WO2026026656A1 - 用于机器人的障碍物处理方法、装置、机器人及存储介质 - Google Patents

用于机器人的障碍物处理方法、装置、机器人及存储介质

Info

Publication number
WO2026026656A1
WO2026026656A1 PCT/CN2025/110300 CN2025110300W WO2026026656A1 WO 2026026656 A1 WO2026026656 A1 WO 2026026656A1 CN 2025110300 W CN2025110300 W CN 2025110300W WO 2026026656 A1 WO2026026656 A1 WO 2026026656A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
target
identified
obstacles
identified obstacles
Prior art date
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Pending
Application number
PCT/CN2025/110300
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English (en)
French (fr)
Inventor
程冉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
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Filing date
Publication date
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Publication of WO2026026656A1 publication Critical patent/WO2026026656A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions [3D]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones

Definitions

  • This disclosure relates to the field of robotics, and more particularly to an obstacle handling method, apparatus, robot, and storage medium for a robot.
  • Household robots are robots developed based on the chassis and robotic arms of traditional robotic vacuum cleaners, capable of cleaning floors and tidying up items on the floor.
  • Current household robots can automatically organize items, such as placing slippers by the door, arranging toys in the children's room, and throwing crumpled paper into the trash can; in other words, household robots have an automatic tidying function.
  • the embodiments of this disclosure provide an obstacle handling method, apparatus, robot, and storage medium for robots, which at least partially solve the technical problem of low accuracy when housekeeping robots are tidying up items on the floor.
  • an obstacle handling method for a robot comprising:
  • Identify obstacles and mark the identified obstacles on a first map obtain handling commands for M identified obstacles, and determine a target handling method for the M identified obstacles based on the handling commands, wherein the handling commands are generated in response to the handling actions performed by the user on the M identified obstacles marked on the first map, and M is a positive integer; handle the M identified obstacles according to the target handling method.
  • an obstacle handling apparatus for a robot comprising: an identification and marking unit for identifying obstacles and marking the identified obstacles on a first map; a disposal determination unit for acquiring disposal commands for M identified obstacles and determining a target disposal method for the M identified obstacles based on the disposal commands, wherein the disposal commands are generated in response to a disposal action performed by a user on the M identified obstacles marked on the first map, where M is a positive integer; and a disposal execution unit for disposing of the M identified obstacles according to the target disposal method.
  • a robot comprising: a sweeping robot chassis for cleaning a floor; a robotic arm connected to the sweeping robot chassis for organizing items on the floor; a processor; and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the instructions to implement the obstacle handling method of the first aspect.
  • a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the obstacle handling method described in the first aspect.
  • Figure 1 illustrates a scenario of an obstacle handling method according to some embodiments of the present disclosure.
  • Figure 2 illustrates the flow of an obstacle handling method for a robot according to some embodiments of the present disclosure.
  • Figure 3A shows a first map displayed on the main interface of an application according to some embodiments of the present disclosure.
  • Figure 3B shows a real-world image of an identified obstacle displayed in an application according to some embodiments of the present disclosure.
  • Figure 3C illustrates various candidate handling methods displayed below a real-world image of an identified obstacle according to some embodiments of the present disclosure.
  • Figure 4 illustrates the structure of an obstacle handling device for a robot according to some embodiments of the present disclosure.
  • Figure 5 illustrates the structure of a robot according to some embodiments of the present disclosure.
  • Figure 1 illustrates a scenario of an obstacle handling method according to some embodiments of the present disclosure.
  • the obstacle handling method for robots provided in the embodiments of the present disclosure can be applied to a robot 20 that has established a communication connection with a user device 10.
  • the robot 20 includes a sweeping robot chassis and a robotic arm.
  • the robotic arm is connected to the sweeping robot chassis.
  • the sweeping robot chassis is used to clean the floor, and the robotic arm is used to organize items on the floor.
  • the user device can be a mobile phone, tablet computer, or computer device.
  • the user device has an application installed to display the working information of the robot 20 and to allow the user to operate the robot.
  • the application can be a mobile phone APP.
  • the displayed working information includes a map created by the robot, obstacles marked on the map that have been identified by the robot, etc.
  • FIG2 illustrates a flowchart of an obstacle handling method for a robot according to some embodiments of this disclosure, which includes the following steps S101 to S104.
  • step S101 Identify obstacles and mark the identified obstacles on the first map.
  • the robot identifies obstacles and marks them on the first map.
  • the identified obstacles are those recognized by the robot, and these obstacles may be one or more.
  • the first map is a map created by the robot for its operating environment.
  • identifying obstacles and marking them on a first map includes: obtaining identification result information by identifying the obstacles, the identification result information including the location information and category information of each identified obstacle; and marking each identified obstacle on the first map according to its location information and category information.
  • location information of each identified obstacle represents its location in the real environment.
  • category information of each identified obstacle represents its category. Multiple obstacle categories are pre-defined, such as footwear, clothing, miscellaneous items, and garbage. Each identified obstacle belongs to one of these categories.
  • the identified obstacle is marked on the first map according to its location information and category information. This includes: for each identified obstacle, adding an icon representing the category of the identified obstacle to the map position corresponding to the actual location of the identified obstacle on the first map, according to the location information and category information of the identified obstacle, as shown in Figure 3A. For example, if an obstacle is identified as a shoe, a shoe-like icon is added to the map position corresponding to the actual location of the shoe on the first map.
  • a first map marked with the identified obstacles is displayed on the main interface of the application, so that users can see the specific location and obstacle category of each identified obstacle in the room from the first map displayed on the main interface of the application, which makes it easier for users to accurately give actions to the identified obstacles.
  • the robot sends a first map marked with the identified obstacles to the user's device.
  • the user's device displays the first map marked with the identified obstacles on the main interface of the application, allowing the user to see the specific location and obstacle category of each identified obstacle in the room directly from the user's device.
  • the recognition result information may include not only the location and category information of each identified obstacle, but also an image of each identified obstacle.
  • the image of each identified obstacle can be a real-world image captured by the robot's camera at the location of the identified obstacle, including the obstacle and its surrounding environment.
  • the application interface redirects to a page displaying the image of the identified obstacle (as shown in Figure 3B). This allows the user to determine whether the robot's identification of the obstacle is incorrect based on the image, further reducing the possibility of mis-sorting items due to misidentification.
  • the robot performs obstacle recognition during the execution of a target task to obtain recognition result information.
  • the target task is one of the various tasks that the robot can perform that requires obstacle recognition.
  • the target task may be a ground cleaning task, a patrol task, etc.
  • the robot checks whether its automatic sorting function is enabled before identifying obstacles. If the automatic sorting function is enabled, the robot identifies obstacles during the execution of the target task, determines the default placement position of the identified obstacles based on their category, and moves them to the default placement position. This achieves automatic obstacle identification and sorting without user involvement in the decision-making process. If the automatic sorting function is not enabled, step S101 is executed, which involves identifying obstacles and marking them on a first map. In this case, user involvement is required in the decision-making process. This allows users to choose whether to participate in the decision-making process based on their needs, improving the versatility of the robot's sorting functions.
  • the robot's automatic tidying function can be enabled or disabled by the user on the robot's application, remote control, or control panel. If the robot receives a control command from the user on the robot's application, remote control, or control panel, it can enable or disable the robot's automatic tidying function according to the control command.
  • step S102 Obtain the disposal commands for the M identified obstacles, and determine the target disposal method for the M identified obstacles based on the disposal commands.
  • the disposal commands are generated in response to the disposal actions performed by the user on the M identified obstacles marked on the first map, where M is a positive integer.
  • the M identified obstacles are the obstacles that the user needs to deal with among all the identified obstacles marked on the first map.
  • the M identified obstacles are all or some of the identified obstacles marked on the first map.
  • the disposal command for the M identified obstacles can be the same disposal command, or it can include sub-disposal commands for each of the M identified obstacles.
  • multiple candidate disposal methods are pre-configured for the user to choose from. For each of the M identified obstacles, a sub-disposal command for that obstacle is obtained, and a disposal method for that obstacle is selected from the pre-configured multiple candidate disposal methods based on the sub-disposal command.
  • M sub-disposal commands are obtained one-to-one for each of the M identified obstacles.
  • the M sub-disposal commands can be the same or different, enabling the user to freely choose the identified obstacles to be disposed of and the disposal method used to dispose of them, thereby improving the flexibility and diversity of obstacle disposal.
  • the various candidate disposal methods available to the user may include only tidying-up disposal methods.
  • Tidying-up disposal methods involve the robot performing tidying actions on the identified obstacle to arrange it into the target placement position.
  • These tidying-up disposal methods may include one or more of the following three tidying methods:
  • default placement positions for different obstacle categories can be pre-set before the robot leaves the factory. These default placement positions are determined based on the room types and furniture areas identified by the robot's mapping of the operating environment. During robot use, the default placement positions of one or more obstacle categories can be changed according to user operation. For example, the default placement positions for different obstacle categories are shown in Table 1 below. The obstacle categories and their default placement positions shown in Table 1 are merely for illustrative purposes and are not intended to limit the scope of this disclosure.
  • the actions taken to handle the M identified obstacles marked on the first map can be either selection operations or voice commands.
  • the application for user-operated robot displays the first map marked with the identified obstacles, enabling the user to perform actions on the marked obstacles on the displayed first map.
  • the sub-disposal command for each of the M identified obstacles can be generated by a user's selection operation, which chooses one of a variety of pre-configured candidate disposal methods for that identified obstacle.
