在检测到疑似障碍物时，判断所述疑似障碍物与所述机器人在当 前行进方向上需要到达的目标位置的相对位置关系；
障碍物判定模块，用于在所述疑似障碍物位于机器人当前所在位置与所述目标位置之间时，确定所述疑似障碍物为障碍物；
路线规划模块，用于重新规划行进路线，以躲避所述障碍物。
可选的，所述路线规划模块具体用于：
通过调整所述机器人的行进方向，重新规划从当前位置去往所述目标位置的行进路线。
可选的，所述路线规划模块具体用于：
通过调整所述机器人的行进速度，重新规划从当前位置去往所述目标位置的行进路线。
可选的，所述路线规划模块具体用于：
确定新的目标位置；
重新规划从当前位置去往所述新的目标位置的行进路线。
可选的，若所述机器人当前任务为到达所述目标位置放货和/或取货，则所述路线规划模块在确定新的目标位置时，具体用于：
向管理设备上报所述障碍物的位置信息，并请求更换任务；
接收所述管理设备下发的新任务；
根据所述新任务，确定所述新任务对应的新的目标位置。
可选的，若所述机器人当前任务为到达所述目标位置取货和/或放货，则所述路线规划模块在确定新的目标位置时，具体用于：
检测目标区域内是否有其它机器人，所述其它机器人当前任务为到达所述其它机器人对应的目标位置取货和/或放货；
若目标区域内有其它机器人，且所述障碍物不位于所述其它机器人当前所在位置与所述目标位置之间，且所述障碍物不位于所述机器人当前所在位置与所述其它机器人对应的目标位置之间，则交换所述机器人与所述其它机器人的当前任务，将所述其它机器人对应的目标位置确定为新的目标位置。
可选的，所述货架区域包括多个库位，所述库位用于存放固定的料箱；
若所述机器人当前任务为到达所述目标位置取货，则所述路线规划模块在确定新的目标位置时，具体用于：
检测目标区域内是否有其它机器人，所述其它机器人当前任务为到达所述其它机器人对应的目标位置取货；
若目标区域内有其它机器人，且所述障碍物不位于所述其它机器人当前所在位置与所述目标位置之间，且所述障碍物不位于所述机器人当前所在位置与所述其它机器人对应的目标位置之间，则交换所述机器人与所述其它机器人的当前任务，将所述其它机器人对应的目标位置确定为新的目标位置。
可选的，所述疑似障碍物检测模块，具体用于：
利用所述机器人上设置的传感器检测行进方向上是否存在疑似障碍物；
其中，所述传感器包括激光传感器、光传感器中的至少一种。
可选的，所述疑似障碍物检测模块，具体用于：
利用所述机器人上设置的图像采集装置检测行进方向上是否存在疑似障碍物；
其中，所述图像采集装置包括摄影机、摄像机、深度相机中的至少一种。
可选的，所述障碍物判定模块在确定所述疑似障碍物为障碍物时，具体用于：
检测所述疑似障碍物是否为料箱；
若所述疑似障碍物是料箱，则检测所述料箱突出于货架边缘的空间范围大小；
根据所述机器人所占空间范围、所述料箱突出于货架边缘的空间范围，判断所述料箱是否会对所述机器人造成阻碍；
若所述料箱会对所述机器人造成阻碍，则确定所述料箱为障碍物。
可选的，所述障碍物判定模块在根据所述机器人所占空间范围、所述料箱突出于货架边缘的空间范围，判断所述料箱是否会对所述机器人造成阻碍时，具体用于：
根据所述机器人所占空间范围，构建三维结构图；
将所述料箱突出于货架边缘的空间范围拟合到所述三维结构图中；
判断所述机器人移动到所述料箱所在平面后，所述机器人的三维结构与所述料箱的三维结构是否有重叠；
所述若所述料箱会对所述机器人造成阻碍，则确定所述料箱为障碍物，包括：
若所述机器人的三维结构与所述料箱的三维结构有重叠，则确定所述料箱为障碍物。
可选的，所述障碍物判定模块在检测所述料箱突出于货架边缘的空间范围大小之前，还用于：
减小所述机器人的行进速度。
可选的，所述机器人用于在货架上的轨道上移动，所述货架上的轨道包括垂直轨道和/或水平轨道；
若所述机器人当前所在位置位于垂直轨道上，且当前行进方向为沿垂直轨道向上，且所述机器人的任务为执行取货操作，则在所述确定所述料箱为障碍物之后，还包括：
确定所述料箱所在的库位；
到达所述料箱所在的库位后，取出所述料箱，并重新放回所述料箱。
可选的，若所述机器人的任务为执行放货操作，所述障碍物判定模块在确定所述料箱为障碍物之后，还用于：
确定所述料箱所在的库位；
将所述库位的信息同步给服务器和/或其它机器人，以使其它机器人躲避所述料箱或者调整所述料箱状态。
可选的，所述障碍物判定模块在确定所述疑似障碍物为障碍物时，具体用于：
检测所述疑似障碍物是否为其它机器人；
若所述疑似障碍物是其它机器人，则确定所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置；
根据所述机器人的运动状态和所述机器人在当前行进方向上需要到达的目标位置、所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置，判断所述其它机器人是否会对所述机器人造成阻碍；
若所述其它机器人会对所述机器人造成阻碍，则确定所述其它机器人为障碍物。
可选的，所述障碍物判定模块在根据所述机器人的运动状态和所述机器人在当前行进方向上需要到达的目标位置、所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置，判断所述其它机器人是否会对所述机器人造成阻碍时，具体用于：
