CN111443692A - Robot obstacle avoidance processing method, electronic device and computer-readable storage medium - Google Patents
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The embodiment of the application provides a robot obstacle avoidance processing method, electronic equipment and a computer readable storage medium, and relates to the field of robots. The method comprises the following steps: when the radar data are collected, determining the distance between the sweeping robot and the obstacle based on the collected radar data and/or the position information change of the sweeping robot after the radar data are collected, and controlling the sweeping robot to advance along the preset direction when the distance between the sweeping robot and the obstacle meets a first preset condition until the distance between the sweeping robot and the obstacle is detected to be not smaller than a first preset threshold value. According to the embodiment of the application, the probability of collision between the sweeping robot and the obstacle in the working process can be reduced, and the sweeping robot is controlled after the obstacle is detected.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a robot obstacle avoidance processing method, an electronic device, and a computer-readable storage medium.
Background
Along with the development of information technology and the continuous improvement of the requirements of people on living quality, the intelligent household products gradually appear in the daily life of people, wherein the representative sweeping robot is more and more popular among people.
The robot for sweeping the floor detects the obstacles in real time in the advancing process so as to avoid collision with the obstacles, an infrared anti-collision sensor is arranged on the side surface of the existing robot for sweeping the floor so as to detect the obstacles in the working process, but the existing mode for detecting the obstacles is only limited to detection of certain obstacles, such as walls, table legs and the like, and has poor detection effect on other types of obstacles, such as sofa bottoms and the like, so that the probability of collision with the obstacles in the working process of the robot for sweeping the floor is still high; furthermore, when the sweeping robot detects an obstacle, the specific processing method becomes a problem.
Disclosure of Invention
The application provides a robot obstacle avoidance processing method, electronic equipment and a computer readable storage medium, which are used for solving the technical problems that the probability of collision between a sweeping robot and an obstacle is still high in the working process and how to process the obstacle after the sweeping robot detects the obstacle. The technical scheme is as follows:
in a first aspect, a method for obstacle avoidance processing of a robot is provided, and the method includes:
when radar data are collected, determining the distance between the sweeping robot and the obstacle based on the collected radar data and/or the position information change of the sweeping robot after the radar data are collected;
when the distance between the sweeping robot and the obstacle meets a first preset condition, the sweeping robot is controlled to travel along a preset direction until the fact that the distance between the sweeping robot and the obstacle is not smaller than a first preset threshold value is detected.
A possible implementation of this application embodiment, when gathering radar data, based on the radar data of gathering and the positional information change of sweeping the floor robot after gathering radar data, confirm the distance of sweeping the floor between robot and the barrier, include:
when radar data are collected, determining the distance between the sweeping robot and the obstacle based on the collected radar data;
step 1, controlling the sweeping robot to continue to advance, and collecting the position information of the sweeping robot;
step 2, determining the distance between the sweeping robot and the obstacle based on the collected radar data, the collected position information of the sweeping robot and the preset position information;
and when the first preset condition is not detected to be met, the step 1 and the step 2 are circulated until the distance between the sweeping robot and the obstacle meets the first preset condition.
Another possible implementation manner of the embodiment of the application, a distance between the sweeping robot and the obstacle satisfies a first preset condition, including:
and the times of continuously detecting that the distance between the sweeping robot and the obstacle is smaller than a second preset threshold value is not smaller than the preset times.
Another possible implementation manner of the embodiment of the application, the robot that sweeps the floor is controlled to advance along the preset direction, and the distance between the robot and the obstacle until detecting sweeping the floor is not less than a first preset threshold value, includes:
step 3, controlling the sweeping robot to move along a preset direction;
step 4, when the position information of the sweeping robot is acquired, determining the distance between the sweeping robot and the obstacle based on the position information of the sweeping robot, the acquired radar data and the preset position information;
and when the distance between the sweeping robot and the obstacle is smaller than a first preset threshold value, the step 3 and the step 4 are circulated until the distance between the sweeping robot and the obstacle is not smaller than the first preset threshold value.
In another possible implementation manner of the embodiment of the application, the preset position information is position information of a position where the sweeping robot is located, which is acquired when radar data is acquired;
control robot of sweeping floor is advanced along predetermineeing the direction, includes:
and controlling the sweeping robot to move in the reverse direction of the forward direction of the sweeping robot at the moment of collision.
Another possible implementation manner of the embodiment of the application, based on the collected radar data, the collected position information of the sweeping robot, and the preset position information, determines the distance between the sweeping robot and the obstacle, including:
determining radar data corresponding to a specific position based on the collected radar data, the collected position information of the sweeping robot and preset position information, wherein the specific position is a position corresponding to the collected position information of the sweeping robot;
based on the radar data corresponding at the particular location, a distance between the sweeping robot and the obstacle at the particular location is determined.
