CN118034291A - Robot obstacle avoidance method and system - Google Patents
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Abstract
The invention discloses a robot obstacle avoidance method and a system thereof, belonging to the technical field of robot operation control; by constructing the first detection area and the second detection area, the detection and identification range can be reduced to improve the efficiency of detection and identification data processing; switching and adjusting the robot moving obstacle avoidance recognition scheme in two aspects, wherein one is to automatically switch under the condition that the recognition results of different position areas are uncertain; the other is to switch automatically under the condition that the detection and recognition process is interfered, and the recognition obstacle avoidance scheme is regulated and controlled automatically under the two abnormal recognition conditions to ensure the reliability of obstacle recognition and the timeliness of obstacle avoidance, so that the flexibility and the reliability of autonomous adjustment of the recognition obstacle avoidance scheme of the robot during implementation are improved; the method is used for solving the technical problem that the existing scheme cannot be matched with the detection sensor to identify the obstacle avoidance scheme from the multi-dimensional self-adaptive active control image identification obstacle avoidance scheme.
Description
Technical Field
The invention relates to the technical field of robot operation control, in particular to a robot obstacle avoidance method and a system thereof.
Background
The obstacle avoidance technology is to enable a robot to automatically identify and avoid obstacles in the moving process, ensure that the robot reaches a destination safely, and the common obstacle avoidance technology comprises the steps of detecting the surrounding environment by using sensors (such as an infrared sensor, an ultrasonic sensor, a camera and the like), and then performing corresponding action adjustment according to detected information; modern robots generally combine with various sensors and algorithms to realize obstacle avoidance functions, such as performing environmental scanning by using a laser radar, performing image recognition by using a deep learning algorithm, and the like, so that the robots can avoid obstacles more intelligently by using the technologies, thereby completing various tasks, such as autonomous navigation, environmental cleaning, and the like.
However, when the existing robot obstacle avoidance scheme is implemented, based on the practical running cost and design cost of the robot, the movement of the robot is generally monitored and controlled only through a single obstacle avoidance scheme, and the obstacle avoidance scheme cannot be implemented by matching with a detection sensor through multi-dimensional self-adaptive active control image recognition, so that the robot obstacle avoidance scheme is poor in flexibility and reliability of autonomous adjustment of the obstacle avoidance scheme during implementation.
Disclosure of Invention
The invention aims to provide a robot obstacle avoidance method and a system thereof, which are used for solving the technical problem that the existing scheme cannot be matched with the detection sensor to identify the obstacle avoidance scheme from a multi-dimensional self-adaptive active control image to identify the obstacle avoidance scheme.
The aim of the invention can be achieved by the following technical scheme:
the robot obstacle avoidance method comprises the following steps:
Constructing a first detection area and a second detection area which are fixedly detected in the moving process of the robot;
Detecting and analyzing the obstacle conditions in the first detection area and the second detection area in the moving process of the robot in real time through a detection sensor to obtain an area detection set containing a first area detection result, a second area detection result and detection processing data;
And carrying out reliability analysis on the area recognition dimension and the receiving signal dimension of the detection sensor recognition obstacle avoidance scheme when the robot moves according to the area detection set, and carrying out dynamic control on the detection sensor recognition obstacle avoidance scheme and the image recognition obstacle avoidance scheme of the robot movement in real time according to an analysis result so as to realize self-adaptive adjustment for controlling the robot movement obstacle avoidance.
Preferably, the step of acquiring the first detection region and the second detection region includes:
Acquiring the length, width and height of the robot, respectively setting the length, the width and the height of the robot as a basic length, a basic width and a basic height, respectively expanding the basic length, the basic width and the basic height according to a preset expansion ratio to obtain an expansion length, an expansion width and an expansion height, setting an area surrounded by the expansion length, the expansion width and the expansion height as a first detection area, and setting the first detection area at the front end of the robot;
the second detection areas are acquired in the same mode and are positioned at the front end of the first detection area.
Preferably, the first area detection result includes no obstacle or an obstacle; the second area detection result contains no obstacle or obstacle; the detection processing data includes signal strength data received by the detection sensor.
Preferably, when reliability analysis of the region identification dimension is performed, a first region detection result and a second region detection result in the region detection set are obtained and respectively traversed and analyzed to obtain a moving region detection analysis result with the instruction value of 0,1 or 2;
When the obstacle avoidance recognition scheme of the robot movement is dynamically adjusted according to the detection and analysis result of the movement region, traversing the detection and analysis result of the movement region, and maintaining the detection and recognition scheme of the existing detection sensor according to the value of a command 0 in the detection and analysis result of the movement region;
And dynamically implementing a detection and identification scheme or an image identification scheme of the detection sensor according to the command value of 1 or 2 in the detection and analysis result of the moving area.