根据所述机器人的行进速度，确定到达所述机器人在当前行进方向上需要到达的目标 位置的第一路线信息中每一时刻对应的位置信息；
根据所述其它机器人的行进速度，确定到达所述其它机器人在当前行进方向上需要到达的目标位置的第二路线信息中每一时刻对应的位置信息；
判断所述第一路线信息和所述第二路线信息中是否存在同一时刻对应的位置的距离值在预设范围内；
所述若所述其它机器人会对所述机器人造成阻碍，则确定所述其它机器人为障碍物，包括：
若所述第一路线信息和所述第二路线中存在同一时刻对应的位置的距离值在预设范围内，则确定所述其它机器人为障碍物。
第三方面，本申请提供一种电子设备，包括：存储器，用于存储程序指令；处理器，用于调用并执行所述存储器中的程序指令，执行第一方面所述的方法。
第四方面，本申请提供一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现第一方面所述的方法。
第五方面，本申请提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现第一方面所述的方法。
本申请提供了一种障碍物躲避方法、装置、电子设备和存储介质。其中，障碍物躲避方法应用于机器人，所述机器人用于在货架区域的轨道上移动，所述方法包括：检测行进方向上是否存在疑似障碍物，所述疑似障碍物突出于货架边缘；在检测到疑似障碍物时，判断所述疑似障碍物与所述机器人在当前行进方向上需要到达的目标位置的相对位置关系；若所述疑似障碍物位于所述机器人当前所在位置与所述目标位置之间，则确定所述疑似障碍物为障碍物；重新规划行进路线，以躲避所述障碍物。本申请的方案由在货架区域的轨道上移动的机器人执行对应的障碍物躲避方法，通过检测行进方向上是否存在突出于货架边缘的疑似障碍物，并进一步判断疑似障碍物是否会对行进造成阻碍，如果可能会造成阻碍则可以将其确定为障碍物，并重新规划行进路线，以躲避该障碍物，以避免被障碍物阻碍行进，同时保证机器人的安全。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请提供的一种应用场景的示意图；
图2为本申请一实施例提供的一种障碍物躲避方法的流程图；
图3a为本申请一实施例提供的一种机器人在货架上攀爬的示意图；
图3b为本申请一实施例提供的另一种机器人在货架上攀爬的示意图；
图4为本申请一实施例提供的一种障碍物躲避装置的结构示意图；
图5为本申请一实施例提供的一种电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申 请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
可攀爬货架，一般设置有可供机器人爬升的垂直轨道和/或横向轨道。机器人执行取放货任务时，可以通过垂直轨道爬升，和/或，在垂直轨道与横向轨道之间切换行进方向，以到达对应库位进行取货和/或放货操作，之后，再通过垂直轨道和/或横向轨道离开货架。
某一机器人在货架上执行任务的过程中，可能与其它机器人相遇，被阻碍行进，也可能被突出于货架的货物阻碍行进。受限于货架上轨道的特性——固定，机器人被阻碍时无法像在地面上行进时一样，通过随时调整方向对障碍物进行绕行躲避。
基于此，本申请提供了一种障碍物躲避方法、装置、电子设备和存储介质，适用于货架上爬升的机器人躲避障碍物的场景，避免机器人在行进过程中被障碍物阻碍，防止碰撞，保证机器人的安全。
图1为本申请提供的一种应用场景的示意图。如图1所示，货架100的框架上设置有可供机器人攀爬的垂直轨道101和横向轨道102，垂直轨道101和横向轨道102布设在库位103的周围，并在库位的四角形成交点。库位103中存放有货物104。机器人105可以在垂直轨道101和横向轨道102上移动，到达相应的库位执行取货任务。在移动过程中为防止与其它机器人或其它障碍物发生碰撞阻碍行进，采用本申请的障碍物躲避方法进行避障。
具体的实现过程可以参考以下实施例的描述。
图2为本申请一实施例提供的一种障碍物躲避方法的流程图，本实施例的方法可以应用于机器人，机器人用于在货架区域的轨道上移动。其中，货架区域包括多个可攀爬货架(例如货架100)。如图2所示，本实施例的方法包括：
S201、检测行进方向上是否存在疑似障碍物，疑似障碍物突出于货架边缘。
参考图3a，图3a为机器人在货架上攀爬的示意图，以侧视图的形式展现。机器人300上设置有与货架A和货架B上的垂直轨道和/或横向轨道相对应的行走机构301，可以使得机器人300在货架A与货架B之间的空间内沿轨道垂直或横向移动。从图中可以确定，在货架A与货架B之间的空间内如果存在其它物体，并且恰好在机器人300的移动方向上，则有可能在机器人300移动的过程中阻碍其前进。因此，将机器人的行进方向上，突出于货架边缘的物体称之为疑似障碍物。
机器人在货架区域的轨道上移动时，可以实时检测其行进方向上是否存在疑似障碍物。
具体的，可以利用机器人上设置的传感器检测行进方向上是否存在疑似障碍物；其中，传感器包括激光传感器、光传感器中的至少一种。
例如，利用机器人上设置的红外传感器朝向行进方向发射红外光线，通过接收反射的红外光线，判断前进方向上是否存在疑似障碍物。如果存在疑似障碍物，会对红外光线进行反射，红外传感器会接收到反射的红外光线。