Another possible implementation manner of the embodiment of the application, based on the collected radar data and/or the change of the position information of the sweeping robot after the collected radar data, determining the distance between the sweeping robot and the obstacle, and before, further including:
and performing decontamination treatment on the acquired radar data to remove the radar data meeting a second preset condition.
Another possible implementation manner of the embodiment of the application, determining radar data meeting a second preset condition includes at least one of the following:
if the included angle of the two adjacent radar data points at the central point of the sweeping robot is within the preset included angle range, determining that the radar data respectively corresponding to the two adjacent radar data points are the radar data meeting a second preset condition;
and if the distance between any radar point and the adjacent radar point is greater than a third preset threshold value, determining that the radar data corresponding to any radar point is the radar data meeting a second preset condition.
In a second aspect, an apparatus for obstacle avoidance processing of a robot is provided, the apparatus comprising:
the determining module is used for determining the distance between the sweeping robot and the obstacle based on the collected radar data and/or the position information change of the sweeping robot after the radar data is collected when the radar data is collected;
and the control advancing module is used for controlling the sweeping robot to advance along a preset direction when the distance between the sweeping robot and the obstacle meets a first preset condition until the fact that the distance between the sweeping robot and the obstacle is not smaller than a first preset threshold value is detected.
In a possible implementation manner of the embodiment of the present application, the determining module includes: the device comprises a first determining unit, a first control advancing unit, a collecting unit, a second determining unit and a first circulating unit;
the first determining unit is used for determining the distance between the sweeping robot and the obstacle based on the collected radar data when the radar data are collected;
the first control advancing unit is used for controlling the sweeping robot to continue advancing;
the acquisition unit is used for acquiring the position information of the sweeping robot;
the second determining unit is used for determining the distance between the sweeping robot and the obstacle based on the collected radar data, the position information of the sweeping robot collected by the collecting unit and preset position information;
and the first circulating unit is used for circulating the operations executed by the first control advancing unit, the acquisition unit and the second determination unit until the distance between the sweeping robot and the obstacle meets the first preset condition when the first preset condition is not detected to be met.
Another possible implementation manner of the embodiment of the application, a distance between the sweeping robot and the obstacle satisfies a first preset condition, including:
and the times of continuously detecting that the distance between the sweeping robot and the obstacle is smaller than a second preset threshold value is not smaller than the preset times.
In another possible implementation manner of the embodiment of the present application, the module for controlling traveling includes: a second control advancing unit, a third determination unit, a second circulation unit, wherein,
the second control advancing unit is used for controlling the sweeping robot to advance along a preset direction;
the third determining unit is used for determining the distance between the sweeping robot and the obstacle based on the position information of the sweeping robot, the collected radar data and the preset position information when the position information of the sweeping robot is acquired;
and the second circulating unit is used for circulating the operations executed by the second control advancing unit and the third determining unit when the distance between the sweeping robot and the obstacle is smaller than the first preset threshold value until the fact that the distance between the sweeping robot and the obstacle is not smaller than the first preset threshold value is detected.
In another possible implementation manner of the embodiment of the application, the preset position information is position information of a position where the sweeping robot is located, which is acquired when radar data is acquired;
and the second control advancing unit is specifically used for controlling the sweeping robot to advance in a reverse direction of the positive direction of the sweeping robot at the moment of collision.
In another possible implementation manner of the embodiment of the application, the second determining unit and the third determining unit are specifically and respectively configured to determine radar data corresponding to a specific position based on the collected radar data, the collected position information of the sweeping robot, and the preset position information, where the specific position is a position corresponding to the collected position information of the sweeping robot, and determine a distance between the sweeping robot and an obstacle at the specific position based on the radar data corresponding to the specific position.
In another possible implementation manner of the embodiment of the present application, the apparatus further includes: a decontamination processing module;
and the decontamination processing module is used for decontaminating the acquired radar data so as to remove the radar data meeting a second preset condition.
In another possible implementation manner of the embodiment of the application, the decontamination processing module is specifically configured to determine that radar data respectively corresponding to two adjacent radar data points is radar data meeting a second preset condition when an included angle between the two adjacent radar data points at a central point of the sweeping robot is within a preset included angle range; and/or
And the decontamination processing module is specifically used for determining that the radar data corresponding to any radar point is the radar data meeting the second preset condition when the distance between any radar point and the adjacent radar point is greater than a third preset threshold.