Preferably, if no obstacle exists in the first area detection result and the second area detection result, a smooth passing instruction is generated, the associated instruction value is set to 0, and the existing moving speed of the robot is maintained according to the smooth passing instruction;
If no obstacle exists in the first area detection result but a fixed obstacle or a moving obstacle exists in the second area detection result, generating a passing part blocking instruction, setting the associated instruction value to be 1, and reducing the moving speed of the robot according to the passing part blocking instruction;
If an obstacle exists in the first area detection result, a traffic blocking instruction is generated, the associated instruction value is set to be 2, and meanwhile, the robot is controlled to stop moving according to the traffic blocking instruction.
Preferably, when the detection sensor detection recognition scheme or the image recognition scheme is dynamically implemented, sensor recognition analysis is performed on the type of the obstacle in the second area detection result or the first area detection result, and if the type of the obstacle is a determinable type, a detection maintenance instruction is generated and the existing detection sensor recognition obstacle avoidance scheme is maintained;
If the obstacle type is the indeterminate type, generating a detection adjustment type and starting an image recognition obstacle avoidance scheme to perform image recognition on the obstacle type in the second area detection result, and generating an adjustment ending instruction and stopping the operation of the image recognition obstacle avoidance scheme when the image recognition result determines the obstacle type.
Preferably, when reliability analysis of the received signal dimension is carried out, signal intensity data received by a detection sensor is obtained according to detection processing data, and a detection signal scatter diagram is obtained through display of a pre-constructed scattered point coordinate system;
Analyzing the detected signal scatter diagram to determine whether the received signal intensity data are normal or not, and acquiring linear distance values di, i=1, 2,3, … …, n, n are positive integers, i is different time points between the adjacent signal intensity data in real time; inputting the linear distance value into a signal state identification model for analysis to obtain a corresponding state identification value; the state identification values obtained in real time are arranged and combined according to the time sequence to obtain a state identification array; the expression of the signal state identification model is as follows: Wherein d0 is a standard linear distance value corresponding to the detection sensor.
Preferably, traversing the state identification array, if elements with the value of 1 exist in the traversing result, generating an abnormal verification instruction, counting and analyzing the values of the subsequent K elements according to the abnormal instruction, and if the total number of the elements with the value of 0 in the subsequent K elements is not more than P, generating an identification maintaining instruction and maintaining the existing detection scheme of the detection sensor; K. p is a positive integer and K > P.
Preferably, if the total number of elements with the value of 0 in the subsequent K elements is greater than P, generating an identification switching instruction and starting an image identification obstacle avoidance scheme to synchronously perform obstacle identification and obstacle avoidance of robot movement in cooperation with the detection and identification scheme of the detection sensor, wherein the identification obstacle avoidance priority corresponding to the image identification obstacle avoidance scheme is higher than the identification obstacle avoidance priority corresponding to the detection and identification scheme of the detection sensor, until the total number of elements with the value of 0 in the subsequent K elements is not greater than P, generating an identification recovery instruction and stopping the image identification obstacle avoidance scheme to perform obstacle identification and obstacle avoidance of robot movement only through the detection and identification scheme of the detection sensor.
The invention also discloses a robot obstacle avoidance system, which comprises:
the detection region division construction module is used for constructing a first detection region and a second detection region which are fixedly detected in the moving process of the robot;
The detection area detection analysis module is used for carrying out real-time detection analysis on the obstacle conditions in the first detection area and the second detection area in the moving process of the robot through the detection sensor to obtain an area detection set containing a first area detection result, a second area detection result and detection processing data;
The detection result analysis and adjustment module is used for carrying out reliability analysis on the area recognition dimension and the receiving signal dimension of the detection sensor recognition obstacle avoidance scheme when the robot moves according to the area detection set, and carrying out dynamic control on the detection sensor recognition obstacle avoidance scheme and the image recognition obstacle avoidance scheme of the robot movement in real time according to the analysis result so as to realize self-adaptive adjustment for controlling the robot movement obstacle avoidance.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, the first detection area and the second detection area are constructed, so that the detection and identification range can be reduced to improve the detection and identification data processing efficiency; switching and adjusting the robot moving obstacle avoidance recognition scheme in two aspects, wherein one is to automatically switch under the condition that the recognition results of different position areas are uncertain; the other is to switch automatically under the condition that the detection and recognition process is interfered, and the recognition obstacle avoidance scheme is regulated and controlled automatically under the two abnormal recognition conditions to ensure the reliability of obstacle recognition and the timeliness of obstacle avoidance, so that the flexibility and the reliability of autonomous adjustment of the recognition obstacle avoidance scheme of the robot obstacle avoidance scheme are improved when the robot obstacle avoidance scheme is implemented.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a block flow diagram of a robot obstacle avoidance method of the present invention.