  • the application's page displaying an image of the target obstacle also shows various candidate handling options (as shown in Figure 3C). If a user selects any of these options, the robot obtains a sub-handling command corresponding to the user's selected handling method. This sub-handling command is then used as the handling method for the target obstacle. The robot uses the obtained sub-handling command to apply the user's selected handling method to the target obstacle.
  • the target obstacle is an identified obstacle for which the user is currently performing a handling action.
  • the user device sends the sub-handling command corresponding to the user's selected handling method to the robot, enabling the robot to receive the sub-handling command for the target obstacle.
  • the sub-disposal command for each of the M identified obstacles can be generated by a voice command from which the user selects a disposal method for that identified obstacle from a variety of pre-configured candidate disposal methods.
  • the user is guided to select one of several handling methods based on human-computer voice interaction. For example, the user device outputs a voice prompt: "Shoes detected. Actively avoid them in advance. Do you need to move the shoes to their default placement position?" If the user's voice command is "yes,” then the handling method for the target obstacle is determined as "move to the default placement position.” If the user's voice command is "no,” other voice prompts can be output until a sub-handling command for the target obstacle is determined based on the user's voice command.
  • the user device sends the determined sub-handling command for the target obstacle to the robot, so that the robot receives the sub-handling command for the target obstacle.
  • the target obstacle is an identified obstacle for which the user is currently performing a handling action.
  • the determined target handling method includes the handling method for each of the M identified obstacles.
  • the handling methods for different identified obstacles among the M identified obstacles may be the same or different depending on the user's selection.
  • the user can select the disposal method for each of the M identified obstacles, so as to involve the user in the decision-making process of how to deal with the identified obstacles and help the robot to complete the task of disposing of the identified obstacles more accurately.
  • step S103 The M identified obstacles are dealt with according to the target disposal method.
  • At least one sorting-type disposal method is included among the pre-configured multiple candidate disposal methods.
  • the disposal of M identified obstacles according to the target disposal method includes: when the disposal method of N identified obstacles among the M identified obstacles is a sorting-type disposal method, determining the target placement position of the N identified obstacles according to the sorting-type disposal method used for the N identified obstacles; and moving the N identified obstacles from their current positions to their respective target placement positions according to the target placement positions and position information of the N identified obstacles.
  • the target placement position for each of the N identified obstacles is determined based on the sorting method used for the N identified obstacles. This includes: if the sorting method used for the target obstacle is to sort to the default placement position, then based on the obstacle's category information, a default placement position matching the target obstacle is determined from a set of pre-established default placement positions based on the obstacle category, and this is taken as the target placement position for the target obstacle.
  • the target obstacle is the obstacle among the N identified obstacles for which the user has currently performed a sorting action.
  • the disposal method for the target obstacle is determined to be "sorting to the default placement position" according to the disposal command for the target obstacle
  • the application for the user to operate the robot detects that the user has selected the disposal method of "sorting to the default placement position”
  • the application's display interface jumps to the main interface displaying the first map. If there are other identified obstacles marked on the first map, it is convenient for the user to continue to perform disposal actions on the remaining identified obstacles.
  • determining the target placement position for each of the N identified obstacles based on the sorting method used for the N identified obstacles includes: if the sorting method for the target obstacle is "sorting to a new placement position," obtaining a position specification command for the target obstacle.
  • the position specification command is generated in response to a user's action to specify the position of the target obstacle, and the position specification command is used to specify the new placement position of the target obstacle.
  • the target obstacle is the obstacle among the N obstacles for which the user has currently performed a sorting action.
  • the application for operating the robot prompts the user to perform a location specification action.
  • the location specification action is the user's selection of a new placement location for the target obstacle within the application for operating the robot. This selection action can be either choosing a new placement location for the target obstacle from a second map displayed in the application, or choosing a new placement location for the target obstacle from a list of locations displayed in the application.
  • the displayed location list includes multiple candidate placement locations suitable for the target obstacle.
  • the second map has the same map area as the first map, but unlike the first map, the second map is user-interactive.
  • the application for user-operated robots prompts the user to perform a location-specifying action. Specifically, after the application receives the user's selected action of "arrange to a new placement location," the application's display jumps to a second map or a list of multiple candidate placement locations. This allows the user to further select the room and its specific location within that room from the second map or the location list.
  • the second map can be used by the user to select a new placement location, or it can display multiple candidate placement locations for the user to choose from.
  • the application's display interface after determining the new placement position of the target obstacle according to the location specification command, the application's display interface jumps to the main interface displaying the first map. If there are icons of other identified obstacles marked on the first map, it is convenient for the user to continue to perform actions on the remaining identified obstacles.
  • the method for organizing target obstacles involves organizing them to a new placement location or a default placement location, based on the target placement locations and location information of N identified obstacles, the N identified obstacles are moved from their current locations to their respective target placement locations. This includes: for a target obstacle, moving it to its current location based on its location information; the target obstacle is the obstacle currently being processed by the user among the N identified obstacles. After picking up the target obstacle, it is moved to its target placement location, thus completing the organization of the target obstacles.
  • determining the target placement position of each of the N identified obstacles based on the sorting and handling method for the N identified obstacles includes: if the handling method for K of the N identified obstacles is to add them to the sorting list, adding the K obstacles to the current sorting list, where K is a positive integer not greater than N. In the current sorting list, determining the target placement position for each of the K identified obstacles.
  • M, N, and K are not fixed values set in advance.
  • M is determined based on the actual number of obstacles in the robot's operating environment, while N and K are determined based on the number of obstacles in the robot's operating environment and the user's choices.
  • the identified obstacle is added to the current organization list in response to the add command.
  • the add command for the identified obstacle is generated by the user selecting the "Add to Organization List" action for that identified obstacle in the application for user-operated robots.
  • the user device sends the add command for that identified obstacle to the robot, so that the robot receives the add command for that identified obstacle.
  • determining the target placement positions of K identified obstacles in the current sorting list includes: for each of the K identified obstacles in the current sorting list, if an adjustment command for adjusting the placement position of the identified obstacle is obtained, the new placement position adjusted based on the adjustment command is taken as the target placement position of the identified obstacle; otherwise, based on the category information of the identified obstacle, the default placement position of the identified obstacle is determined from a variety of default placement positions pre-established according to the obstacle category, and taken as the target placement position of the identified obstacle.
  • the command to adjust the placement of the identified obstacle is generated by the user in the application that allows the user to operate the robot, performing an action to adjust the placement of the identified obstacle from its default position to a new position.
  • the user device sends the adjustment command to the robot, so that the robot receives the adjustment command for adjusting the placement of the identified obstacle.
  • the current list of obstacles includes K identified obstacles of at least one obstacle category.
  • the current list may take the form shown in Table 2 below:
  • the application's display interface in response to a received add command for any identified obstacle marked on the first map, after adding the identified obstacle to the current list, the application's display interface jumps to show the current list.
  • the target placement position of the most recently added identified obstacle is displayed as the default placement position. If an adjustment command is received from the user to adjust the target placement position of the most recently added identified obstacle in the current list, the new placement position based on the adjustment command is used as the target placement position for that identified obstacle.
  • the application's display interface jumps from the current list to the main interface displaying the first map, allowing the user to select the next identified obstacle to add to the current list and add it. This process is repeated until the current list is fully configured.
  • the N identified obstacles are moved from their current positions to their respective target placement positions, including:
  • a path planning is performed based on the current sorting list and the location information of the K identified obstacles to generate an item sorting path; the K identified obstacles are sorted according to the item sorting path to move the K identified obstacles from their current location to their respective target placement positions.
  • a start option for starting to sort out obstacles in the current sorting list can be set on the main interface of the application for users to operate the robot. Based on the user's operation of the start option, a start sorting command is generated. If the start sorting command is obtained, the step of generating an item sorting path is triggered based on the current sorting list and the location information of K identified obstacles.
  • the pre-configured multiple candidate handling methods may also include handling methods that do not require tidying and/or do not require avoidance.
  • Handling methods that do not require tidying The robot does not perform tidying actions; the identified obstacle remains in its original position and is still marked on the first map.
  • Handling methods that do not require avoidance When the robot performs a cleaning task again, it does not perform obstacle avoidance actions on the identified obstacle, and the identified obstacle is not still marked on the first map.
  • the step of disposing of the M identified obstacles according to the target disposal method further includes: when it is determined that the disposal method for the target obstacle is a non-organizational disposal method, the robot performs an obstacle avoidance action when it moves to the location of the target obstacle during the execution of subsequent tasks, based on the location information of the target obstacle.
  • the step of handling M identified obstacles according to the target handling method further includes: if it is determined that the target handling method for the target obstacle is a non-avoidance-type handling method, the target obstacle is cleared on the first map, and during the robot's cleaning task, no obstacle avoidance action is performed when it moves to the location of the target obstacle, so that the target obstacle is cleaned.
  • FIG4 illustrates the structure of an obstacle handling device for a robot according to some embodiments of this disclosure.
  • the obstacle handling device for a robot includes: an identification and marking unit 401, which identifies obstacles and marks the identified obstacles on a first map; a disposal determination unit 402, which acquires disposal commands for M identified obstacles and determines a target disposal method for the M identified obstacles according to the disposal commands, wherein the disposal commands are generated in response to a disposal action performed by a user on the M identified obstacles marked on the first map, and M is a positive integer; and a disposal execution unit 403, which controls the robot to dispose of the M identified obstacles according to the target disposal method.
  • the disposal determination unit 402 is used to obtain a sub-disposal command for each of the M identified obstacles, and select a disposal method for the identified obstacle from a variety of pre-configured candidate disposal methods according to the sub-disposal command for the identified obstacle.
