Obstacle avoidance method for robot, obstacle avoidance device for robot, and non-transitory computer readable storage medium

1 . An obstacle avoidance method for a robot, performed by the robot, wherein the method comprises:

obtaining trap feature information in real time during travel of the robot, wherein the trap feature information comprises at least one of a sensor parameter and first image information, wherein the first image information is image information acquired in real time during the travel of the robot;

in response to determining that the trap feature information meets a trap condition, determining the robot is prone to be trapped; wherein the trap feature information meeting the trap condition comprises at least one of:

the sensor parameter exceeding a preset first threshold; or

a similarity between the first image information and second image information exceeding a preset second threshold; wherein the second image information comprises image information saved in response to that the robot detects a trap during the travel of the robot;

determining whether a current location is located in a trap region, wherein the trap region indicates a region in which the robot was trapped or is prone to be trapped;

in response to determining that the current location is located in the trap region, giving up travelling a current traveling route, and traveling out of the trap region;

saving, in response to the robot being trapped, scenario information of a trap location where the robot is trapped; and

when the robot travels to the trap region, deleting, in response to determining that the trap feature information does not meet the trap condition for a period of time, the scenario information.

2 . The method according to claim 1 , further comprising:

labeling, by the robot, a trap mark at a coordinate point of the trap location in response to detecting a trap during the travel of the robot;

wherein determining whether the current location is located in the trap region comprises:

determining whether the current location is located within a specific range of the coordinate point; and

determining that the current location is located in the trap region comprises:

determining that the current location is located in the trap region in response to that the current location is located within the specific range of the coordinate point.

3 . The method according to claim 1 , wherein the second image information is collected by an image collection device, in a case that the similarity between the first image information and the second image information exceeding the preset second threshold, the method further comprises:

comparing the first image information with the second image information;

in response to determining that the similarity between the first image information and the second image information exceeding a preset third threshold, determining that the current location is located in the trap region, wherein the preset third threshold is greater than the preset second threshold.

4 . The method according to claim 1 , wherein the sensor parameter comprises any one or any combination of the following:

an upward tilted angle of the robot;

a difference between an angular velocity of an odograph of a primary wheel of the robot and an angular velocity of a gyroscope of the robot; and

an overcurrent value of a single-wheel current or a double-wheel current of a traveling wheel of the robot.

5 . The method according to claim 4 , wherein the sensor parameter exceeding the preset first threshold comprises at least one of the following:

in response to that the robot is tilted upward, determining that the upward tilted angle is greater than 2.5 degrees;

collecting angular velocity data of the odograph of the primary wheel of the robot and angular velocity data of the gyroscope, wherein a continuous time period in which the difference is greater than a specified value accumulates up to more than 400 ms; and

determining that the overcurrent of the single-wheel current or the double-wheel current of the traveling wheel of the robot exceeds 500 mA.

6 . The method according to claim 2 , wherein the similarity between the first image information and the second image information exceeding the preset second threshold comprises:

comparing the first image information with the second image information; and

determining that the trap feature information meets the trap condition in response to that the similarity between the first image information and the second image information exceeds the preset second threshold.

7 . The method according to claim 3 , wherein the similarity between the first image information and the second image information exceeding the preset second threshold or the preset third threshold comprises:

a coincidence rate between the first image information and the second image information exceeding the preset second threshold or the preset third threshold; or

a number of matching feature information items of a first image corresponding to the first image information and a second image corresponding to the second image information exceeding the preset second threshold or the preset third threshold.

8 . The method according to claim 2 , further comprising:

determining a region with an area and a shape around the trap location as the trap region, wherein the trap location is located in the trap region.

9 . The method according to claim 2 , further comprising:

clearing the trap mark in response to determining that the trap feature information does not meet the trap condition when the robot travels to the coordinate point.

10 . A non-transitory computer readable storage medium, wherein a computer program instruction is stored, and the computer program instruction performs operations of a method according to claim 1 when being invoked and executed by a processor.

11 . An obstacle avoidance device for a robot, comprising:

a processor; and

a memory configured to store instructions executable by the processor;

wherein the processor is configured to execute the instructions to implement following operations:

obtaining trap feature information in real time during travel of the robot, wherein the trap feature information comprises at least one of a sensor parameter and first image information, wherein the first image information is image information acquired in real time during the travel of the robot;

in response to determining that the trap feature information meets a trap condition, determining the robot is prone to be trapped; wherein the trap feature information meeting the trap condition comprises at least one of:

the sensor parameter exceeding a preset first threshold; or

a similarity between the first image information and second image information exceeding a preset second threshold; wherein the second image information comprises image information saved in response to that the robot detects a trap during the travel of the robot;

determining whether a current location is located in a trap region, wherein the trap region indicates a region in which the robot was trapped or is prone to be trapped;

in response to determining that the current location is located in the trap region, giving up travelling a current traveling route, and traveling out of the trap region;

saving, in response to the robot being trapped, scenario information of a trap location where the robot is trapped; and

when the robot travels to the trap region, deleting, in response to determining that the trap feature information does not meet the trap condition for a period of time, the scenario information.

12 . The obstacle avoidance device for a robot according to claim 11 , wherein the processor is configured to execute the instructions to implement the following operations:

labeling, by the robot, a trap mark at a coordinate point of the trap location in response to detecting a trap during travel of the robot;

wherein determining whether the current location is located in the trap region comprises:

determining whether the current location is located within a specific range of the coordinate point; and

determining that the current location is located in the trap region comprises:

determining that the current location is located in the trap region in response to that the current location is located within the specific range of the coordinate point.

13 . The obstacle avoidance device for a robot according to claim 11 , wherein the second image information is collected by an image collection device, in a case that the similarity between the first image information and the second image information exceeding the preset second threshold, wherein the processor is configured to execute the instructions to implement the following operations:

comparing the first image information with the second image information;

in response to determining that the similarity between the first image information and the second image information exceeding a preset third threshold, determining that the current location is located in the trap region, wherein the preset third threshold is greater than the preset second threshold.

14 . The obstacle avoidance device for a robot according to claim 11 , wherein the sensor parameter comprises any one or any combination of the following:

an upward tilted angle of the robot;

a difference between an angular velocity of an odograph of a primary wheel of the robot and an angular velocity of a gyroscope of the robot; and

an overcurrent value of a single-wheel current or a double-wheel current of a traveling wheel of the robot.

15 . The obstacle avoidance device for a robot according to claim 14 , wherein the sensor parameter exceeding the preset first threshold comprises at least one of the following instructions executed by the processor:

in response to that the robot is tilted upward, determining that the upward tilted angle is greater than 2.5 degrees;

collecting angular velocity data of the odograph of the primary wheel of the robot and angular velocity data of the gyroscope, wherein a continuous time period in which the difference is greater than a specified value accumulates up to more than 400 ms; and

determining that the overcurrent of the single-wheel current or the double-wheel current of the traveling wheel of the robot exceeds 500 mA.