FIG. 2 is a flow chart of a dynamic implementation of a detection sensor detection recognition scheme or image recognition scheme in the present invention.
FIG. 3 is a flow chart of the status identification array acquisition in the present invention.
Fig. 4 is a block diagram of a robot obstacle avoidance system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are obtained by persons skilled in the art without any inventive effort, are within the scope of the present invention based on the embodiments of the present invention.
Example 1: as shown in fig. 1, the present invention is a robot obstacle avoidance method, including:
Constructing a first detection area and a second detection area which are fixedly detected in the moving process of the robot;
the step of acquiring the first detection area and the second detection area comprises the following steps:
Acquiring the length, width and height of the robot, respectively setting the length, the width and the height of the robot as a basic length, a basic width and a basic height, respectively expanding the basic length, the basic width and the basic height according to a preset expansion ratio to obtain an expansion length, an expansion width and an expansion height, setting an area surrounded by the expansion length, the expansion width and the expansion height as a first detection area, and setting the first detection area at the front end of the robot;
the second detection areas are the same in acquisition mode and are positioned at the front end of the first detection area;
The preset value range of the expansion ratio is [1,2 ], and the value of the preset value range is 1 in the embodiment of the invention, namely the size of the first detection area is the same as that of the robot, the size of the second detection area is the same as that of the first detection area, the first detection area plays a role in buffering during abnormal obstacle recognition processing, and the second detection area plays a role in pre-screening during abnormal obstacle recognition processing; and by constructing the first detection area and the second detection area, the detection and identification range can be reduced to improve the efficiency of detection and identification data processing;
Detecting and analyzing the obstacle conditions in the first detection area and the second detection area in the moving process of the robot in real time through a detection sensor to obtain an area detection set containing a first area detection result, a second area detection result and detection processing data;
wherein the first region detection result contains no obstacle or an obstacle;
The second area detection result contains no obstacle or obstacle;
the detection processing data comprises signal intensity data received by a detection sensor;
It should be noted that the detection sensor includes, but is not limited to, an infrared sensor, an ultrasonic sensor, and a radar sensor; the detection sensor is used for identifying and analyzing the obstacle in the area as the conventional technical scheme, and specific implementation steps are not repeated here;
The reliability analysis of the area recognition dimension and the receiving signal dimension is carried out on the detection sensor recognition obstacle avoidance scheme when the robot moves according to the area detection set, and the dynamic control is carried out on the detection sensor recognition obstacle avoidance scheme and the image recognition obstacle avoidance scheme of the robot movement in real time according to the analysis result so as to realize the self-adaptive adjustment of controlling the robot movement obstacle avoidance; comprising the following steps:
when reliability analysis of the region identification dimension is carried out, a first region detection result and a second region detection result in the region detection set are obtained and respectively traversed and analyzed, so that a moving region detection analysis result containing instruction values of 0, 1 or 2 is obtained;
The step of obtaining the instruction value of 0, 1 or 2 comprises the following steps:
if no obstacle exists in the first area detection result and the second area detection result, generating a smooth passing instruction, setting the associated instruction value to 0, and maintaining the existing moving speed of the robot according to the smooth passing instruction;
If no obstacle exists in the first area detection result but a fixed obstacle or a moving obstacle exists in the second area detection result, generating a passing part blocking instruction and setting the associated instruction value to be 1, and simultaneously reducing the moving speed of the robot according to the passing part blocking instruction, so that the moving speed can be reduced to half of the previous moving speed;
If an obstacle exists in the first area detection result, generating a passing blocking instruction, setting the associated instruction value to be 2, and controlling the robot to stop moving according to the passing blocking instruction; the obstacle in the first area detection result may be a fixed obstacle or a moving obstacle which occurs suddenly;
it should be noted that, by analyzing the first area detection result and the second area detection result, reliable digital data support can be provided for adjustment of the subsequent detection and identification scheme;
When the obstacle avoidance recognition scheme of the robot movement is dynamically adjusted according to the detection and analysis result of the movement region, traversing the detection and analysis result of the movement region, and maintaining the detection and recognition scheme of the existing detection sensor according to the value of a command 0 in the detection and analysis result of the movement region;