  • the identification marking unit 401 is used to obtain identification result information by identifying obstacles, wherein the identification result information includes the location information and category information of each identified obstacle; for each identified obstacle, the identified obstacle is marked on the first map according to the location information and category information of the identified obstacle.
  • the multiple candidate disposal methods include at least one sorting disposal method
  • the disposal execution unit 403 includes a first disposal unit.
  • the first disposal unit includes: a position determination subunit, used to determine the target placement positions of the N identified obstacles based on the sorting disposal method used for the N identified obstacles when the disposal method for N identified obstacles out of the M identified obstacles is the sorting disposal method; and a sorting subunit, used to move the N identified obstacles from their current positions to their respective target placement positions based on the target placement positions and position information of the N identified obstacles.
  • the location determination subunit is used to determine, if the sorting action for the target obstacle is to sort it to a default placement position, a default placement position matching the target obstacle from a variety of default placement positions pre-established based on the obstacle category information, and this target placement position is used as the target obstacle's target placement position.
  • the target obstacle is the obstacle among the N identified obstacles that is currently being processed by the user.
  • the location determination subunit is used to obtain a location specification command for the target obstacle if the handling method for the target obstacle is to move it to a new placement position.
  • the location specification command is generated in response to a user's action to specify the location of the target obstacle, and the command specifies a new placement position for the target obstacle.
  • the target obstacle is the obstacle among the N identified obstacles that has currently undergone a handling action by the user. This new placement position is then used as the target placement position for the target obstacle.
  • the location designation action is a user's selection of a new placement location for the target obstacle within an application used by the user to operate the robot.
  • This selection action can be either a user choosing a new placement location for the target obstacle from a second map displayed in the application, or a user selecting a new placement location for the target obstacle from a list of locations displayed in the application, the list containing multiple candidate placement locations suitable for the target obstacle.
  • the sorting subunit is used to move to the current location of a target obstacle based on the location information of the target obstacle, wherein the target obstacle is the obstacle currently being handled by the user among the N identified obstacles; and after picking up the target obstacle, it moves it to the target placement position.
  • the location determination subunit includes: an adding module, configured to add the K identified obstacles to the current sorting list if the handling method for K identified obstacles out of the N identified obstacles is to add them to the sorting list, where K is a positive integer not greater than N; and a location adjustment module, configured to determine the target placement position of the K identified obstacles in the current sorting list.
  • the sorting subunit is used to perform path planning for the K identified obstacles based on the current sorting list and the location information of the K identified obstacles, generate an item sorting path, and sort the K identified obstacles according to the item sorting path, so as to move the K identified obstacles from their current location to their respective target placement positions.
  • the position adjustment module is used to, for each of the K identified obstacles, if an adjustment command for adjusting the placement position of the identified obstacle is obtained, take the new placement position adjusted based on the adjustment command as the target placement position of the identified obstacle; otherwise, based on the category information of the identified obstacle, determine the default placement position of the identified obstacle from a variety of default placement positions established in advance according to the obstacle category, and take it as the target placement position of the identified obstacle.
  • the multiple candidate handling methods include handling methods that do not require tidying up and/or handling methods that do not require obstacle avoidance.
  • the handling execution unit 403 includes a second handling unit or a third handling unit. The second handling unit is used to, when it is determined that the handling method for the target obstacle is a handling method that does not require tidying up, to cause the robot to perform an obstacle avoidance action when moving to the location of the target obstacle during the execution of subsequent tasks, based on the location information of the target obstacle.
  • the third handling unit is used to, when it is determined that the target handling method for the target obstacle is a handling method that does not require obstacle avoidance, to clear the target obstacle on the first map, so that the robot does not perform an obstacle avoidance action when moving to the location of the target obstacle during the execution of the cleaning task.
  • the target obstacle is the obstacle among the M identified obstacles that the user is currently handling.
  • the obstacle handling device for the robot further includes: a function detection unit for detecting whether the robot's automatic sorting function is enabled; an automatic sorting unit for identifying obstacles during the execution of a target task if the automatic sorting function is enabled, determining the default placement position of the identified obstacles according to their category, and moving the identified obstacles to the default placement position; and an identification marking unit 401 for identifying obstacles and marking them on a first map if the automatic sorting function is not enabled.
  • embodiments of this disclosure also provide a robot, including: a sweeping robot chassis for cleaning the floor; and a robotic arm connected to the sweeping robot chassis, the robotic arm being used to organize items on the floor.
  • FIG5 illustrates the structure of a robot according to some embodiments of this disclosure.
  • the robot further includes: a processor 502; and a memory 504 for storing executable instructions of the processor 502.
  • the processor 502 is configured to execute the instructions to implement the obstacle handling method for the robot described in any of the above embodiments.
  • Bus 500 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art. Therefore, they will not be described further herein.
  • Bus interface 505 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium.
  • Processor 502 is responsible for managing bus 500 and general processing, while memory 504 can be used to store data used by processor 502 during operation.
  • this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the obstacle handling method for a robot described in any of the above embodiments.
  • These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction device that implements the functions specified in one or more flowcharts and/or one or more block diagrams.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and/or one or more block diagrams.
  • an obstacle handling method for a robot comprising:
  • Identify obstacles and mark the identified obstacles on a first map obtain disposal commands for M identified obstacles, and determine a target disposal method for the M identified obstacles based on the disposal commands, wherein the disposal commands are generated in response to the disposal actions performed by the user on the M identified obstacles marked on the first map, where M is a positive integer; and dispose of the M identified obstacles according to the target disposal method.
  • determining the target disposal method for the M identified obstacles according to the disposal command includes: for each of the M identified obstacles, obtaining a sub-disposal command for that identified obstacle, and selecting a disposal method for that identified obstacle from a variety of pre-configured candidate disposal methods according to the sub-disposal command for that identified obstacle.
  • identifying obstacles and marking the identified obstacles on a first map includes: obtaining identification result information by identifying obstacles, wherein the identification result information includes location information and category information of each identified obstacle; and marking the identified obstacle on the first map according to the location information and category information of each identified obstacle.
  • the multiple candidate disposal methods include at least one sorting disposal method.
  • Disposing of the M identified obstacles according to the target disposal method includes: if the disposal method for N identified obstacles among the M identified obstacles is the sorting disposal method, determining the target placement positions of the N identified obstacles based on the sorting disposal method used for the N identified obstacles; and moving the N identified obstacles from their current positions to their respective target placement positions based on the target placement positions and position information of the N identified obstacles.
  • determining the target placement position of the N identified obstacles based on the sorting and handling method for the N identified obstacles includes: if the sorting and handling method for the target obstacle is to sort it to a default placement position, determining a default placement position matching the target obstacle from a variety of default placement positions pre-established based on the obstacle category information, and using this as the target placement position of the target obstacle; wherein, the target obstacle is the obstacle among the N identified obstacles that is currently being handled by the user.
  • determining the target placement position of each of the N identified obstacles according to the sorting and handling method for the N identified obstacles includes: if the sorting and handling method for the target obstacle is to sort it to a new placement position, obtaining a position specification command for the target obstacle, wherein the position specification command is generated in response to a user's position specification action for the target obstacle, and the position specification command is used to specify the new placement position of the target obstacle, wherein the target obstacle is the obstacle among the N identified obstacles for which the user has performed a handling action; and setting the new placement position as the target placement position of the target obstacle.
  • the location designation action is a user's selection of a new placement location for the target obstacle in an application for user operation of the robot; wherein, the selection action is an operation by the user to select a new placement location for the target obstacle on a second map displayed in the application; or an operation by the user to select a new placement location for the target obstacle from a list of locations displayed in the application, the list of locations containing multiple candidate placement locations suitable for the target obstacle.
  • the step of moving the N identified obstacles from their current locations to their respective target placement locations based on the target placement locations and the location information of the N identified obstacles includes: for a target obstacle, moving it to the current location of the target obstacle based on the location information of the target obstacle, wherein the target obstacle is the obstacle currently being executed by the user among the N identified obstacles; and then moving the target obstacle to the target placement location after picking it up.
  • determining the target placement position of the N identified obstacles based on the sorting and handling method for the N identified obstacles includes: if the handling method for K of the N identified obstacles is to add them to the sorting list, adding the K identified obstacles to the current sorting list, where K is a positive integer not greater than N; and determining the target placement position of the K identified obstacles in the current sorting list.
  • the step of moving the N identified obstacles from their current locations to their respective target locations based on their target placement positions and location information includes: for the K identified obstacles, performing path planning based on the current organization list and the location information of the K identified obstacles to generate an item organization path; and organizing the K identified obstacles according to the item organization path to move the K identified obstacles from their current locations to their respective target placement positions.
  • determining the target placement positions of the K identified obstacles in the current sorting list includes: for each of the K identified obstacles, if an adjustment command for adjusting the placement position of the identified obstacle is obtained, the new placement position adjusted based on the adjustment command is taken as the target placement position of the identified obstacle; otherwise, based on the category information of the identified obstacle, the default placement position of the identified obstacle is determined from a variety of default placement positions pre-established according to the obstacle category, and taken as the target placement position of the identified obstacle.
  • the multiple candidate handling methods include handling methods that do not require tidying up and/or handling methods that do not require avoidance;
  • the handling of the M identified obstacles according to the target handling method includes: when it is determined that the handling method for the target obstacle is a handling method that does not require tidying up, the robot, based on the location information of the target obstacle, performs an obstacle avoidance action when it moves to the location of the target obstacle during the execution of subsequent tasks; and/or
  • the target obstacle is cleared on the first map so that the robot does not perform obstacle avoidance actions when moving to the location of the target obstacle during the cleaning task; wherein, the target obstacle is the obstacle currently being handled by the user among the M identified obstacles.