例如，在货架上设置光线方向朝向机器人的光源，利用机器人上设置的亮度检测装置检测行进方向上的亮度情况，通过亮度分析，判断前进方向上是否存在疑似障碍物。如果存在疑似障碍物，会在机器人上形成阴影，导致亮度变暗。
还可以利用机器人上设置的图像采集装置检测行进方向上是否存在疑似障碍物；其中，图像采集装置包括摄影机、摄像机、深度相机中的至少一种。
当然，也可以采用其它可行的检测方案。
S202、在检测到疑似障碍物时，判断疑似障碍物与机器人在当前行进方向上需要到达的目标位置的相对位置关系。
机器人在行进过程中可以根据规划好的路线行进。可能是服务器进行路线规划，然后将规划好的路线发送给机器人；也可能是机器人根据任务情况自行进行路线规划。
无论采用哪种方式进行路线规划，规划好的路线中必然包含机器人的行进方向、在每个行进方向上的移动距离等信息。机器人根据这些信息，可以确定在当前方向上需要到达的目标位置。例如，目标位置可能为待存取货物对应的库位，或者轨道上转换行进方向的位置(垂直轨道与横向轨道的相交处等)，或者轨道上某个端点(垂直轨道与天轨相交处离开货架的位置、垂直轨道与巷道相交处离开货架的位置等)。
检测到疑似障碍物时，通过比较距离疑似障碍物的距离和距离目标位置的距离，可以大致判断疑似障碍物与目标位置的相对位置关系。例如，疑似障碍物位于机器人当前位置和目标位置之间(即机器人继续前进的话会先到达疑似障碍物所在位置，再到达目标位置)；或者，疑似障碍物位于目标位置之后(即机器人继续前进的话会先到达目标位置，再到达疑似障碍物所在位置)。
S203、若疑似障碍物位于机器人当前所在位置与目标位置之间，则确定疑似障碍物为障碍物。
如果经过判断，确定疑似障碍物位于机器人当前所在位置与目标位置之间，即机器人继续前进的话会先到达疑似障碍物所在位置。但由于疑似障碍物是突出于货架边缘的，占据了机器人前进的空间，可能阻碍机器人的前进。机器人可能无法越过疑似障碍物到达目标位置，因此，可以确定此疑似障碍物为障碍物。
在本申请中，“障碍物”可以认为是，位于机器人当前的行进路线上，且确实可能阻碍机器人前进的物体。
在本申请的货架场景中，障碍物可能是其它的机器人，也可能是未摆放好而凸出于货架边缘的货物，还可能是其它货架结构。
S204、重新规划行进路线，以躲避障碍物。
在确定遇到障碍物的情况下，重新规划行进路线，以对障碍物进行躲避。
在一些实施例中，可以重新规划去往目标位置的路线。例如，当障碍物为凸出于货架边缘的货物时，可以通过调整机器人的行进方向，以绕行的方式避开障碍物。或者，当障碍物为其它机器人时，可以通过调整机器人的行进速度，以错开到达相同位置的时间的方式避开障碍物。
在另一些实施例中，还可以确定新的目标位置，重新规划去往新的目标位置的行进路线，以变更行进路线的方式避开障碍物。
具体选择何种方式重新规划行进路线，还需要结合具体的场景进行选择。
本实施例提供的障碍物躲避方法应用于机器人，机器人用于在货架区域的轨道上移动，该方法包括：检测行进方向上是否存在疑似障碍物，疑似障碍物突出于货架边缘；在检测到疑似障碍物时，判断疑似障碍物与机器人在当前行进方向上需要到达的目标位置的相对位置关系；若疑似障碍物位于机器人当前所在位置与目标位置之间，则确定疑似障碍物为障碍物；重新规划行进路线，以躲避障碍物。本申请的方案由在货架区域的轨道上移动的机器人执行对应的障碍物躲避方法，通过检测行进方向上是否存在突出于货架边缘的疑似 障碍物，并进一步判断疑似障碍物是否会对行进造成阻碍，如果可能会造成阻碍则可以将其确定为障碍物，并重新规划行进路线，以躲避该障碍物，以避免被障碍物阻碍行进，同时保证机器人的安全。
在一种场景中，若机器人当前任务为到达目标位置放货和/或取货，则确定新的目标位置，包括：向管理设备上报障碍物的位置信息，并请求更换任务；接收管理设备下发的新任务；根据新任务，确定新任务对应的新的目标位置。
机器人当前任务是到达目标位置放货和/或取货，即机器人当前行进方向是朝向目标库位，在到达目标库位后执行放货和/或取货操作。若在机器人当前位置和目标库位之间检测到了障碍物，其中一种可行的重新规划行进路线的方式就是，通过更换任务确定新的目标位置，重新规划去往新的目标位置的行进路线，以变更行进路线的方式避开障碍物。更换任务的具体方式可以为，向负责进行任务分配的管理设备(服务器或者其它机器人)上报障碍物的位置信息，并请求更换任务；管理设备接收到机器人的请求后，可以为机器人更换新任务并下发给机器人；机器人可以根据新任务和新任务对应的行进路线，确定新的目标位置。
其中，管理设备为机器人更换的新任务可以为尚未被分配的任务，或者已被分配给其它机器人但尚未被执行的任务。如果是已被分配给其它机器人但尚未被执行的任务，则可以将两个任务进行交换。具体的，可以由管理设备对机器人附近一定范围内的已被分配的任务进行查找，从中确定一个最合适的任务，然后将该任务对应的库位信息、行进路线信息发送给机器人，同时将机器人的目标库位信息发送给之前被分配了该任务的机器人。进行任务交换的前提是，交换后的新路径都不会受到这个障碍物的影响。为了满足交换后的新路径都不会受到该障碍物的影响这一条件，可以预先对交换后的路径进行规划，确定不会受到该障碍物影响后，再进行交换。