As shown in fig. 2, dynamically implementing a detection recognition scheme or an image recognition scheme of a detection sensor according to a command value of 1 or 2 in a detection analysis result of a moving area, including:
Carrying out sensor identification analysis on the type of the obstacle in the second area detection result or the first area detection result, and if the type of the obstacle is a determinable type, generating a detection maintenance instruction and maintaining the existing detection sensor identification obstacle avoidance scheme; wherein the determinable type refers to a specific shape of the obstacle which can be obtained by detection analysis by the detection sensor;
If the obstacle type is an indeterminate type, generating a detection adjustment type and starting an image recognition obstacle avoidance scheme to perform image recognition on the obstacle type in the second area detection result, and generating an adjustment ending instruction and stopping the operation of the image recognition obstacle avoidance scheme when the image recognition result determines the obstacle type;
It should be noted that, because the detection and recognition scheme of the detection sensor has limitations, for example, the sensor has certain limitations on the shape, the material and the like of the obstacle, the obstacle with a complex or nonstandard shape may not be accurately recognized, at this time, more accurate recognition analysis is performed by automatically implementing the image recognition and obstacle avoidance scheme, so that the reliability of obstacle recognition and obstacle avoidance is improved, and meanwhile, the overall data processing resource consumption during the robot recognition and obstacle avoidance processing is reduced, because the image recognition algorithm generally needs a large amount of calculation resources and time, and has higher requirements on hardware performance;
In addition, the image recognition is sensitive to illumination conditions, and the recognition effect can be influenced by conditions such as insufficient light or strong light; finally, the image recognition algorithm is complex to process, and the real-time performance may not be as good as that of the sensor scheme; how to efficiently control an image recognition obstacle avoidance scheme in time to match with the recognition and obstacle avoidance of a detection sensor recognition obstacle avoidance scheme is a problem to be solved by the embodiment of the invention;
as shown in fig. 3, when reliability analysis of the received signal dimension is performed, signal intensity data received by a detection sensor is obtained according to detection processing data, and a detection signal scatter diagram is obtained by displaying a pre-constructed scatter point coordinate system; wherein, the horizontal axis of the scattered point coordinate system is a time point of real-time change, and the vertical axis is a signal intensity value of uniform change;
analyzing the detected signal scatter diagram to determine whether the received signal intensity data are normal or not, and acquiring linear distance values di, i=1, 2,3, … …, n, n are positive integers, i is different time points between the adjacent signal intensity data in real time; inputting the linear distance value into a signal state identification model for analysis to obtain a corresponding state identification value;
the expression of the signal state identification model is as follows: wherein d0 is a standard linear distance value corresponding to the detection sensor, and the standard linear distance value is a median value of all linear distance values generated when interference occurs according to the historical work corresponding to the detection sensor;
the state identification values obtained in real time are arranged and combined according to the time sequence to obtain a state identification array;
Traversing the state identification array, if elements with the value of 1 exist in the traversing result, at the moment, indicating that signals received by the time point detection sensor are interfered, and further analyzing whether the occurrence of the interference is transient or continuous, generating an abnormal verification instruction, counting the values of the subsequent K elements according to the abnormal instruction, analyzing, and if the total number of the elements with the value of 0 in the subsequent K elements is not more than P, and indicating that the occurrence of the interference is continuous when the value of the subsequent element is 0, generating an identification maintenance instruction and maintaining the existing detection and identification scheme of the detection sensor; K. p is a positive integer, K is more than P, and concrete values of K, P can be determined according to the median value of the total times of abnormal signal intensity generated when the detection sensor is interfered corresponding to the historical work;
If the total number of elements with the value of 0 in the subsequent K elements is larger than P, generating an identification switching instruction and starting an image identification obstacle avoidance scheme to synchronously perform obstacle identification and obstacle avoidance of robot movement in cooperation with a detection sensor detection identification scheme, wherein the identification obstacle avoidance priority corresponding to the image identification obstacle avoidance scheme is higher than the identification obstacle avoidance priority corresponding to the detection sensor detection identification scheme until the total number of elements with the value of 0 in the subsequent K elements is not larger than P, generating an identification recovery instruction and stopping the image identification obstacle avoidance scheme to perform obstacle identification and obstacle avoidance of robot movement only through the detection sensor detection identification scheme.