In a third aspect, an electronic device is provided, which includes:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: and executing the operation corresponding to the robot obstacle avoidance processing method shown in the first aspect or any possible implementation manner of the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, where at least one instruction, at least one program, a code set, or a set of instructions is stored, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by a processor to implement the robot obstacle avoidance processing method according to the first aspect or any possible implementation manner of the first aspect.
The beneficial effect that technical scheme that this application provided brought is:
the application provides a robot obstacle avoidance processing method, electronic equipment and a computer readable storage medium, wherein an infrared anti-collision sensor is arranged on a side face of a sweeping robot in the prior art, so that an obstacle can be detected in the working process. This application confirms the distance between robot and the barrier of sweeping the floor based on the radar data that gathers and/or the positional information change of robot of sweeping the floor after gathering radar data, in order to detect the barrier, because radar sensor surveys barrier information for 360 degrees, can detect more barriers for infrared ray collision avoidance sensor through among the prior art, for example, sofa bottom etc. to can reduce the probability of robot working process and barrier emergence collision of sweeping the floor, furtherly, after detecting the barrier, advance along predetermineeing the direction through control robot of sweeping the floor, until detecting the distance between robot and the barrier of sweeping the floor and not being less than first preset threshold value, thereby can realize after detecting the barrier, control to robot of sweeping the floor.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flowchart of a robot obstacle avoidance processing method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a robot obstacle avoidance processing apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device for obstacle avoidance processing of a robot according to an embodiment of the present disclosure;
fig. 4 is an exemplary diagram of an included angle formed by two radar data points and a center point of the sweeping robot;
FIG. 5 is an exemplary diagram of determining radar points at a blemish;
fig. 6 is an exemplary diagram of a position of the sweeping robot when acquiring radar data twice and obtaining position information in a gap.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The sweeping robot (certainly, other robots) is provided with a radar sensor, during the working process of the sweeping robot, the radar sensor collects radar data every other first preset time, for example, once every 200ms, the sweeping robot is further provided with a position sensor, the position sensor determines position information of the current position of the sweeping robot every other second preset time, for example, once every 50ms, and if one condition exists, the sweeping robot detects that the sweeping robot has a certain distance from an obstacle through the radar data collected by the radar sensor, but because the sweeping robot still travels forward all the time within the first preset time, there is a possibility of collision with the obstacle within the time, so how to determine the distance between the sweeping robot and the obstacle between the two times of radar data collection, becomes a problem.
The application provides a robot obstacle avoidance processing method, an electronic device and a computer readable storage medium, which aim to solve the above technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
The embodiment of the application provides a method for obstacle avoidance processing of a robot, and as shown in fig. 1, the method includes:
and S101, when radar data are collected, determining the distance between the sweeping robot and the obstacle based on the collected radar data and/or the position information change of the sweeping robot after the radar data are collected.
For the embodiment of the present application, step S101 may specifically include: when the radar data are collected, determining the distance between the sweeping robot and the obstacle based on the collected radar data and the position information change of the sweeping robot after the radar data are collected; the method can also comprise the following steps: when radar data is collected, the distance between the sweeping robot and the obstacle is determined based on the collected radar data.
For the embodiment of the application, when the radar data are collected, based on the collected radar data and the position information change of the sweeping robot after the radar data are collected, the sweeping robot can be determined to collect the radar data clearance twice, the radar data corresponding to each position in the advancing process are determined, the distance between the sweeping robot and the obstacle is detected, the distance between the sweeping robot and the obstacle can be determined between the two collected radar data, the probability of collision between the sweeping robot and the obstacle is reduced, and the user experience can be further improved.
And S102, when the distance between the sweeping robot and the obstacle meets a first preset condition, controlling the sweeping robot to move along a preset direction until the distance between the sweeping robot and the obstacle is detected to be not smaller than a first preset threshold value.
The embodiment of the application provides a robot obstacle avoidance processing method, and compared with the prior art in which an infrared anti-collision sensor is arranged on the side surface of a sweeping robot, so as to detect an obstacle in the working process, when radar data are collected, the distance between the sweeping robot and the obstacle is determined based on the collected radar data and/or the change of the position information of the sweeping robot after the radar data are collected, and when the distance between the sweeping robot and the obstacle meets a first preset condition, the sweeping robot is controlled to travel along a preset direction until the distance between the sweeping robot and the obstacle is detected to be not less than a first preset threshold value. The embodiment of the application determines the distance between the sweeping robot and the obstacle based on the collected radar data and/or the change of the position information of the sweeping robot after the radar data is collected so as to detect the obstacle, and because the radar sensor detects the obstacle information for 360 degrees, compared with the prior art, the embodiment of the application can detect more obstacles, such as a sofa bottom and the like, so that the probability of collision between the sweeping robot and the obstacle in the working process can be reduced, further, after the obstacle is detected, the sweeping robot is controlled to advance along the preset direction until the distance between the sweeping robot and the obstacle is detected to be not less than a first preset threshold value, and therefore, the control of the sweeping robot can be realized after the obstacle is detected.