另外，为了避免增加机器人执行新任务的耗时，可以优先选择距离目标库位的距离在预设范围内的库位对应的任务作为新任务。
通过分配新任务进行障碍物躲避的方式，一方面实现了避障，保证了机器人的安全；另一方面，在不过多增加路径复杂度的前提下顺利执行了搬运任务，保证了机器人的工作效率。
在另一种场景中，若机器人当前任务为到达目标位置取货和/或放货，则确定新的目标位置，包括：检测目标区域内是否有其它机器人，其它机器人当前任务为到达其它机器人对应的目标位置取货和/或放货；若目标区域内有其它机器人，且障碍物不位于其它机器人当前所在位置与目标位置之间，且障碍物不位于机器人当前所在位置与其它机器人对应的目标位置之间，则交换机器人与其它机器人的当前任务，将其它机器人对应的目标位置确定为新的目标位置。
与上一实施例相同的，机器人当前的任务是到达目标位置放货和/或取货，即机器人当前行进方向是朝向目标库位，在机器人当前位置和目标库位之间检测到了障碍物，并通过更换任务的方式确定新的目标位置。不同的是，交换任务的具体方式是，由机器人自行检测目标区域内是否有正在前往对应的目标位置执行任务的其它机器人；如果有，可以向其它机器人发起请求获取其它机器人的目标位置信息；进而对交换任务后的路径进行规划，以判断交换任务后两个机器人是否会受到障碍物的影响；如果确定交换任务后两个机器人都不会受到障碍物的影响，则交换两个机器人的任务，即将其它机器人对应的目标位置确 定为机器人的新的目标位置。
本实施例的新的目标位置的确定方式与上一实施例是类似的，其主要区别在于执行主体的不同。上一实施例适用于由管理设备进行统一的任务分配和/或路径规划和/或机器人管理的场景，本实施例适用于由机器人自主进行任务交换和/或路径规划的场景，对机器人的功能要求较高。
另外，本实施例可以适用于货物与库位没有绑定关系的场景，可以进行取货任务与取货任务的交换、放货任务与放货任务的交换。货物与库位没有绑定关系，即每个货物或其所在料箱没有指定的库位，可以放到任意库位。
与上一实施例相对应的，在另一种场景中，货架区域包括多个库位，库位用于存放固定的料箱(本申请中以料箱代指库位中存放的东西，实质上可能是货物本身，也可能是装载货物的托盘等容器)。即每个料箱只能放到指定的库位。在这种场景中，只能进行取货任务与取货任务的交换。因为，一旦放货任务交换后，可能导致将料箱放入不对应的库位，可能影响货架区域库存的管理。在本实施例中，若机器人当前任务为到达目标位置取货，则确定新的目标位置，包括：检测目标区域内是否有其它机器人，其它机器人当前任务为到达其它机器人对应的目标位置取货；若目标区域内有其它机器人，且障碍物不位于其它机器人当前所在位置与目标位置之间，且障碍物不位于机器人当前所在位置与其它机器人对应的目标位置之间，则交换机器人与其它机器人的当前任务，将其它机器人对应的目标位置确定为新的目标位置。
如图2对应的实施例对S203的说明，在本申请的货架场景中，障碍物可能是其它的机器人，也可能是未摆放好而凸出于货架边缘的货物，还可能是其它货架结构。当障碍物是未摆放好而凸出于货架边缘的货物或其它货架结构时，不一定会对机器人造成阻碍。参考图3b，是图3a对应的俯视图。从图3b上可以看到，机器人的行走机构301使机器人主体与货架之间形成间隙。也就是说只要疑似障碍物突出货架的部分可以从间隙间通过，则疑似障碍物不会对机器人造成实质性的阻碍，也就不足以成为障碍物。
对疑似障碍物是否为障碍物的判断方式，可以包括：检测疑似障碍物是否为料箱；若疑似障碍物是料箱，则检测料箱突出于货架边缘的空间范围大小；根据机器人所占空间范围、料箱突出于货架边缘的空间范围，判断料箱是否会对机器人造成阻碍；若料箱会对机器人造成阻碍，则确定料箱为障碍物。
通过对疑似障碍物的形状进行检测，即可判断疑似障碍物是否为料箱。如果疑似障碍物是料箱，其突出于货架的部分在机器人当前行进方向上的形状投影可能为三角形、四边形、弧形等几何形状。如果疑似障碍物是其它机器人，其形状投影则为机器人的形状。相对来说，两类疑似障碍物很好区别。
机器人所占空间范围完全可以预先根据机器人的外形、货架轨道结构、机器人与轨道衔接方式进行确定。因而，只要采集到料箱突出于货架边缘的部分所占空间范围大小，与机器人所占空间范围进行比较，即可判断料箱是否会对机器人造成阻碍。如果料箱突出于货架边缘的部分所占空间范围大小刚好在机器人与货架形成的间隙范围之内，则料箱不会对机器人造成阻碍，也就不是障碍物，反之则可以确定料箱为障碍物。
通过进一步判断突出于货架的物体是否为障碍物，可以更精准地划分疑似障碍物与障碍物，减少对障碍物的误判。对于不造成阻碍的疑似障碍物可以不进行躲避，实际上可以减少进行躲避而进行的大量数据处理，并且不影响机器人的工作效率。
具体的，上述的根据机器人所占空间范围、料箱突出于货架边缘的空间范围，判断料箱是否会对机器人造成阻碍，包括：根据机器人所占空间范围，构建三维结构图；将料箱突出于货架边缘的空间范围拟合到三维结构图中；判断机器人移动到料箱所在平面后，机器人的三维结构与料箱的三维结构是否有重叠；若料箱会对机器人造成阻碍，则确定料箱为障碍物，包括：若机器人的三维结构与料箱的三维结构有重叠，则确定料箱为障碍物。