In the embodiment of the invention, the robot moving obstacle avoidance recognition scheme is switched and adjusted from two aspects, and one is automatically switched under the condition that the recognition results of different position areas are uncertain; the other is to switch automatically under the condition that the detection and recognition process is interfered, and the recognition obstacle avoidance scheme is regulated and controlled automatically under the two abnormal recognition conditions to ensure the reliability of obstacle recognition and the timeliness of obstacle avoidance, so that the flexibility and the reliability of autonomous adjustment of the recognition obstacle avoidance scheme of the robot obstacle avoidance scheme are improved when the robot obstacle avoidance scheme is implemented.
Example 2: as shown in fig. 4, the present invention is a robot obstacle avoidance system, comprising:
the detection region division construction module is used for constructing a first detection region and a second detection region which are fixedly detected in the moving process of the robot;
The detection area detection analysis module is used for carrying out real-time detection analysis on the obstacle conditions in the first detection area and the second detection area in the moving process of the robot through the detection sensor to obtain an area detection set containing a first area detection result, a second area detection result and detection processing data;
The detection result analysis and adjustment module is used for carrying out reliability analysis on the area recognition dimension and the receiving signal dimension of the detection sensor recognition obstacle avoidance scheme when the robot moves according to the area detection set, and carrying out dynamic control on the detection sensor recognition obstacle avoidance scheme and the image recognition obstacle avoidance scheme of the robot movement in real time according to the analysis result so as to realize self-adaptive adjustment for controlling the robot movement obstacle avoidance.
In addition, the formulas related in the above are all formulas for removing dimensions and taking numerical calculation, and are one formula which is obtained by acquiring a large amount of data and performing software simulation through simulation software and is closest to the actual situation.
In the several embodiments provided in the present invention, it should be understood that the disclosed system and method may be implemented in other manners. For example, the above-described embodiments of the invention are merely illustrative, and for example, the division of modules is merely a logical function division, and other manners of division may be implemented in practice.
The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in hardware plus software functional modules.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the essential characteristics thereof.
Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. The robot obstacle avoidance method is characterized by comprising the following steps:
Constructing a first detection area and a second detection area which are fixedly detected in the moving process of the robot;
Detecting and analyzing the obstacle conditions in the first detection area and the second detection area in the moving process of the robot in real time through a detection sensor to obtain an area detection set containing a first area detection result, a second area detection result and detection processing data;
And carrying out reliability analysis on the area recognition dimension and the receiving signal dimension of the detection sensor recognition obstacle avoidance scheme when the robot moves according to the area detection set, and carrying out dynamic control on the detection sensor recognition obstacle avoidance scheme and the image recognition obstacle avoidance scheme of the robot movement in real time according to an analysis result so as to realize self-adaptive adjustment for controlling the robot movement obstacle avoidance.
2. The robot obstacle avoidance method of claim 1 wherein the step of acquiring the first detection zone and the second detection zone comprises:
Acquiring the length, width and height of the robot, respectively setting the length, the width and the height of the robot as a basic length, a basic width and a basic height, respectively expanding the basic length, the basic width and the basic height according to a preset expansion ratio to obtain an expansion length, an expansion width and an expansion height, setting an area surrounded by the expansion length, the expansion width and the expansion height as a first detection area, and setting the first detection area at the front end of the robot;
the second detection areas are acquired in the same mode and are positioned at the front end of the first detection area.
3. The robot obstacle avoidance method of claim 2 wherein the first zone detection result comprises no obstacle or an obstacle present; the second area detection result contains no obstacle or obstacle; the detection processing data includes signal strength data received by the detection sensor.
4. The robot obstacle avoidance method according to claim 1, wherein when reliability analysis of the region identification dimension is performed, a first region detection result and a second region detection result in the region detection set are obtained and respectively traversed and analyzed to obtain a moving region detection analysis result including an instruction value of 0, 1 or 2;
When the obstacle avoidance recognition scheme of the robot movement is dynamically adjusted according to the detection and analysis result of the movement region, traversing the detection and analysis result of the movement region, and maintaining the detection and recognition scheme of the existing detection sensor according to the value of a command 0 in the detection and analysis result of the movement region;
And dynamically implementing a detection and identification scheme or an image identification scheme of the detection sensor according to the command value of 1 or 2 in the detection and analysis result of the moving area.