The embodiment of the present application provides a possible implementation manner, and step S101 may specifically include: step S1011 (not shown), step S1012 (not shown), step S1013 (not shown), and step S1014 (not shown), wherein,
step S1011, when the radar data is collected, determining a distance between the sweeping robot and the obstacle based on the collected radar data.
For the embodiment of the application, when the radar data are collected, the distance between the sweeping robot and the obstacle is determined based on the radar data, at this time, whether the distance between the sweeping robot and the obstacle is smaller than a second preset threshold value or not is all the purposes of improving the accuracy of detecting the obstacle, the sweeping robot is controlled to travel again, and the distance between the sweeping robot and the obstacle is determined again based on the collected position information in the traveling process.
And step S1012, controlling the sweeping robot to continue to move, and collecting the position information of the sweeping robot.
And S1013, determining the distance between the sweeping robot and the obstacle based on the collected radar data, the collected position information of the sweeping robot and preset position information.
In another possible implementation manner of the embodiment of the present application, step 1013 may specifically include: step S10131 (not shown in the drawing) and step S10132 (not shown in the drawing), wherein,
step S10131, determining radar data corresponding to the specific position based on the collected radar data, the collected position information of the sweeping robot and preset position information.
The specific position is a position corresponding to the collected position information of the sweeping robot.
For example, as shown in fig. 6, radar data corresponding to the P2 point position, radar data corresponding to the P3 point position, and radar data corresponding to the P4 point position can be obtained by acquiring radar data at the P1 point position, which is position information corresponding to the P point position, and position information corresponding to the P1 point position, and calculating radar data corresponding to the P1 point position (that is, by converting the radar point acquired at the P position to point coordinates based on the P1 point and the P1 position).
Step S10132, determining a distance between the sweeping robot and the obstacle at the specific position based on the radar data corresponding to the specific position.
For example, from the radar data corresponding to the P1 point location, the distance between the sweeping robot and the obstacle at P1 can be determined, and so on, to obtain the distance between the sweeping robot and the obstacle at P2 point, the distance between the sweeping robot and the obstacle at P3 point, the distance between the sweeping robot and the obstacle at P4 point, and so on.
And step S1014, when the first preset condition is not detected to be met, the steps S1012 and S1013 are cycled until the distance between the sweeping robot and the obstacle meets the first preset condition.
Another possible implementation manner of the embodiment of the application, a distance between the sweeping robot and the obstacle satisfies a first preset condition, including: and the times of continuously detecting that the distance between the sweeping robot and the obstacle is smaller than a second preset threshold value is not smaller than the preset times.
For example, the preset number of times may be 2, 3, or 4, and is not limited.
For example, the sweeping robot collects radar data every 200ms, and collects location information every 50 ms. As shown in fig. 6, the sweeping robot may acquire radar data every 200ms, and may acquire position information of a current position every 50ms, if, as shown in fig. 6, the sweeping robot acquires both radar data and position information of the current position at P4, and may acquire position information of the current position at P1, P2, and P3; when the sweeping robot travels to a point P, radar data are collected, the distance between the sweeping robot and an obstacle is determined based on the radar data (for example, the obstacle is determined to be 30cm on the right side of the sweeping robot), when the sweeping robot travels to the point P1, position information is collected, the distance between the sweeping robot and the obstacle at the point P1 is determined based on the position information at the point P1, the position information at the point P and the radar data collected at the point P, and the like, until the number of times that the distance between the sweeping robot and the obstacle is continuously detected to be smaller than a second preset threshold value is not smaller than the preset number of times, wherein the radar data are detected again at the point P4.
For example, the preset number of times is 2, the sweeping robot collects radar data at point P, it is determined that the distance between the sweeping robot and the obstacle is smaller than a second preset threshold value based on the radar data, and when the vehicle travels to point P1, it is determined that the distance between the sweeping robot and the obstacle is smaller than the second preset threshold value based on the radar data collected at point P, the position information of point P, and the position information of point P1, and it is determined that the distance between the sweeping robot and the obstacle satisfies a first preset condition at this time, so as to perform step S102 (steps S1021-S1024).