其中一种判断机器人所占空间范围与料箱突出于货架边缘的空间范围的方式是通过三维模型判断。可以预先根据机器人的外形和货架结构构建机器人所占空间范围的三维结构图；基于料箱突出于货架的部分在机器人当前行进方向上的形状投影，可以构建出料箱突出于货架边缘的三维结构图；将两个三维结构图进行拟合，即可得到机器人移动到料箱所在平面时的相对位置关系。在拟合图中机器人与料箱结构可能会有重叠，如果有重叠，说明实际上机器人会被料箱阻碍。这时即可确定料箱为障碍物。
通过三维结构图拟合的方式，可以更为准确地判断出机器人与料箱的相对位置关系，进而确定料箱是否为障碍物。
在一些实施例中，为了保证上述实施例中对料箱突出于货架边缘的空间范围大小的检测的准确性，还可以在检测料箱突出于货架边缘的空间范围大小之前，减小机器人的行进速度。另一方面，减速也可以防止过于接近料箱，在确定料箱为障碍物后可以及时地调整行进方向。
在合适的场景中，还可以对突出于货架的料箱进行整理。例如，货架上的轨道包括垂直轨道和/或水平轨道。机器人当前所在位置位于垂直轨道上，且当前行进方向为沿垂直轨道向上，且机器人的任务为执行取货操作，则在确定料箱为障碍物之后，还包括：确定料箱所在的库位；到达料箱所在的库位后，取出料箱，并重新放回料箱。
本实施例的场景需要满足的条件是，第一，机器人当前可以执行取货的操作；第二，机器人在当前的行进方向上到达料箱所在平面前可以对料箱进行操作。例如，某个机器人的功能为，通过伸出位于机器人上部的机械手插入料箱底部进行拉取的方式取货。当该机器人在垂直轨道上向上行进去取货(此时空车)时，对于位于其前方的障碍物料箱(在本申请中，当确定障碍物是突出于货架的料箱时，称之为障碍物料箱)，可以取出并重新放回以调整料箱在库位中的位置，使其不再突出于货架。
其中，对于料箱所在库位的确定，可以通过距离传感器检测料箱距离机器人的距离，再结合机器人当前所在高度，确定料箱所在库位。
通过对障碍物料箱的整理，避免了机器人受到其阻碍，也省去了进行躲避而进行的大量数据处理，同时减少了该方向上一个障碍物，为其它机器人减少了一个障碍物，提高了整体的避障效率。
在其它场景中，如果机器人无法突出于货架的料箱进行整理，还可以由其它机器人进行整理。例如，机器人的任务为执行放货操作，即机器现在不满足上述的第一个条件，(因为非空车)不可以执行取货的操作。则在确定料箱为障碍物之后，可以确定料箱所在的库位；将库位的信息同步给服务器和/或其它机器人，以使其它机器人躲避料箱或者调整料箱状态。
在确定障碍物料箱的库位后，可以将库位信息发送给服务器，由服务器同步给全部机器人进行躲避，或者由服务器直接在路径规划过程中避开此障碍物料箱，或者由服务器指定某个机器人前往对应库位对障碍物料箱进行整理。
也可以将障碍物料箱的库位信息发送给附近的某个满足整理条件的机器人，由该满足整理条件的机器人前往对应库位对障碍物料箱进行整理。
如图2对应的实施例对S203的说明，在本申请的货架场景中，障碍物可能是其它的机器人，也可能是未摆放好而凸出于货架边缘的货物，还可能是其它货架结构。当障碍物是其它的机器人时，由于机器人的状态并非绝对静止的，所以障碍物机器人(在本申请中，当确定障碍物是其它的机器人时，称之为障碍物机器人)并非是固定的障碍物，需要结合障碍物机器人的状态进一步确定是否会对机器人造成实质性的阻碍，再进一步确定躲避方案。
具体的，上述的确定疑似障碍物为障碍物，包括：检测疑似障碍物是否为其它机器人；若疑似障碍物是其它机器人，则确定其它机器人的运动状态和其它机器人在当前行进方向上需要到达的目标位置；根据机器人的运动状态和机器人在当前行进方向上需要到达的目标位置、其它机器人的运动状态和其它机器人在当前行进方向上需要到达的目标位置，判断其它机器人是否会对机器人造成阻碍；若其它机器人会对机器人造成阻碍，则确定其它机器人为障碍物。
其中，根据机器人的运动状态和机器人在当前行进方向上需要到达的目标位置、其它机器人的运动状态和其它机器人在当前行进方向上需要到达的目标位置，判断其它机器人是否会对机器人造成阻碍，包括：根据机器人的行进速度，确定到达机器人在当前行进方向上需要到达的目标位置的第一路线信息中每一时刻对应的位置信息；根据其它机器人的行进速度，确定到达其它机器人在当前行进方向上需要到达的目标位置的第二路线信息中每一时刻对应的位置信息；判断第一路线信息和第二路线信息中是否存在同一时刻对应的位置的距离值在预设范围内；若其它机器人会对机器人造成阻碍，则确定其它机器人为障碍物，包括：若第一路线信息和第二路线中存在同一时刻对应的位置的距离值在预设范围内，则确定其它机器人为障碍物。
因为机器人的位置是动态变化的，如果在某一时刻其它机器人所在的位置与机器人所在的位置发生重合，说明两个机器可能会发生碰撞，也即其它机器人对机器人造成阻碍，确定是障碍物机器人。是否会发生重合，就需要结合两个机器人各自的运动状态进行分析。
例如，根据两个机器人的运动方向进行判断。机器人当前沿垂直轨道向上欲到达目标位置，其它机器人当前沿横向轨道向右欲到达其它机器人的目标位置，尽管当前其它机器人位于机器人当前位置与目标位置之间，显然之后运动方向不同，不会在路径上发生重合。