  • the method before identifying the obstacle and marking the identified obstacle on the first map, the method further includes: detecting whether the robot's automatic sorting function is enabled; if yes, identifying the obstacle during the execution of the target task, determining the default placement position of the identified obstacle according to its category, and moving the identified obstacle to the default placement position; if no, performing the step of identifying the obstacle and marking the identified obstacle on the first map.
  • an obstacle handling apparatus for a robot comprising: an identification and marking unit for identifying obstacles and marking the identified obstacles on a first map; a disposal determination unit for acquiring disposal commands for M identified obstacles and determining a target disposal method for the M identified obstacles based on the disposal commands, wherein the disposal commands are generated in response to a disposal action performed by a user on the M identified obstacles marked on the first map, where M is a positive integer; and a disposal execution unit for disposing of the M identified obstacles according to the target disposal method.
  • a robot comprising: a sweeping robot chassis for cleaning a floor; a robotic arm connected to the sweeping robot chassis for organizing items on the floor; a processor; and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the instructions to implement the obstacle handling method of the first aspect.
  • a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the obstacle handling method described in the first aspect.
  • This disclosure involves acquiring disposal commands for M identified obstacles and determining a target disposal method for the M identified obstacles based on these commands, where M is a positive integer; then, the M identified obstacles are disposed of according to the target disposal method. Since the acquired disposal commands for the M identified obstacles are generated in response to user actions performed on the M identified obstacles marked on a first map, allowing user participation in the disposal of the identified obstacles, the likelihood of the robot mis-organizing items can be reduced, making the robot's organization results closer to the user's expectations, thereby improving the accuracy of the robot's organization function.

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Abstract

一种用于机器人的障碍物处理方法、装置、机器人及存储介质，障碍物处理方法包括：识别障碍物并在第一地图上标记被识别障碍物（S101）；获取对M个被识别障碍物的处置命令，并根据处置命令确定M个被识别障碍物的目标处置方式，处置命令是响应于用户对第一地图上标记的M个被识别障碍物执行的处置动作产生，M为正整数（S102）；按照目标处置方式对M个被识别障碍物进行处置（S103）。

Description

用于机器人的障碍物处理方法、装置、机器人及存储介质
相关申请的交叉引用
本申请要求于2024年07月30日提交的申请号为202411035927.9的中国专利申请的优先权，其全部内容通过引用并入本文。
技术领域
本公开涉及机器人技术领域，尤其涉及一种用于机器人的障碍物处理方法、装置、机器人及存储介质。
 背景技术
家务机器人是基于传统扫地机底盘和机械臂开发的可清洁地面和整理地面物品的机器人。目前的家务机器人能够自动整理物品，例如将拖鞋摆放在门口处，将玩具摆放在儿童房，将纸团扔在垃圾桶里等，即家务机器人具有自动整理功能。
但是，在实际家庭场景中，家务机器人的自动整理功能存在不符合用户预期的情况，比如玩具被识别成纸团而被扔在垃圾桶内，塑料袋被识别成拖鞋而被放在门口处，即使没有误识别的障碍物，自动整理后的物品的摆放位置也有可能不符合用户预期。因此，家务机器人在整理地面物品时准确性不高。
 发明内容
本公开的实施例通过提供一种用于机器人的障碍物处理方法、装置、机器人及存储介质，用以至少一定程度上解决了家务机器人在整理地面物品时准确性不高的技术问题。
在本公开的第一方面，提供了一种用于机器人的障碍物处理方法，包括：
识别障碍物并在第一地图上标记被识别障碍物；获取对M个被识别障碍物的处置命令，并根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，所述处置命令是响应于用户对所述第一地图上标记的M个被识别障碍物执行的处置动作产生，M为正整数；按照所述目标处置方式对所述M个被识别障碍物进行处置。
在本公开的第二方面，提供了一种用于机器人的障碍物处理装置，包括：识别标记单元，识别障碍物并在第一地图上标记被识别障碍物；处置确定单元，用于获取对M个被识别障碍物的处置命令，并根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，所述处置命令是响应于用户对所述第一地图上标记的M个被识别障碍物执行的处置动作产生，M为正整数；处置执行单元，用于按照所述目标处置方式对所述M个被识别障碍物进行处置。
在本公开的第三方面，提供了一种机器人，包括：扫地机底盘，用于清洁地面；机械臂，与所述扫地机底盘连接，所述机械臂用于整理地面物品；处理器；用于存储所述处理器可执行指令的存储器，其中，所述处理器被配置为执行所述指令，以实现第一方面所述的障碍物处理方法。
在本公开的第四方面，提供了一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现第一方面所述的障碍物处理方法。
 附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例描述中所需要使用的附图简单地进行介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了依据本公开一些实施例的障碍物处理方法的场景。
图2示出了依据本公开一些实施例的用于机器人的障碍物处理方法的流程。
图3A示出了依据本公开一些实施例在应用程序的主界面展示的第一地图。
图3B示出了依据本公开一些实施例在应用程序展示的被识别障碍物的实景图像。
图3C示出了依据本公开一些实施例在被识别障碍物的实景图像下方展示各种候选处置方式。
图4示出了依据本公开一些实施例的用于机器人的障碍物处理装置的结构。
图5示出了依据本公开一些实施例的机器人的结构。
 本发明的实施方式
为了更好的理解上述技术方案，下面将结合说明书附图以及具体的实施方式，对上述技术方案进行详细地说明。
首先，说明本文中出现的术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B可以表示单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
如图1所示，图1示出了依据本公开一些实施例的障碍物处理方法的场景，本公开实施例提供的用于机器人的障碍物处理方法，可以应用于与用户设备10建立有通信连接的机器人20。机器人20包括扫地机底盘和机械臂，机械臂与扫地机底盘连接，扫地机底盘用于清洁地面，机械臂用于整理地面物品。用户设备可以是手机、平板电脑或者计算机设备，用户设备上安装有用于展示机器人20的工作信息以及供用户操作机器人的应用程序，应用程序可以是手机端的APP，展示的工作信息包括机器人建立的地图、在地图上标记的被机器人识别到的障碍物等等。