In another possible implementation manner of the embodiment of the application, the step S102 of controlling the sweeping robot to advance along the preset direction until it is detected that the distance between the sweeping robot and the obstacle is not less than a first preset threshold includes: step S1021 (not shown), step S1022 (not shown), and step S1023 (not shown), wherein,
and S1021, controlling the sweeping robot to move along a preset direction.
Specifically, control robot of sweeping the floor and advance along predetermineeing the direction, include: and controlling the sweeping robot to move in the reverse direction of the forward direction of the sweeping robot at the moment of collision.
Step S1022, when the position information of the sweeping robot is acquired, determining a distance between the sweeping robot and the obstacle based on the position information of the sweeping robot, the acquired radar data, and the preset position information.
The preset position information is position information of a position where the sweeping robot is located, wherein the position information is acquired when radar data are acquired.
For the embodiment of the application, when it is detected that the distance between the sweeping robot and the obstacle meets the first preset condition, radar data may not be detected in the process of traveling along the preset direction by the sweeping robot, and at this time, the distance between the sweeping robot and the obstacle in the process of traveling along the preset direction is determined based on the latest acquired radar data and the position information of the position, which is also acquired by the sweeping robot in the process of traveling along the preset direction.
In another possible implementation manner of the embodiment of the present application, step S1022 specifically includes step S10221 (not shown in the figure) and step S10222 (not shown in the figure), wherein,
step S10221, determining radar data corresponding to a specific position based on the collected radar data, the collected position information of the sweeping robot and preset position information.
The specific position is a position corresponding to the collected position information of the sweeping robot.
Step S10222 determines a distance between the sweeping robot and the obstacle at the specific position based on the radar data corresponding at the specific position.
For the embodiment of the present application, the determination method of the distance between the sweeping robot and the obstacle at the specific position specifically includes: when the robot moves along a preset direction (moves along a direction opposite to the positive direction of the sweeping robot at the moment of collision), namely when the sweeping robot is controlled to move backwards due to two-wheel backward movement, when the position information of the position is collected, the radar data corresponding to the position information is determined based on the radar data collected last time and the position information of the position when the radar data is collected, and the distance between the sweeping robot and an obstacle is determined when the position information of the position is collected based on the determined radar data corresponding to the position information when the position information of the position is collected. See step S10131-step S10132 for details.
And step S1023, when the distance between the sweeping robot and the obstacle is smaller than a first preset threshold value, the steps S1021 and S1022 are cycled until the distance between the sweeping robot and the obstacle is detected to be not smaller than the first preset threshold value.
For example, as shown in fig. 6, the sweeping robot detects radar data and position information of the position at point P, and the distance between the sweeping robot and the obstacle at the point P is detected to be smaller than a second preset threshold value, and the distance between the sweeping robot and the obstacle at the point P1 is detected to be smaller than the second preset threshold value (the preset times are 2) based on the above mode, the sweeping robot is controlled to move along the reverse direction of the forward direction of the sweeping robot at the moment of collision, and when position information is collected during travel in a direction opposite to the forward direction of the sweeping robot at the moment of collision, and determining the distance between the sweeping robot and the obstacle based on the acquired position information, the position information of the point P and the radar data acquired at the point P, and according to the mode, until the distance between the sweeping robot and the obstacle is detected to be not less than a first preset threshold value.
The first preset threshold and the second preset threshold may be the same or different.
For the embodiment of the application, when it is detected that the distance between the sweeping robot and the obstacle is not less than the first preset threshold, the sweeping robot stops traveling in the preset direction (the direction opposite to the positive direction of the sweeping robot at the moment of collision), and returns to the previous logic (for example, the sweeping robot is controlled to rotate by a certain angle to continue to follow the wall).
In another possible implementation manner of the embodiment of the application, in step S101, based on the collected radar data and the change in the position information of the sweeping robot after the radar data is collected, the distance between the sweeping robot and the obstacle is determined, and the method may further include: step Sa (not shown in the figure), in which,
and step Sa, performing decontamination treatment on the acquired radar data to remove the radar data meeting a second preset condition.
For the embodiment of the present application, determining radar data that satisfies a second preset condition includes at least one of step Sb and step Sc:
and Sb, if the included angle of the two adjacent radar data points at the central point of the sweeping robot is within the preset included angle range, determining that the radar data respectively corresponding to the two adjacent radar data points are the radar data meeting a second preset condition.
For example, when it is detected that an included angle formed by the center point of the sweeping robot and two adjacent radar data points is about 180 degrees (a line formed by the center points of the two adjacent radar data points and the sweeping robot is similar to a straight line), it is determined that the radar data respectively corresponding to the adjacent radar data points are stain data (or data to be removed).