又例如，机器人当前沿垂直轨道向上欲到达目标位置，其它机器人当前也沿垂直轨道向上欲到达其它机器人的目标位置，运动方向相同，无法通过运动方向进行判断。可以进一步结合运动速度判断机器人和其它机器人在每一时刻对应的位置信息，如果两个机器人在某一时刻对应的位置的距离值在预设范围内，说明其它机器人对机器人造成阻碍。
因为机器人占有一定的空间，两个机器人发生碰撞时位置并非完全重合，而是相邻的。若以机器人的中心位置作为机器人所在位置，则预设范围为小于等于机器人长度或高度。具体确定为哪个范围还需要根据两个机器人的运行方向进行判断。当两个机器人均在横向轨道上行进，则可能会在横向轨道上相遇，预设范围应为小于等于机器人长度；当两个机器人均在垂直轨道上行进，则可能会在垂直轨道上相遇，预设范围应为小于等于机器人高度；当两个机器人分别在垂直轨道和横向轨道上行进，则可能会在横向轨道与垂直轨道的 相交处相遇，预设范围应为小于等于
Figure PCTCN2022100404-appb-000001
图4为本申请一实施例提供的一种障碍物躲避装置的结构示意图，如图4所示，本实施例的障碍物躲避装置400，包括：疑似障碍物检测模块401、位置确定模块402、障碍物判定模块403、路线规划模块404。
疑似障碍物检测模块401，用于检测行进方向上是否存在疑似障碍物，疑似障碍物突出于货架边缘。
位置确定模块402，用于在检测到疑似障碍物时，判断疑似障碍物与机器人在当前行进方向上需要到达的目标位置的相对位置关系。
障碍物判定模块403，用于在疑似障碍物位于机器人当前所在位置与目标位置之间时，确定疑似障碍物为障碍物。
路线规划模块404，用于重新规划行进路线，以躲避障碍物。
可选的，路线规划模块404具体用于：
通过调整机器人的行进方向，重新规划从当前位置去往目标位置的行进路线。
可选的，路线规划模块404具体用于：
通过调整机器人的行进速度，重新规划从当前位置去往目标位置的行进路线。
可选的，路线规划模块404具体用于：
确定新的目标位置；
重新规划从当前位置去往新的目标位置的行进路线。
可选的，若机器人当前任务为到达目标位置放货和/或取货，则路线规划模块404在确定新的目标位置时，具体用于：
向管理设备上报障碍物的位置信息，并请求更换任务；
接收管理设备下发的新任务；
根据新任务，确定新任务对应的新的目标位置。
可选的，若机器人当前任务为到达目标位置取货和/或放货，则路线规划模块404在确定新的目标位置时，具体用于：
检测目标区域内是否有其它机器人，其它机器人当前任务为到达其它机器人对应的目标位置取货和/或放货；
若目标区域内有其它机器人，且障碍物不位于其它机器人当前所在位置与目标位置之间，且障碍物不位于机器人当前所在位置与其它机器人对应的目标位置之间，则交换机器人与其它机器人的当前任务，将其它机器人对应的目标位置确定为新的目标位置。
可选的，货架区域包括多个库位，库位用于存放固定的料箱；
若机器人当前任务为到达目标位置取货，则路线规划模块404在确定新的目标位置时，具体用于：
检测目标区域内是否有其它机器人，其它机器人当前任务为到达其它机器人对应的目标位置取货；
若目标区域内有其它机器人，且障碍物不位于其它机器人当前所在位置与目标位置之间，且障碍物不位于机器人当前所在位置与其它机器人对应的目标位置之间，则交换机器人与其它机器人的当前任务，将其它机器人对应的目标位置确定为新的目标位置。
可选的，疑似障碍物检测模块401，具体用于：
利用机器人上设置的传感器检测行进方向上是否存在疑似障碍物；
其中，传感器包括激光传感器、光传感器中的至少一种。
可选的，疑似障碍物检测模块401，具体用于：
利用机器人上设置的图像采集装置检测行进方向上是否存在疑似障碍物；
其中，图像采集装置包括摄影机、摄像机、深度相机中的至少一种。
可选的，障碍物判定模块403在确定疑似障碍物为障碍物时，具体用于：
检测疑似障碍物是否为料箱；
若疑似障碍物是料箱，则检测料箱突出于货架边缘的空间范围大小；
根据机器人所占空间范围、料箱突出于货架边缘的空间范围，判断料箱是否会对机器人造成阻碍；
若料箱会对机器人造成阻碍，则确定料箱为障碍物。
可选的，障碍物判定模块403在根据机器人所占空间范围、料箱突出于货架边缘的空间范围，判断料箱是否会对机器人造成阻碍时，具体用于：
根据机器人所占空间范围，构建三维结构图；
将料箱突出于货架边缘的空间范围拟合到三维结构图中；
判断机器人移动到料箱所在平面后，机器人的三维结构与料箱的三维结构是否有重叠；
若料箱会对机器人造成阻碍，则确定料箱为障碍物，包括：
若机器人的三维结构与料箱的三维结构有重叠，则确定料箱为障碍物。
可选的，障碍物判定模块403在检测料箱突出于货架边缘的空间范围大小之前，还用于：
减小机器人的行进速度。
可选的，机器人用于在货架上的轨道上移动，货架上的轨道包括垂直轨道和/或水平轨道；
若机器人当前所在位置位于垂直轨道上，且当前行进方向为沿垂直轨道向上，且机器人的任务为执行取货操作，则在确定料箱为障碍物之后，还包括：
确定料箱所在的库位；
到达料箱所在的库位后，取出料箱，并重新放回料箱。
可选的，若机器人的任务为执行放货操作，障碍物判定模块403在确定料箱为障碍物之后，还用于：
确定料箱所在的库位；
将库位的信息同步给服务器和/或其它机器人，以使其它机器人躲避料箱或者调整料箱状态。
可选的，障碍物判定模块403在确定疑似障碍物为障碍物时，具体用于：
检测疑似障碍物是否为其它机器人；