本公开提供的一种用于机器人的障碍物处理方法，机器人通过与安装有供用户操作机器人的应用程序的用户设备之间的交互，实现该用于机器人的障碍物处理方法。在一些实施例中，也可以在机器人上安装有供用户操作机器人的应用程序。如图2所示，图2示出了依据本公开的一些实施例的用于机器人的障碍物处理方法的流程，该用于机器人的障碍物处理方法包括如下步骤S101～S104。
在步骤S101：识别障碍物并在第一地图上标记被识别障碍物。
可以理解的是，在步骤S101中，由机器人识别障碍物并在第一地图上标记被识别障碍物。被识别障碍物是被机器人识别到的障碍物，障碍物包括一个或者多个。第一地图是机器人对其使用环境建立的地图。
在一些实施方式中，识别障碍物并在第一地图上标记被识别障碍物，包括：通过识别障碍物获得识别结果信息，识别结果信息包括每个被识别障碍物的位置信息和类别信息；针对每个被识别障碍物，根据该被识别障碍物的位置信息和类别信息在第一地图上标记该被识别障碍物。需要说明的是，每个被识别障碍物的位置信息表征该被识别障碍物在真实环境中出现的位置。每个被识别障碍物的类别信息表征该被识别障碍物的类别。预先划分有鞋类、服装、杂物、垃圾等等多个障碍物类别。每个被识别障碍物的类别为其中一种。
在一些实施方式中，针对每个被识别障碍物，根据该被识别障碍物的位置信息和类别信息在第一地图上标记该被识别障碍物，包括：针对每个被识别障碍物，根据该被识别障碍物的位置信息和类别信息，在第一地图上与该被识别障碍物的真实位置相应的地图位置添加表征被识别障碍物的类别的图标，参考图3A所示，例如：识别到一个障碍物为鞋靴，就在第一地图上与鞋靴真实所在位置相应的地图位置添加鞋靴样图标。
如图3A所示，将标记有被识别障碍物的第一地图展示于应用程序的主界面，以使用户能够从展示于应用程序的主界面的第一地图上看到每个被识别障碍物在房间内的具体位置和障碍物类别，便于用户准确给出对被识别障碍物的处置动作。
在供用户操作机器人的应用程序安装于用户设备的应用场景，机器人将标记有被识别障碍物的第一地图发送至用户设备，由用户设备在应用程序的主界面展示标记有被识别障碍物的第一地图，以使用户能够从用户设备就看到每个被识别障碍物在房间内的具体位置和障碍物类别。
在一些实施方式中，识别结果信息除了包括每个被识别障碍物的位置信息和类别信息，还可以包括每个被识别障碍物的物品图像。每个被识别障碍物的物品图像可以为机器人的摄像头对着该被识别障碍物所在位置拍摄的包含该被识别障碍物及其周围环境的实景图像。将该被识别障碍物在第一地图上的图标与该被识别障碍物的物品图像建立关联，以使用户设备获取到用户对第一地图上标记的某一被识别障碍物的图标的选择操作（比如，获取到用户对第一地图上鞋靴样图标的点击操作）时，应用程序的界面跳转至显示有该被识别障碍物的物品图像的页面（如图3B所示），便于用户根据被识别障碍物的物品图像判断机器人对被识别障碍物的识别是否错误，进一步降低因误识别问题导致的误整理物品的情况。
在一些实施方式中，机器人在执行目标任务的过程中进行障碍物识别，以获得识别结果信息，目标任务是根据机器人的功能所能完成的各种任务中需要识别障碍物的任务，例如，目标任务可以为地面清洁任务、巡航任务等。
在一些实施方式中，针对配置有自动整理功能的机器人，在机器人进行识别障碍物之前，检测机器人的自动整理功能是否为开启状态。若机器人的自动整理功能处于开启状态，则机器人在执行目标任务的过程中识别障碍物，根据被识别障碍物的类别确定被识别障碍物的默认摆放位置，并将被识别障碍物移动至默认摆放位置，以实现机器人自动识别障碍物并自动分类整理所识别到的障碍物，不需要用户参与到处置被识别障碍物的决策中。若机器人的自动整理功能未处于开启状态，则执行步骤S101，即识别障碍物并在第一地图上标记被识别障碍物。也就是说，需要用户参与处置被识别障碍物的决策中。从而实现了根据用户需求选择用户是否参与处置被识别障碍物的决策，能够提高机器人整理功能的多样性。
在一些实施方式中，可以在供用户操作机器人的应用程序、遥控器或者机器人的控制面板上设置有供用户开关自动整理功能的选项，若机器人获取到用户在供用户操作机器人的应用程序、遥控器或者机器人的控制面板上操作所产生的开关控制命令，则根据开关控制命令开关机器人的自动整理功能。
在步骤S102：获取对M个被识别障碍物的处置命令，并根据处置命令确定用于M个被识别障碍物的目标处置方式，处置命令是响应于用户对第一地图上标记的M个被识别障碍物执行的处置动作而产生的，M为正整数。
可以理解的是，M个被识别障碍物是第一地图上标记的全部被识别障碍物中，用户需要处置的障碍物，也就是说，M个被识别障碍物是第一地图上标记的全部或部分被识别障碍物。
在一些实施方式中，对M个被识别障碍物的处置命令可以是同一处置命令，也可以包括针对M个被识别障碍物中的每个被识别障碍物的子处置命令。在一些实施方式中，预先配置有供用户选择的多种候选处置方式，针对M个被识别障碍物中的每个被识别障碍物，获取对该被识别障碍物的子处置命令，并根据对该被识别障碍物的子处置命令从预先配置的多种候选处置方式中选择一种用于该被识别障碍物的处置方式，由此，针对M个被识别障碍物一一对应获取M个子处置命令，M个子处置命令可以相同或者不同，实现了由用户自由选择需要处置的被识别障碍物以及由用户自由选择用于处置该被识别障碍物的处置方式，提高了处置障碍物的灵活性和多样性。
在一些实施方式中，供用户选择的各种候选处置方式中可以仅包括整理类处置方式。整理类处置方式是机器人对被识别障碍物执行整理动作，以将被识别障碍物整理至目标摆放位置，其中，整理类处置方式可以包括如下三种整理方式中的一种或者多种：
1、整理至默认摆放位置；
2、整理至新的摆放位置；
3、添加至整理清单。
需要说明的是，可以在机器人出厂之前，预先针对不同障碍物类别分别设定有默认摆放位置，并根据机器人对使用环境建图识别的房间种类和家具区域，来标定不同障碍物类别在机器人的使用环境下的默认摆放位置。在机器人的使用过程中，也可以根据用户操作改变一种或者多种障碍物类别的默认摆放位置，示例性地，针对不同障碍物类别所设定的默认摆放位置可以如下表1所示，表1所示各个障碍物类别以及每个障碍物类别的默认摆放位置仅仅是便于理解本公开，不作为对本公开的限制。
表1.不同障碍物类别的默认摆放位置
障碍物类别 鞋类 服装 杂物 垃圾
具体物品 拖鞋 袜子、衣物 玩具、线团、数据线、笔、簸箕、遥控器 纸团、塑料袋
摆放区域 鞋架区 脏衣区 杂物区 垃圾区
默认摆放位置 客厅门口地垫 卧室衣柜旁边 卧室角落 厨房垃圾桶
可以理解的是，对第一地图上标记的M个被识别障碍物的处置动作可以是选择操作或者语音指令。在供用户操作机器人的应用程序中展示标记有被识别障碍物的第一地图，以使用户能够在展示的第一地图上对标记的被识别障碍物执行处置动作。
在一些实施方式中，对M个被识别障碍物中的每个被识别障碍物的子处置命令，可以由用户从预先配置的多种候选处置方式中选择一种用于该被识别障碍物的处置方式的选择操作而产生。
在一些实施方式中，针对目标障碍物，在应用程序的显示有目标障碍物的物品图像的页面，还显示有各种候选处置方式的可选项（如图3C所示），若检测到用户对任意一个可选项的选择操作，机器人获取到与用户的选择操作所选处置方式对应的子处置命令，作为对目标障碍物的子处置命令，机器人根据获取到的子处置命令将用户所选处置方式作为用于目标障碍物的处置方式，其中，目标障碍物是当前被用户执行处置动作的一个被识别障碍物。可以理解的是，在供用户操作机器人的应用程序安装于用户设备的应用场景，用户设备向机器人发送用户的选择操作所选处置方式对应的子处置命令，以使机器人接收到用于目标障碍物的子处置命令。
在另一些实施方式中，对M个被识别障碍物中的每个被识别障碍物的子处置命令，可以由用户从预先配置的多种候选处置方式中选择一种用于该被识别障碍物的处置方式的语音指令而产生。
在一些实施方式中，针对目标障碍物，基于人机语音交互引导用户从多种处置方式中选择一种处置方式作为用于目标障碍物的处置方式，比如：用户设备输出“识别到鞋子，提前主动避让，您是否需要将鞋子整理至默认摆放位置”的语音提示，若获取到用户反馈的语音指令为“是”，则确定对目标障碍物的处置方式为“整理至默认摆放位置”，若获取到用户的语音指令为“否”，可以继续输出其他语音提示，直至根据用户反馈的语音指令确定出对目标障碍物的子处置命令。以供用户操作机器人的应用程序安装于用户设备的应用场景为例，用户设备向机器人发送确定出的对目标障碍物的子处置命令，以使机器人接收到对目标障碍物的子处置命令。其中，目标障碍物是当前被用户执行处置动作的一个被识别障碍物。
需要说明的是，确定出的目标处置方式包括M个被识别障碍物中的每个被识别障碍物的处置方式，其中，M个被识别障碍物中不同的被识别障碍物，根据用户选择不同，所确定的处置方式可以相同或者不同。
依据上述任意一种步骤S102的实施方式，实现了由用户选择用于M个被识别障碍物中的每个被识别障碍物的处置方式，以使用户参与到对被识别障碍物如何处置的决策中，帮助机器人更准确完成处置被识别障碍物的任务。
在步骤S103：按照目标处置方式对M个被识别障碍物进行处置。
在一些实施方式中，在预先配置的多种候选处置方式中包括至少一种整理类处置方式，按照目标处置方式对M个被识别障碍物进行处置，包括：在M个被识别障碍物中N个被识别障碍物的处置方式是整理类处置方式的情况下，根据用于N个被识别障碍物的整理类处置方式确定N个被识别障碍物的目标摆放位置；根据N个被识别障碍物的目标摆放位置和位置信息，将N个被识别障碍物从当前所在位置移动至各自的目标摆放位置。
在预先配置的整理类处置方式至少包括整理至默认摆放位置这一种整理类处置方式的情况下，根据用于N个被识别障碍物的整理类处置方式确定N个被识别障碍物各自的目标摆放位置，包括：若用于目标障碍物的整理类处置方式是整理至默认摆放位置，根据目标障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出与目标障碍物匹配的默认摆放位置，作为目标障碍物的目标摆放位置。其中，目标障碍物是N个被识别障碍物中，当前被用户执行处置动作的障碍物。
在一些实施方式中，若根据对目标障碍物的处置命令确定对目标障碍物的处置方式为“整理至默认摆放位置”，在供用户操作机器人的应用程序检测到用户选择“整理至默认摆放位置”这一处置方式之后，应用程序的显示界面跳转至显示有第一地图的主界面，如果在第一地图上还标记有其他被识别障碍物，便于用户继续对剩余的被识别障碍物执行处置动作。