For example, as shown in fig. 4, two adjacent radar data points are a radar data point 1 and a radar data point 2, an included angle between the radar data point 1 and the radar data point 2 and a central point of the sweeping robot at the central point of the sweeping robot is θ, when θ is within a preset included angle range, it is determined that the radar data point 1 and the radar data point 2 are stains (points to be removed), and radar data corresponding to the radar data point 1 and the radar data point 2 are radar data meeting a second preset condition.
And step Sc, if the distance between any radar point and the adjacent radar point is larger than a third preset threshold, determining that the radar data corresponding to any radar point is the radar data meeting a second preset condition.
For the embodiment of the application, if the distances between any radar point and the adjacent radar points are far, it is determined that the radar point is a stain (a radar point to be removed), that is, the radar data corresponding to the radar point is the radar data (the radar data to be removed) meeting the second preset condition.
As shown in fig. 5, the radar data adjacent to the radar point 3 includes a radar point 4 and a radar point 5, and the radar point 3 is far away from both the radar point 4 and the radar point 5, and then the radar point 3 is a stain, the radar point to be removed, and the radar data corresponding to the radar point 3 is the radar data satisfying the second preset condition.
To this application embodiment, through carrying out decontamination treatment to the radar data who gathers, the precision is higher when can be based on radar data after decontamination treatment confirms the distance between robot and the barrier of sweeping the floor to can sweep the floor the robot and carry out the accuracy that detects to the barrier, also can be avoiding the degree of accuracy when barrier is handled, and then can promote user experience.
The above embodiment introduces the method for robot obstacle avoidance processing from the perspective of the method, and the following introduces the device for robot obstacle avoidance processing from the perspective of the virtual device, as follows:
the embodiment of the present application provides an apparatus for robot obstacle avoidance processing, as shown in fig. 2, the apparatus 20 for robot obstacle avoidance processing may include: a determination module 21, a control travel module 22, wherein,
the determining module 21 is configured to determine, when the radar data is collected, a distance between the sweeping robot and the obstacle based on the collected radar data and/or a change in position information of the sweeping robot after the radar data is collected.
And the control advancing module 22 is configured to control the sweeping robot to advance along a preset direction when the distance between the sweeping robot and the obstacle meets a first preset condition until it is detected that the distance between the sweeping robot and the obstacle is not smaller than a first preset threshold value.
In a possible implementation manner of the embodiment of the present application, the determining module 21 includes: a first determining unit, a first control advancing unit, a collecting unit, a second determining unit and a first circulating unit,
and the first determination unit is used for determining the distance between the sweeping robot and the obstacle based on the collected radar data when the radar data are collected.
And the first control advancing unit is used for controlling the sweeping robot to continue advancing.
And the acquisition unit is used for acquiring the position information of the sweeping robot.
And the second determining unit is used for determining the distance between the sweeping robot and the obstacle based on the collected radar data, the position information of the sweeping robot collected by the collecting unit and the preset position information.
And the first circulating unit is used for circulating the operations executed by the first control advancing unit, the acquisition unit and the second determination unit until the distance between the sweeping robot and the obstacle meets the first preset condition when the first preset condition is not detected to be met.
Another possible implementation manner of the embodiment of the application, a distance between the sweeping robot and the obstacle satisfies a first preset condition, including: and the times of continuously detecting that the distance between the sweeping robot and the obstacle is smaller than a second preset threshold value is not smaller than the preset times.
In another possible implementation manner of the embodiment of the present application, the traveling control module 22 includes: a second control advancing unit, a third determination unit, a second circulation unit, wherein,
and the second control advancing unit is used for controlling the sweeping robot to advance along the preset direction.
And the third determining unit is used for determining the distance between the sweeping robot and the obstacle based on the position information of the sweeping robot, the collected radar data and the preset position information when the position information of the sweeping robot is obtained.
And the second circulating unit is used for circulating the operations executed by the second control advancing unit and the third determining unit when the distance between the sweeping robot and the obstacle is smaller than the first preset threshold value until the fact that the distance between the sweeping robot and the obstacle is not smaller than the first preset threshold value is detected.
According to another possible implementation manner of the embodiment of the application, the preset position information is position information of a position where the sweeping robot is located, which is acquired when radar data are acquired.
And the second control advancing unit is specifically used for controlling the sweeping robot to advance in a reverse direction of the positive direction of the sweeping robot at the moment of collision.