若疑似障碍物是其它机器人，则确定其它机器人的运动状态和其它机器人在当前行进方向上需要到达的目标位置；
根据机器人的运动状态和机器人在当前行进方向上需要到达的目标位置、其它机器人的运动状态和其它机器人在当前行进方向上需要到达的目标位置，判断其它机器人是否会对机器人造成阻碍；
若其它机器人会对机器人造成阻碍，则确定其它机器人为障碍物。
可选的，障碍物判定模块403在根据机器人的运动状态和机器人在当前行进方向上需要到达的目标位置、其它机器人的运动状态和其它机器人在当前行进方向上需要到达的目标位置，判断其它机器人是否会对机器人造成阻碍时，具体用于：
根据机器人的行进速度，确定到达机器人在当前行进方向上需要到达的目标位置的第一路线信息中每一时刻对应的位置信息；
根据其它机器人的行进速度，确定到达其它机器人在当前行进方向上需要到达的目标位置的第二路线信息中每一时刻对应的位置信息；
判断第一路线信息和第二路线信息中是否存在同一时刻对应的位置的距离值在预设范围内；
若其它机器人会对机器人造成阻碍，则确定其它机器人为障碍物，包括：
若第一路线信息和第二路线中存在同一时刻对应的位置的距离值在预设范围内，则确定其它机器人为障碍物。
本实施例的装置，可以用于执行上述任一实施例的方法，其实现原理和技术效果类似，此处不再赘述。
图5为本申请一实施例提供的一种电子设备的结构示意图，如图5所示，本实施例的电子设备500可以包括：存储器501、处理器502。
存储器501，用于存储程序指令。
处理器502，用于调用并执行存储器501中的程序指令执行上述实施例中的方法。
本实施例的电子设备可以被提供为一种机器人。
本申请还提供了一种计算机可读存储介质，存储介质存储有计算机程序，计算机程序被处理器执行时，实现上述实施例中的方法。
本申请还提供了一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述实施例中的方法。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (20)

  1. 一种障碍物躲避方法，其特征在于，应用于机器人，所述机器人用于在货架区域的轨道上移动，所述方法包括：
    检测行进方向上是否存在疑似障碍物，所述疑似障碍物突出于货架边缘；
    在检测到疑似障碍物时，判断所述疑似障碍物与所述机器人在当前行进方向上需要到达的目标位置的相对位置关系；
    若所述疑似障碍物位于所述机器人当前所在位置与所述目标位置之间，则确定所述疑似障碍物为障碍物；
    重新规划行进路线，以躲避所述障碍物。
  2. 根据权利要求1所述的方法，其特征在于，所述重新规划行进路线，包括：
    通过调整所述机器人的行进方向，重新规划从当前位置去往所述目标位置的行进路线。
  3. 根据权利要求1所述的方法，其特征在于，所述重新规划行进路线，包括：
    通过调整所述机器人的行进速度，重新规划从当前位置去往所述目标位置的行进路线。
  4. 根据权利要求1所述的方法，其特征在于，所述重新规划行进路线，包括：
    确定新的目标位置；
    重新规划从当前位置去往所述新的目标位置的行进路线。
  5. 根据权利要求4所述的方法，其特征在于，
    若所述机器人当前任务为到达所述目标位置放货和/或取货，则所述确定新的目标位置，包括：
    向管理设备上报所述障碍物的位置信息，并请求更换任务；
    接收所述管理设备下发的新任务；
    根据所述新任务，确定所述新任务对应的新的目标位置。
  6. 根据权利要求4所述的方法，其特征在于，
    若所述机器人当前任务为到达所述目标位置取货和/或放货，则所述确定新的目标位置，包括：
    检测目标区域内是否有其它机器人，所述其它机器人当前任务为到达所述其它机器人对应的目标位置取货和/或放货；
    若目标区域内有其它机器人，且所述障碍物不位于所述其它机器人当前所在位置与所述目标位置之间，且所述障碍物不位于所述机器人当前所在位置与所述其它机器人对应的目标位置之间，则交换所述机器人与所述其它机器人的当前任务，将所述其它机器人对应的目标位置确定为新的目标位置。
  7. 根据权利要求4所述的方法，其特征在于，所述货架区域包括多个库位，所述库位用于存放固定的料箱；
    若所述机器人当前任务为到达所述目标位置取货，则所述确定新的目标位置，包括：
    检测目标区域内是否有其它机器人，所述其它机器人当前任务为到达所述其它机器人对应的目标位置取货；
    若目标区域内有其它机器人，且所述障碍物不位于所述其它机器人当前所在位置与所述目标位置之间，且所述障碍物不位于所述机器人当前所在位置与所述其它机器人对应的目标位置之间，则交换所述机器人与所述其它机器人的当前任务，将所述其它机器人对应 的目标位置确定为新的目标位置。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述检测行进方向上是否存在疑似障碍物，包括：
    利用所述机器人上设置的传感器检测行进方向上是否存在疑似障碍物；
    其中，所述传感器包括激光传感器、光传感器中的至少一种。
  9. 根据权利要求1-7任一项所述的方法，其特征在于，所述检测行进方向上是否存在疑似障碍物，包括：