在一些实施方式中，在预先配置的整理类处置方式至少包括整理至新的摆放位置这一种整理类处置方式的情况下，根据用于N个被识别障碍物的整理类处置方式确定N个被识别障碍物各自的目标摆放位置，包括：若用于目标障碍物的整理类处置方式是整理至新的摆放位置，获取对目标障碍物的位置指定命令。其中，位置指定命令是响应于用户对目标障碍物的位置指定动作而产生的，且位置指定命令用于指定目标障碍物的新的摆放位置，目标障碍物是N个障碍物中的当前被用户执行处置动作的障碍物。
在一些实施方式中，针对当前被用户执行处置动作的目标障碍物，在供用户操作机器人的应用程序中提示用户执行位置指定动作。位置指定动作是用户在供用户操作机器人的应用程序中，对目标障碍物的新的摆放位置的选择操作。其中，选择操作是用户在供用户操作机器人的应用程序展示的第二地图中选择用于目标障碍物的新的摆放位置的操作；或用户在供用户操作机器人的应用程序展示的位置清单中选择用于目标障碍物的新的摆放位置的操作。
需要说明的是，展示的位置清单中包含适用于目标障碍物的多个候选摆放位置。还需要说明的是，第二地图与第一地图的地图范围相同，与第一地图不同的是，第二地图可以供用户操作。
在一些实施方式中，在供用户操作机器人的应用程序中，进行提示用户执行位置指定动作，即在应用程序获取到用户选择的“整理至新的摆放位置”的处置动作之后，应用程序的显示界面跳转至展示第二地图或者包含多个候选摆放位置的位置清单，以使用户能够在第二地图或者位置清单内上进一步选择想要将目标障碍物放置到的房间及该房间内具体位置。其中，第二地图可以用于用户从中框选新的摆放位置，或者在第二地图上标记有多个候选摆放位置可供用户点选。
在一些实施方式中，在根据位置指定命令确定目标障碍物的新的摆放位置之后，应用程序的显示界面跳转至显示有第一地图的主界面，如果在第一地图上还标记有其他被识别障碍物的图标，便于用户继续对剩余的被识别障碍物执行处置动作。
在一些实施方式中，若用于目标障碍物的整理类处置方式是整理至新的摆放位置或整理至默认摆放位置，根据N个被识别障碍物的目标摆放位置和位置信息，将N个被识别障碍物从当前所在位置移动至各自的目标摆放位置，包括：针对目标障碍物，根据目标障碍物的位置信息移动至目标障碍物当前所在位置，目标障碍物是N个被识别被障碍物中的当前被用户执行的障碍物。夹取目标障碍物后移动至目标摆放位置，从而完成对目标障碍物的整理。
在一些实施方式中，根据用于N个被识别障碍物的整理类处置方式确定N个被识别障碍物各自的目标摆放位置，包括：若N个被识别障碍物中的K个被识别障碍物的处置方式为添加至整理清单，将K个障碍物添加至当前整理清单，K为不大于N的正整数。在当前整理清单中，确定K个被识别障碍物中的每个被识别障碍物的目标摆放位置。
需要说明的是，M、N、K的值不是预先设定的固定数值，M是基于机器人使用环境的障碍物数量的实际情况所决定的，N、K是基于机器人使用环境的障碍物数量和用户选择所决定的。
在一些实施方式中，针对第一地图上标记的任意一个被识别障碍物，若获取到对该被识别障碍物的添加命令，响应于对该被识别障碍物的添加命令，将该被识别障碍物添加至当前整理清单。需要说明的是，对该被识别障碍物的添加命令是由用户在供用户操作机器人的应用程序中针对该被识别障碍物选择“添加至整理清单”这一处置方式的处置动作产生。在供用户操作机器人的应用程序安装于用户设备的应用场景，用户设备将针对该别识别障碍物的添加命令发送至机器人，以使机器人接收到对该被识别障碍物的添加命令。
在一些实施方式中，在当前整理清单中，确定K个被识别障碍物的目标摆放位置，包括：针对当前整理清单中K个被识别障碍物中的每个被识别障碍物，若获取到用于调整该被识别障碍物的摆放位置的调整命令，将基于调整命令调整后的新的摆放位置作为该被识别障碍物的目标摆放位置，否则，根据该被识别障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出该被识别障碍物的默认摆放位置，作为该被识别障碍物的目标摆放位置。
需要说明的是，对该被识别障碍物的摆放位置的调整命令是由用户在供用户操作机器人的应用程序中，针对该被识别障碍物执行从默认摆放位置调整为一个新的摆放位置的动作而产生的。在供用户操作机器人的应用程序安装于用户设备的应用场景，用户设备将调整命令发送至机器人，以使机器人获取到用于调整该被识别障碍物的摆放位置的调整命令。
在一些实施方式中，当前整理清单中包括至少一种障碍物类别的K个被识别障碍物。示例性地，当前整理清单的形式可以参考下表2所示：
表2.当前整理清单
序号 障碍物类别 摆放位置
1 鞋子 客厅门口地垫
2 袜子 卧室衣柜旁边
3 玩具 卧室角落
4 鞋子 客厅门口地垫
5 纸团 厨房垃圾桶
为了在当前整理清单中确定K个被识别障碍物中的每个被识别障碍物的目标摆放位置，在一些实施方式中，响应于获取到的对第一地图上标记的任意一个被识别障碍物的添加命令，将该被识别障碍物添加至当前整理清单之后，应用程序的显示界面跳转至显示当前整理清单。在当前整理清单中，最新添加到当前整理清单的被识别障碍物的目标摆放位置显示为默认摆放位置，若获取到用户对当前整理清单中最新添加的被识别障碍物的目标摆放位置进行调整的调整命令，将基于调整命令调整后的新的摆放位置作为该被识别障碍物的目标摆放位置。接着，应用程序的显示界面从当前整理清单跳转至显示有第一地图的主界面，便于用户选择下一个想要添加至当前整理清单的被识别障碍物，并加入当前整理清单，重复上述过程，直至当前整理清单设置完毕。
在一些实施方式中，根据N个被识别障碍物的目标摆放位置和位置信息，将N个被识别障碍物从当前所在位置移动至各自的目标摆放位置，包括：
针对当前整理清单中K个被识别障碍物，根据当前整理清单和K个被识别障碍物的位置信息进行路径规划，生成物品整理路径；根据物品整理路径对所述K个被识别障碍物进行整理，以将K个被识别障碍物从当前所在位置移动至K个被识别障碍物各自的目标摆放位置。
在一些实施方式中，可以在供用户操作机器人的应用程序的主界面设置有用于开始整理当前整理清单内障碍物的开始选项，基于用户对开始选项的操作产生的开始整理命令，若获取到开始整理命令，触发执行根据当前整理清单和K个被识别障碍物的位置信息进行路径规划，生成物品整理路径的步骤。
在一些实施方式中，预先配置的多种候选处置方式还可以包括无需整理类处置方式和/无需躲避类处置方式。无需整理类处置方式：机器人不执行整理动作，被识别障碍物继续保留在原位置且在第一地图上继续标记该被识别障碍物；无需躲避类处置方式，机器人在下次执行清洁任务时对被识别障碍物时不进行避障动作，被识别障碍物也不继续标记在第一地图上。
在预先配置有无需整理类处置方式的情况下，按照目标处置方式对所述M个被识别障碍物进行处置的步骤，还包括：在确定出用于目标障碍物的处置方式是无需整理类处置方式的情况下，根据目标障碍物的位置信息使机器人在执行后续任务的过程中，移动至目标障碍物所在位置时执行避障动作。
在预先配置有无需躲避类处置方式的情况下，按照目标处置方式对M个被识别障碍物进行处置的步骤，还包括：在确定出用于目标障碍物的目标处置方式是无需躲避类处置方式的情况下，在所述第一地图上清除目标障碍物，并在机器人执行清扫任务的过程中，在移动至目标障碍物所在位置时不执行避障动作，以使目标障碍物被清扫。
基于同一发明构思，本公开还提供了一种用于机器人的障碍物处理装置，如图4所示，图4示出了依据本公开一些实施例中用于机器人的障碍物处理装置的结构，该用于机器人的障碍物处理装置包括：识别标记单元401，识别障碍物并在第一地图上标记被识别障碍物；处置确定单元402，用于获取对M个被识别障碍物的处置命令，并根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，所述处置命令是通过响应于用户对所述第一地图上标记的M个被识别障碍物执行的处置动作而产生的，M为正整数；处置执行单元403，用于控制所述机器人按照所述目标处置方式对所述M个被识别障碍物进行处置。
在一些实施方式中，处置确定单元402用于针对所述M个被识别障碍物中的每个被识别障碍物，获取对该被识别障碍物的子处置命令，并根据对该被识别障碍物的子处置命令从预先配置的多种候选处置方式中选择一种用于该被识别障碍物的处置方式。
在一些实施方式中，识别标记单元401用于通过识别障碍物获得识别结果信息，其中，所述识别结果信息包括每个被识别障碍物的位置信息和类别信息；针对每个被识别障碍物，根据该被识别障碍物的位置信息和类别信息在所述第一地图上标记该被识别障碍物。
在一些实施方式中，所述多种候选处置方式中包括至少一种整理类处置方式，处置执行单元403包括第一处置单元。其中，第一处置单元包括：位置确定子单元，用于在所述M个被识别障碍物中N个被识别障碍物的处置方式是所述整理类处置方式的情况下，根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物的目标摆放位置；整理子单元，用于根据所述N个被识别障碍物的目标摆放位置和位置信息，将所述N个被识别障碍物从当前所在位置移动至各自的目标摆放位置。
在一些实施方式中，位置确定子单元用于若用于目标障碍物的整理类处置方式是整理至默认摆放位置，根据所述目标障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出与所述目标障碍物匹配的默认摆放位置，作为所述目标障碍物的目标摆放位置。其中，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行处置动作的障碍物。
在一些实施方式中，位置确定子单元用于若用于目标障碍物的整理类处置方式是整理至新的摆放位置，获取对所述目标障碍物的位置指定命令。其中，所述位置指定命令是响应于用户对所述目标障碍物的位置指定动作而产生的，且所述位置指定命令用于指定所述目标障碍物的新的摆放位置，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行处置动作的障碍物。将所述新的摆放位置作为所述目标障碍物的目标摆放位置。
在一些实施方式中，所述位置指定动作是用户在用于供用户操作所述机器人的应用程序中，对所述目标障碍物的新的摆放位置的选择操作。其中，所述选择操作是用户在所述应用程序展示的第二地图中选择用于所述目标障碍物的新的摆放位置的操作；或用户在所述应用程序展示的位置清单中选择用于所述目标障碍物的新的摆放位置的操作，所述位置清单中包含适用于所述目标障碍物的多个候选摆放位置。
在一些实施方式中，整理子单元用于针对目标障碍物，根据所述目标障碍物的位置信息移动至所述目标障碍物当前所在位置，所述目标障碍物是所述N个被识别障碍物中的当前被用户执行的障碍物；夹取所述目标障碍物后移动至所述目标摆放位置。