5. The robot obstacle avoidance method according to claim 4, wherein if no obstacle exists in the first area detection result and the second area detection result, a smooth passage instruction is generated and the associated instruction value is set to 0, and the existing moving speed of the robot is maintained according to the smooth passage instruction;
If no obstacle exists in the first area detection result but a fixed obstacle or a moving obstacle exists in the second area detection result, generating a passing part blocking instruction, setting the associated instruction value to be 1, and reducing the moving speed of the robot according to the passing part blocking instruction;
If an obstacle exists in the first area detection result, a traffic blocking instruction is generated, the associated instruction value is set to be 2, and meanwhile, the robot is controlled to stop moving according to the traffic blocking instruction.
6. The robot obstacle avoidance method of claim 4 wherein, when the detection sensor detection recognition scheme or the image recognition scheme is dynamically implemented, sensor recognition analysis is performed on the type of the obstacle in the second area detection result or the first area detection result, and if the type of the obstacle is a determinable type, a detection maintenance instruction is generated and the existing detection sensor recognition obstacle avoidance scheme is maintained;
If the obstacle type is the indeterminate type, generating a detection adjustment type and starting an image recognition obstacle avoidance scheme to perform image recognition on the obstacle type in the second area detection result, and generating an adjustment ending instruction and stopping the operation of the image recognition obstacle avoidance scheme when the image recognition result determines the obstacle type.
7. The robot obstacle avoidance method according to claim 1, wherein, when reliability analysis of the received signal dimension is performed, signal intensity data received by the detection sensor is obtained according to the detection processing data, and a detected signal scatter diagram is obtained by displaying a pre-constructed scatter coordinate system;
Analyzing the detected signal scatter diagram to determine whether the received signal intensity data are normal or not, and acquiring linear distance values di, i=1, 2,3, … …, n, n are positive integers, i is different time points between the adjacent signal intensity data in real time; inputting the linear distance value into a signal state identification model for analysis to obtain a corresponding state identification value; the state identification values obtained in real time are arranged and combined according to the time sequence to obtain a state identification array; the expression of the signal state identification model is as follows: Wherein d0 is a standard linear distance value corresponding to the detection sensor.
8. The robot obstacle avoidance method according to claim 7, wherein the state identification array is traversed, if elements with a value of 1 exist in the traversed result, an abnormal verification instruction is generated, the values of the subsequent K elements are counted and analyzed according to the abnormal instruction, and if the total number of the elements with a value of 0 in the subsequent K elements is not greater than P, an identification maintaining instruction is generated and an existing detection sensor detection and identification scheme is maintained; K. p is a positive integer and K > P.
9. The robot obstacle avoidance method according to claim 8, wherein if the total number of elements with a value of 0 in the subsequent K elements is greater than P, an identification switching instruction is generated and an image identification obstacle avoidance scheme is started to perform obstacle identification and obstacle avoidance of robot movement in synchronization with the detection of the identification scheme by the detection sensor, and the identification obstacle avoidance priority corresponding to the image identification obstacle avoidance scheme is higher than the identification obstacle avoidance priority corresponding to the detection scheme by the detection sensor until the total number of elements with a value of 0 in the subsequent K elements is not greater than P, an identification recovery instruction is generated and the image identification obstacle avoidance scheme is stopped to perform obstacle identification and obstacle avoidance of robot movement only by the detection of the identification scheme by the detection sensor.
10. Robot obstacle avoidance system for use in a robot obstacle avoidance method as claimed in any one of claims 1 to 9, comprising:
the detection region division construction module is used for constructing a first detection region and a second detection region which are fixedly detected in the moving process of the robot;
The detection area detection analysis module is used for carrying out real-time detection analysis on the obstacle conditions in the first detection area and the second detection area in the moving process of the robot through the detection sensor to obtain an area detection set containing a first area detection result, a second area detection result and detection processing data;
The detection result analysis and adjustment module is used for carrying out reliability analysis on the area recognition dimension and the receiving signal dimension of the detection sensor recognition obstacle avoidance scheme when the robot moves according to the area detection set, and carrying out dynamic control on the detection sensor recognition obstacle avoidance scheme and the image recognition obstacle avoidance scheme of the robot movement in real time according to the analysis result so as to realize self-adaptive adjustment for controlling the robot movement obstacle avoidance.
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