    利用所述机器人上设置的图像采集装置检测行进方向上是否存在疑似障碍物；
    其中，所述图像采集装置包括摄影机、摄像机、深度相机中的至少一种。
  10. 根据权利要求1-7任一项所述的方法，其特征在于，所述确定所述疑似障碍物为障碍物，包括：
    检测所述疑似障碍物是否为料箱；
    若所述疑似障碍物是料箱，则检测所述料箱突出于货架边缘的空间范围大小；
    根据所述机器人所占空间范围、所述料箱突出于货架边缘的空间范围，判断所述料箱是否会对所述机器人造成阻碍；
    若所述料箱会对所述机器人造成阻碍，则确定所述料箱为障碍物。
  11. 根据权利要求10所述的方法，其特征在于，所述根据所述机器人所占空间范围、所述料箱突出于货架边缘的空间范围，判断所述料箱是否会对所述机器人造成阻碍，包括：
    根据所述机器人所占空间范围，构建三维结构图；
    将所述料箱突出于货架边缘的空间范围拟合到所述三维结构图中；
    判断所述机器人移动到所述料箱所在平面后，所述机器人的三维结构与所述料箱的三维结构是否有重叠；
    所述若所述料箱会对所述机器人造成阻碍，则确定所述料箱为障碍物，包括：
    若所述机器人的三维结构与所述料箱的三维结构有重叠，则确定所述料箱为障碍物。
  12. 根据权利要求10所述的方法，其特征在于，在所述检测所述料箱突出于货架边缘的空间范围大小之前，还包括：
    减小所述机器人的行进速度。
  13. 根据权利要求10所述的方法，其特征在于，所述机器人用于在货架上的轨道上移动，所述货架上的轨道包括垂直轨道和/或水平轨道，所述方法包括：
    若所述机器人当前所在位置位于垂直轨道上，且当前行进方向为沿垂直轨道向上，且所述机器人的任务为执行取货操作，则在所述确定所述料箱为障碍物之后，还包括：
    确定所述料箱所在的库位；
    到达所述料箱所在的库位后，取出所述料箱，并重新放回所述料箱。
  14. 根据权利要求10所述的方法，其特征在于，若所述机器人的任务为执行放货操作，在所述确定所述料箱为障碍物之后，还包括：
    确定所述料箱所在的库位；
    将所述库位的信息同步给服务器和/或其它机器人，以使其它机器人躲避所述料箱或者调整所述料箱状态。
  15. 根据权利要求1-7任一项所述的方法，其特征在于，所述确定所述疑似障碍物为障碍物，包括：
    检测所述疑似障碍物是否为其它机器人；
    若所述疑似障碍物是其它机器人，则确定所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置；
    根据所述机器人的运动状态和所述机器人在当前行进方向上需要到达的目标位置、所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置，判断所述其它机器人是否会对所述机器人造成阻碍；
    若所述其它机器人会对所述机器人造成阻碍，则确定所述其它机器人为障碍物。
  16. 根据权利要求15所述的方法，其特征在于，所述根据所述机器人的运动状态和所述机器人在当前行进方向上需要到达的目标位置、所述其它机器人的运动状态和所述其它机器人在当前行进方向上需要到达的目标位置，判断所述其它机器人是否会对所述机器人造成阻碍，包括：
    根据所述机器人的行进速度，确定到达所述机器人在当前行进方向上需要到达的目标位置的第一路线信息中每一时刻对应的位置信息；
    根据所述其它机器人的行进速度，确定到达所述其它机器人在当前行进方向上需要到达的目标位置的第二路线信息中每一时刻对应的位置信息；
    判断所述第一路线信息和所述第二路线信息中是否存在同一时刻对应的位置的距离值在预设范围内；
    所述若所述其它机器人会对所述机器人造成阻碍，则确定所述其它机器人为障碍物，包括：
    若所述第一路线信息和所述第二路线中存在同一时刻对应的位置的距离值在预设范围内，则确定所述其它机器人为障碍物。
  17. 一种障碍物躲避装置，其特征在于，包括：
    疑似障碍物检测模块，用于检测行进方向上是否存在疑似障碍物，所述疑似障碍物突出于货架边缘；
    位置确定模块，用于在检测到疑似障碍物时，判断所述疑似障碍物与所述机器人在当前行进方向上需要到达的目标位置的相对位置关系；
    障碍物判定模块，用于在所述疑似障碍物位于机器人当前所在位置与所述目标位置之间时，确定所述疑似障碍物为障碍物；
    路线规划模块，用于重新规划行进路线，以躲避所述障碍物。
  18. 一种电子设备，其特征在于，包括：
    存储器，用于存储程序指令；
    处理器，用于调用并执行所述存储器中的程序指令，执行如权利要求1-16任一项所述的方法。
  19. 一种计算机可读存储介质，其特征在于，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现如权利要求1-16任一项所述的方法。
  20. 一种计算机程序产品，包括计算机程序，其特征在于，该计算机程序被处理器执行时实现权利要求1-16任一项所述的方法。
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