在一些实施方式中，位置确定子单元包括：添加模块，用于若所述N个被识别障碍物中K个被识别障碍物的处置方式为添加至整理清单，将所述K个被识别障碍物添加至当前整理清单，K为不大于N的正整数；位置调整模块，用于在所述当前整理清单中，确定所述K个被识别障碍物的目标摆放位置。
在一些实施方式中，整理子单元用于针对所述K个被识别障碍物，根据所述当前整理清单和所述K个被识别障碍物的位置信息进行路径规划，生成物品整理路径；根据所述物品整理路径对所述K个被识别障碍物进行整理，以将所述K个被识别障碍物从当前所在位置移动至所述K个被识别障碍物各自的目标摆放位置。
在一些实施方式中，位置调整模块用于针对所述K个被识别障碍物中的每个被识别障碍物，若获取到用于调整该被识别障碍物的摆放位置的调整命令，将基于所述调整命令调整后的新的摆放位置作为该被识别障碍物的目标摆放位置，否则，根据该被识别障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出该被识别障碍物的默认摆放位置，作为该被识别障碍物的目标摆放位置。
在一些实施方式中，所述多种候选处置方式中包括无需整理类处置方式和/或无需躲避类处置方式。处置执行单元403包括第二处置单元或第三处置单元，第二处置单元用于在确定出用于目标障碍物的处置方式是无需整理类处置方式的情况下，根据所述目标障碍物的位置信息使所述机器人在执行后续任务的过程中，移动至所述目标障碍物所在位置时执行避障动作。第三处置单元用于在确定出用于目标障碍物的目标处置方式是无需躲避类处置方式的情况下，在所述第一地图上清除所述目标障碍物，以使所述机器人执行清扫任务的过程中，在移动至所述目标障碍物所在位置时不执行避障动作。其中，所述目标障碍物是所述M个被识别障碍物中，当前被用户执行处置动作的障碍物。
在一些实施方式中，该用于机器人的障碍物处理装置还包括：功能检测单元，用于检测所述机器人的自动整理功能是否为开启状态；自动整理单元，用于若自动整理功能是开启状态，在执行目标任务的过程中识别障碍物，根据被识别障碍物的类别确定所述被识别障碍物的默认摆放位置，并将所述被识别障碍物移动至所述默认摆放位置；识别标记单元401，用于若自动整理功能不是开启状态，识别障碍物并在第一地图上标记被识别障碍物。
上述装置中各个功能单元的具体功能已经在本公开一些实施例提供的用于机器人的障碍物处理方法中进行了详细描述，此处将不做详细阐述说明。
基于同一发明构思，本公开实施例还提供了一种机器人，包括：扫地机底盘，用于清洁地面；机械臂，与所述扫地机底盘连接，所述机械臂用于整理地面物品。如图5所示，图5示出了依据本公开一些实施例的机器人的结构，该机器人还包括:处理器502；用于存储处理器502可执行指令的存储器504。其中，处理器502被配置为执行所述指令，以实现上述任一实施方式所述的用于机器人的障碍物处理方法。
其中，在图5中，总线架构（以总线500为代表），总线500可以包括任意数量的互联的总线和桥，总线500将包括由处理器502代表的一个或多个处理器和存储器504代表的存储器的各种电路链接在一起。总线500还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的。因此，本文不再对其进行进一步描述。总线接口505在总线500和接收器501和发送器503之间提供接口。接收器501和发送器503可以是同一个元件，即收发机，提供用于在传输介质上与各种其他装置通信的单元。处理器502负责管理总线500和通常的处理，而存储器504可以被用于存储处理器502在执行操作时所使用的数据。
基于同一发明构思，本公开提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述任一实施方式所述的用于机器人的障碍物处理方法。
本公开是参照根据本公开实施例的方法、设备（系统）、和计算机程序产品的流程图和／或方框图来描述的。应理解可由计算机程序指令实现流程图和／或方框图中的每一流程和／或方框、以及流程图和／或方框图中的流程和／或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能的设备。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令设备的制造品，该指令设备实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和／或方框图一个方框或多个方框中指定的功能的步骤。
在本公开的第一方面，提供了一种用于机器人的障碍物处理方法，包括：
识别障碍物并在第一地图上标记被识别障碍物；获取对M个被识别障碍物的处置命令，并根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，所述处置命令是通过响应于用户对所述第一地图上标记的M个被识别障碍物执行的处置动作而产生的，M为正整数；按照所述目标处置方式对所述M个被识别障碍物进行处置。
结合第一方面，在一些实施方式中，所述根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，包括:针对所述M个被识别障碍物中的每个被识别障碍物，获取对该被识别障碍物的子处置命令，并根据对该被识别障碍物的子处置命令从预先配置的多种候选处置方式中选择一种用于该被识别障碍物的处置方式。
结合第一方面，在一些实施方式中，所述识别障碍物并在第一地图上标记被识别障碍物，包括：通过识别障碍物获得识别结果信息，其中，所述识别结果信息包括每个被识别障碍物的位置信息和类别信息；针对每个被识别障碍物，根据该被识别障碍物的位置信息和类别信息在所述第一地图上标记该被识别障碍物。
结合第一方面，在一些实施方式中，所述多种候选处置方式中包括至少一种整理类处置方式，所述按照所述目标处置方式对所述M个被识别障碍物进行处置，包括：在所述M个被识别障碍物中N个被识别障碍物的处置方式是所述整理类处置方式的情况下，根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物的目标摆放位置；根据所述N个被识别障碍物的目标摆放位置和位置信息，将所述N个被识别障碍物从当前所在位置移动至各自的目标摆放位置。
结合第一方面，在一些实施方式中，所述根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物的目标摆放位置，包括：若用于目标障碍物的整理类处置方式是整理至默认摆放位置，根据所述目标障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出与所述目标障碍物匹配的默认摆放位置，作为所述目标障碍物的目标摆放位置；其中，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行处置动作的障碍物。
结合第一方面，在一些实施方式中，所述所述根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物各自的目标摆放位置，包括：若用于目标障碍物的整理类处置方式是整理至新的摆放位置，获取对所述目标障碍物的位置指定命令，其中，所述位置指定命令是通过响应于用户对所述目标障碍物的位置指定动作而产生的，且所述位置指定命令用于指定所述目标障碍物的新的摆放位置，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行处置动作的障碍物；将所述新的摆放位置作为所述目标障碍物的目标摆放位置。
结合第一方面，在一些实施方式中，所述位置指定动作是用户在用于供用户操作所述机器人的应用程序中，对所述目标障碍物的新的摆放位置的选择操作；其中，所述选择操作是用户在所述应用程序展示的第二地图中选择用于所述目标障碍物的新的摆放位置的操作；或用户在所述应用程序展示的位置清单中选择用于所述目标障碍物的新的摆放位置的操作，所述位置清单中包含适用于所述目标障碍物的多个候选摆放位置。
结合第一方面，在一些实施方式中，所述根据所述N个被识别障碍物的目标摆放位置和所述N个被识别障碍物的位置信息，将所述N个被识别障碍物从当前所在位置移动至各自的目标摆放位置，包括：针对目标障碍物，根据所述目标障碍物的位置信息移动至所述目标障碍物当前所在位置，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行的障碍物；夹取所述目标障碍物后移动至所述目标摆放位置。
结合第一方面，在一些实施方式中，所述根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物的目标摆放位置，包括：若所述N个被识别障碍物中K个被识别障碍物的处置方式为添加至整理清单，将所述K个被识别障碍物添加至当前整理清单，K为不大于N的正整数；在所述当前整理清单中，确定所述K个被识别障碍物的目标摆放位置。
结合第一方面，在一些实施方式中，所述根据所述N个被识别障碍物的目标摆放位置和位置信息，将所述N个被识别障碍物从当前所在位置移动至各自的目标摆放位置，包括：针对所述K个被识别障碍物，根据所述当前整理清单和所述K个被识别障碍物的位置信息进行路径规划，生成物品整理路径；根据所述物品整理路径对所述K个被识别障碍物进行整理，以将所述K个被识别障碍物从当前所在位置移动至所述K个被识别障碍物各自的目标摆放位置。
结合第一方面，在一些实施方式中，所述在所述当前整理清单中，确定所述K个被识别障碍物的目标摆放位置，包括：针对所述K个被识别障碍物中的每个被识别障碍物，若获取到用于调整该被识别障碍物的摆放位置的调整命令，将基于所述调整命令调整后的新的摆放位置作为该被识别障碍物的目标摆放位置，否则，根据该被识别障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出该被识别障碍物的默认摆放位置，作为该被识别障碍物的目标摆放位置。
结合第一方面，在一些实施方式中，所述多种候选处置方式中包括无需整理类处置方式和/或无需躲避类处置方式；所述按照所述目标处置方式对所述M个被识别障碍物进行处置，包括：在确定出用于目标障碍物的处置方式是无需整理类处置方式的情况下，根据所述目标障碍物的位置信息使所述机器人在执行后续任务的过程中，移动至所述目标障碍物所在位置时执行避障动作；和/或
在确定出用于目标障碍物的目标处置方式是无需躲避类处置方式的情况下，在所述第一地图上清除所述目标障碍物，以使所述机器人执行清扫任务的过程中，在移动至所述目标障碍物所在位置时不执行避障动作；其中，所述目标障碍物是所述M个被识别障碍物中，当前被用户执行处置动作的障碍物。
