Obstacle avoidance method, electronic device, and storage medium

An electronic device, comprising:

• a memory, configured to store program instructions;
• and a processor, configured to invoke and execute the program instructions in the memory, and perform the method of:
• detecting whether a suspected obstacle exists in a traveling direction, wherein the suspected obstacle protrudes beyond an edge of a rack;
• determining a relative position relationship between the suspected obstacle and a target position that the robot is required to reach along a current traveling direction when the suspected obstacle exists in the traveling direction;
• determining that the suspected obstacle is an obstacle when the suspected obstacle is located between a current position of the robot and the target position;
• and
• replanning a traveling route to avoid the obstacle
• wherein the robot is configured to move along a track in a rack, the track on the rack comprises a vertical track and/or a horizontal track, when the current position of the robot is located on the vertical track, the current traveling direction is upward along the vertical track, and a task of the robot is to perform an operation of retrieving goods, after the determining that the suspected obstacle is an obstacle, the method further comprises:
• determining that the obstacle is a container at least a part of which protrudes beyond the edge of the rack;
• determining a storage location where the container is located;
• and
• taking the container out after reaching the storage location where the container is located, and placing the container back to the storage location properly, such that the at least a part of the container does not protrude beyond the edge of the rack.

A non-transitory computer-readable storage medium, storing a computer program, wherein when executed by a processor, the computer program is configured to:

• control a robot to detect whether a suspected obstacle exists in a traveling direction, wherein the suspected obstacle protrudes beyond an edge of a rack, the robot is configured to move along a track in a rack, the track on the rack comprises a vertical track;
• control the robot to determine a relative position relationship between the suspected obstacle and a target position that the robot is required to reach along a current traveling direction when the suspected obstacle exists in the traveling direction;
• and
• control the robot to determine that the suspected obstacle is an obstacle when the suspected obstacle is located between a current position of the robot and the target position;
• wherein when the current position of the robot is located on the vertical track, and the suspected obstacle is a container, the computer program is further configured to:
• control the robot to move to a storage location where the container is located;
• control the robot to adjust the position of the container in the storage location to cause the container to not protrude beyond the edge of the rack.