In another possible implementation manner of the embodiment of the application, the second determining unit and the third determining unit are specifically and respectively configured to determine radar data corresponding to a specific position based on the collected radar data, the collected position information of the sweeping robot, and the preset position information, where the specific position is a position corresponding to the collected position information of the sweeping robot, and determine a distance between the sweeping robot and an obstacle at the specific position based on the radar data corresponding to the specific position.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a decontamination treatment module, wherein,
and the decontamination processing module is used for decontaminating the acquired radar data so as to remove the radar data meeting a second preset condition.
In another possible implementation manner of the embodiment of the application, the decontamination processing module is specifically configured to determine that radar data respectively corresponding to two adjacent radar data points is radar data meeting a second preset condition when an included angle between the two adjacent radar data points at a central point of the sweeping robot is within a preset included angle range; and/or
And the decontamination processing module is specifically used for determining that the radar data corresponding to any radar point is the radar data meeting the second preset condition when the distance between any radar point and the adjacent radar point is greater than a third preset threshold.
In the embodiment of the present application, the "first", "second", and "third" merely serve to identify the module or the unit, and are not limited to that the module is different modules or the unit is different units. For example, the first determining unit and the second determining unit may be the same unit or different units.
The embodiment of the application provides a robot keeps away barrier processing apparatus, the side of sweeping the floor the robot among the prior art is provided with infrared ray collision avoidance sensor, compare with the realization at the in-process detection barrier of work, this application embodiment is when gathering radar data, the positional information who sweeps the floor the robot changes based on radar data gathered and/or after gathering radar data, confirm the distance between robot and the barrier of sweeping the floor, and when the distance between robot and the barrier of sweeping the floor satisfies first preset condition, control robot of sweeping the floor is marchd along preset direction, until detecting that the distance between robot and the barrier of sweeping the floor is not less than first preset threshold value. The embodiment of the application determines the distance between the sweeping robot and the obstacle based on the collected radar data and/or the change of the position information of the sweeping robot after the radar data is collected so as to detect the obstacle, and because the radar sensor detects the obstacle information for 360 degrees, compared with the prior art, the embodiment of the application can detect more obstacles, such as a sofa bottom and the like, so that the probability of collision between the sweeping robot and the obstacle in the working process can be reduced, further, after the obstacle is detected, the sweeping robot is controlled to advance along the preset direction until the distance between the sweeping robot and the obstacle is detected to be not less than a first preset threshold value, and therefore, the control of the sweeping robot can be realized after the obstacle is detected.
The device for robot obstacle avoidance processing of this embodiment can execute the method for robot obstacle avoidance processing provided in the above method embodiments, and the implementation principles thereof are similar, and are not described here again.
In the above, the robot obstacle avoidance processing apparatus provided in the embodiment of the present application is introduced from the perspective of function modularization, and then, the electronic device provided in the embodiment of the present application is introduced from the perspective of hardware materialization, and a corresponding computer readable storage medium is also introduced.
An embodiment of the present application provides an electronic device, as shown in fig. 3, an electronic device 3000 shown in fig. 3 includes: a processor 3001 and a memory 3003. The processor 3001 is coupled to the memory 3003, such as via a bus 3002. Optionally, the electronic device 4000 may further comprise a transceiver 3004. It should be noted that the transceiver 3004 is not limited to one in practical applications, and the structure of the electronic device 3000 is not limited to the embodiment of the present application.
The processor 3001 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 3001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
The memory 3003 is used for storing application program codes for performing the present scheme, and is controlled to be executed by the processor 3001. The processor 3001 is configured to execute application program code stored in the memory 3003 to implement any of the method embodiments shown above.
For example, the electronic device may be a robot (sweeping robot).
An embodiment of the present application provides an electronic device, where the electronic device includes: a memory and a processor; at least one program stored in the memory for execution by the processor, which when executed by the processor, implements: according to the embodiment of the application, when the radar data are collected, the distance between the sweeping robot and the obstacle is determined based on the collected radar data and/or the change of the position information of the sweeping robot after the radar data are collected, and when the distance between the sweeping robot and the obstacle meets a first preset condition, the sweeping robot is controlled to advance along a preset direction until the fact that the distance between the sweeping robot and the obstacle is not smaller than a first preset threshold value is detected. The embodiment of the application determines the distance between the sweeping robot and the obstacle based on the collected radar data and/or the change of the position information of the sweeping robot after the radar data is collected so as to detect the obstacle, and because the radar sensor detects the obstacle information for 360 degrees, compared with the prior art, the embodiment of the application can detect more obstacles, such as a sofa bottom and the like, so that the probability of collision between the sweeping robot and the obstacle in the working process can be reduced, further, after the obstacle is detected, the sweeping robot is controlled to advance along the preset direction until the distance between the sweeping robot and the obstacle is detected to be not less than a first preset threshold value, and therefore, the control of the sweeping robot can be realized after the obstacle is detected.