结合第一方面，在一些实施方式中，在所述识别障碍物并在第一地图上标记被识别障碍物之前，还包括：检测所述机器人的自动整理功能是否为开启状态；若是，在执行目标任务的过程中识别障碍物，根据被识别障碍物的类别确定所述被识别障碍物的默认摆放位置，并将所述被识别障碍物移动至所述默认摆放位置；若否，执行所述识别障碍物并在第一地图上标记被识别障碍物的步骤。
在本公开的第二方面，提供了一种用于机器人的障碍物处理装置，包括：识别标记单元，识别障碍物并在第一地图上标记被识别障碍物；处置确定单元，用于获取对M个被识别障碍物的处置命令，并根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，所述处置命令是通过响应于用户对所述第一地图上标记的M个被识别障碍物执行的处置动作而产生的，M为正整数；处置执行单元，用于按照所述目标处置方式对所述M个被识别障碍物进行处置。
在本公开的第三方面，提供了一种机器人，包括：扫地机底盘，用于清洁地面；机械臂，与所述扫地机底盘连接，所述机械臂用于整理地面物品；处理器；用于存储所述处理器可执行指令的存储器，其中，所述处理器被配置为执行所述指令，以实现第一方面所述的障碍物处理方法。
在本公开的第四方面，提供了一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现第一方面所述的障碍物处理方法。
本公开提供的一个或者多个技术方案，至少实现了如下技术效果或者优点：
本公开通过获取对M个被识别障碍物的处置命令并根据处置命令确定用于M个被识别障碍物的目标处置方式，M为正整数；按照目标处置方式对M个被识别障碍物进行处置。由于获取的对M个被识别障碍物的处置命令是通过响应于用户对第一地图上标记的M个被识别障碍物执行的处置动作而产生的，让用户能够参与对被识别障碍物的处置，因此，能够减少机器人误整理物品的情况，使机器人对物品的整理结果更接近用户预期，进而，提高了机器人整理功能的准确度。
尽管已描述了本公开的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本公开范围的所有变更和修改。
显然，本领域的技术人员可以对本公开进行各种改动和变型而不脱离本公开的精神和范围。这样，倘若本公开的这些修改和变型属于本公开权利要求及其等同技术的范围之内，则本公开也意图包含这些改动和变型在内。
以上所述仅为本公开的实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的权利要求范围之内。

Claims (16)

  1. 一种用于机器人的障碍物处理方法，包括：
    识别障碍物并在第一地图上标记被识别障碍物；
    获取对M个被识别障碍物的处置命令，并根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，所述处置命令是响应于用户对所述第一地图上标记的M个被识别障碍物执行的处置动作而产生的，M为正整数；以及
    按照所述目标处置方式对所述M个被识别障碍物进行处置。
  2. 如权利要求1所述的方法，其中，所述根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，包括:
    针对所述M个被识别障碍物中的每个被识别障碍物，获取对该被识别障碍物的子处置命令，并根据对该被识别障碍物的子处置命令从预先配置的多种候选处置方式中选择一种用于该被识别障碍物的处置方式。
  3. 如权利要求2所述的方法，其中，所述识别障碍物并在第一地图上标记被识别障碍物，包括：
    通过识别障碍物获得识别结果信息，其中，所述识别结果信息包括每个被识别障碍物的位置信息和类别信息；
    针对每个被识别障碍物，根据该被识别障碍物的位置信息和类别信息在所述第一地图上标记该被识别障碍物。
  4. 如权利要求3所述的方法，其中，所述多种候选处置方式中包括至少一种整理类处置方式，所述按照所述目标处置方式对所述M个被识别障碍物进行处置，包括：
    在所述M个被识别障碍物中N个被识别障碍物的处置方式是所述整理类处置方式的情况下，根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物的目标摆放位置；
    根据所述N个被识别障碍物的目标摆放位置和位置信息，将所述N个被识别障碍物从当前所在位置移动至各自的目标摆放位置。
  5. 如权利要求4所述的方法，其中，所述根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物的目标摆放位置，包括：
    若用于目标障碍物的整理类处置方式是整理至默认摆放位置，根据所述目标障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出与所述目标障碍物匹配的默认摆放位置，作为所述目标障碍物的目标摆放位置；
    其中，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行处置动作的障碍物。
  6. 如权利要求4所述的方法，其中，所述根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物各自的目标摆放位置，包括：
    若用于目标障碍物的整理类处置方式是整理至新的摆放位置，获取对所述目标障碍物的位置指定命令，其中，所述位置指定命令是响应于用户对所述目标障碍物的位置指定动作产生，且所述位置指定命令用于指定所述目标障碍物的新的摆放位置，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行处置动作的障碍物；
    将所述新的摆放位置作为所述目标障碍物的目标摆放位置。
  7. 如权利要求6所述的方法，其中，所述位置指定动作是用户在用于供用户操作所述机器人的应用程序中，对所述目标障碍物的新的摆放位置的选择操作；
    其中，所述选择操作是用户在所述应用程序展示的第二地图中选择用于所述目标障碍物的新的摆放位置的操作；或用户在所述应用程序展示的位置清单中选择用于所述目标障碍物的新的摆放位置的操作，所述位置清单中包含适用于所述目标障碍物的多个候选摆放位置。
  8. 如权利要求4所述的方法，其中，所述根据所述N个被识别障碍物的目标摆放位置和所述N个被识别障碍物的位置信息，将所述N个被识别障碍物从当前所在位置移动至各自的目标摆放位置，包括：
    针对目标障碍物，根据所述目标障碍物的位置信息移动至所述目标障碍物当前所在位置，所述目标障碍物是所述N个被识别障碍物中，当前被用户执行的障碍物；
    夹取所述目标障碍物后移动至所述目标摆放位置。
  9. 如权利要求4所述的方法，其中，所述根据用于所述N个被识别障碍物的整理类处置方式确定所述N个被识别障碍物的目标摆放位置，包括：
    若所述N个被识别障碍物中K个被识别障碍物的处置方式为添加至整理清单，将所述K个被识别障碍物添加至当前整理清单，K为不大于N的正整数；
    在所述当前整理清单中，确定所述K个被识别障碍物的目标摆放位置。
  10. 如权利要求9所述的方法，其中，所述根据所述N个被识别障碍物的目标摆放位置和位置信息，将所述N个被识别障碍物从当前所在位置移动至各自的目标摆放位置，包括：
    针对所述K个被识别障碍物，根据所述当前整理清单和所述K个被识别障碍物的位置信息进行路径规划，生成物品整理路径；
    根据所述物品整理路径对所述K个被识别障碍物进行整理，以将所述K个被识别障碍物从当前所在位置移动至所述K个被识别障碍物各自的目标摆放位置。
  11. 如权利要求9所述的方法，其中，所述在所述当前整理清单中，确定所述K个被识别障碍物的目标摆放位置，包括：
    针对所述K个被识别障碍物中的每个被识别障碍物，若获取到用于调整该被识别障碍物的摆放位置的调整命令，将基于所述调整命令调整后的新的摆放位置作为该被识别障碍物的目标摆放位置，否则，根据该被识别障碍物的类别信息，从预先根据障碍物类别建立的多种默认摆放位置中确定出该被识别障碍物的默认摆放位置，作为该被识别障碍物的目标摆放位置。
  12. 如权利要求3所述的方法，其中，所述多种候选处置方式中包括无需整理类处置方式和/或无需躲避类处置方式；
    所述按照所述目标处置方式对所述M个被识别障碍物进行处置，包括：
    在确定出用于目标障碍物的处置方式是无需整理类处置方式的情况下，根据所述目标障碍物的位置信息使所述机器人在执行后续任务的过程中，移动至所述目标障碍物所在位置时执行避障动作；和/或
    在确定出用于目标障碍物的目标处置方式是无需躲避类处置方式的情况下，在所述第一地图上清除所述目标障碍物，以使所述机器人执行清扫任务的过程中，在移动至所述目标障碍物所在位置时不执行避障动作；
    其中，所述目标障碍物是所述M个被识别障碍物中，当前被用户执行处置动作的障碍物。
  13. 如权利要求1所述的方法，其中，在所述识别障碍物并在第一地图上标记被识别障碍物之前，还包括：
    检测所述机器人的自动整理功能是否为开启状态；
    若是，在执行目标任务的过程中识别障碍物，根据被识别障碍物的类别确定所述被识别障碍物的默认摆放位置，并将所述被识别障碍物移动至所述默认摆放位置；
    若否，执行所述识别障碍物并在第一地图上标记被识别障碍物的步骤。
  14. 一种用于机器人的障碍物处理装置，包括：
    识别标记单元，识别障碍物并在第一地图上标记被识别障碍物；
    处置确定单元，用于获取对M个被识别障碍物的处置命令，并根据所述处置命令确定用于所述M个被识别障碍物的目标处置方式，所述处置命令是响应于用户对所述第一地图上标记的M个被识别障碍物执行的处置动作产生，M为正整数；
    处置执行单元，用于按照所述目标处置方式对所述M个被识别障碍物进行处置。
  15. 一种机器人，包括：
    扫地机底盘，用于清洁地面；
    机械臂，与所述扫地机底盘连接，所述机械臂用于整理地面物品；
    处理器；用于存储所述处理器可执行指令的存储器，其中，所述处理器被配置为执行所述指令，以实现如权利要求1～13中任一项所述的障碍物处理方法。
  16. 一种计算机可读存储介质，包括存储于其上的计算机程序，该计算机程序被处理器执行时实现权利要求1～13中任一项所述的障碍物处理方法。
PCT/CN2025/110300 2024-07-30 2025-07-24 用于机器人的障碍物处理方法、装置、机器人及存储介质 Pending WO2026026656A1 (zh)

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