The electronic device of this embodiment may execute the method for robot obstacle avoidance processing provided in the above method embodiments, and the implementation principles thereof are similar, and are not described herein again.
The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the prior art, when the radar data are collected, the distance between the sweeping robot and the obstacle is determined based on the collected radar data and/or the change of the position information of the sweeping robot after the radar data are collected, and when the distance between the sweeping robot and the obstacle meets a first preset condition, the sweeping robot is controlled to advance along the preset direction until the fact that the distance between the sweeping robot and the obstacle is not smaller than a first preset threshold value is detected. The embodiment of the application determines the distance between the sweeping robot and the obstacle based on the collected radar data and/or the change of the position information of the sweeping robot after the radar data is collected so as to detect the obstacle, and because the radar sensor detects the obstacle information for 360 degrees, compared with the prior art, the embodiment of the application can detect more obstacles, such as a sofa bottom and the like, so that the probability of collision between the sweeping robot and the obstacle in the working process can be reduced, further, after the obstacle is detected, the sweeping robot is controlled to advance along the preset direction until the distance between the sweeping robot and the obstacle is detected to be not less than a first preset threshold value, and therefore, the control of the sweeping robot can be realized after the obstacle is detected.
The computer-readable storage medium of this embodiment may execute the method for obstacle avoidance processing of a robot provided in the above method embodiments, and the implementation principles thereof are similar and will not be described herein again.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robot obstacle avoidance processing method is characterized by comprising the following steps:
when radar data are collected, determining the distance between the sweeping robot and the obstacle based on the collected radar data and/or the position information change of the sweeping robot after the radar data are collected;
when the distance between the sweeping robot and the obstacle meets a first preset condition, the sweeping robot is controlled to travel along a preset direction until the fact that the distance between the sweeping robot and the obstacle is not smaller than a first preset threshold value is detected.
2. The method of claim 1, wherein determining the distance between the sweeping robot and the obstacle based on the collected radar data and a change in the positional information of the sweeping robot after the radar data is collected when the radar data is collected comprises:
when radar data are collected, determining the distance between the sweeping robot and the obstacle based on the collected radar data;
step 1, controlling the sweeping robot to continue to advance, and collecting the position information of the sweeping robot;
step 2, determining the distance between the sweeping robot and the obstacle based on the collected radar data, the collected position information of the sweeping robot and preset position information;
and when the first preset condition is not detected to be met, the step 1 and the step 2 are circulated until the distance between the sweeping robot and the obstacle meets the first preset condition.
3. The method of claim 1, wherein the distance between the sweeping robot and the obstacle satisfies a first preset condition comprising:
and the times of continuously detecting that the distance between the sweeping robot and the obstacle is smaller than a second preset threshold value is not smaller than the preset times.
4. The method according to any one of claims 1 to 3, wherein controlling the sweeping robot to travel in a preset direction until detecting that the distance between the sweeping robot and the obstacle is not less than a first preset threshold value comprises:
step 3, controlling the sweeping robot to move along a preset direction;
step 4, when the position information of the sweeping robot is acquired, determining the distance between the sweeping robot and the obstacle based on the position information of the sweeping robot, the acquired radar data and preset position information;
and when the distance between the sweeping robot and the obstacle is smaller than a first preset threshold value, the step 3 and the step 4 are circulated until the distance between the sweeping robot and the obstacle is not smaller than the first preset threshold value.
5. The method of claim 4,
the preset position information is the position information of the position where the sweeping robot is located, which is acquired when the radar data are acquired;
control robot of sweeping floor is advanced along predetermineeing the direction, includes:
and controlling the sweeping robot to move in the reverse direction of the forward direction of the sweeping robot at the moment of collision.
6. The method according to claim 2 or 4, wherein the step of determining the distance between the sweeping robot and the obstacle based on the collected radar data, the collected position information of the sweeping robot, and preset position information comprises:
determining radar data corresponding to a specific position based on the collected radar data, the collected position information of the sweeping robot and the preset position information, wherein the specific position is a position corresponding to the collected position information of the sweeping robot;
determining a distance between the sweeping robot and the obstacle at the particular location based on the corresponding radar data at the particular location.
7. The method of any one of claims 1-6, wherein determining the distance between the sweeping robot and the obstacle based on the collected radar data and/or a change in location information of the sweeping robot after the collected radar data, further comprises:
and performing decontamination treatment on the acquired radar data to remove the radar data meeting a second preset condition.
8. The utility model provides a barrier processing apparatus is kept away to robot which characterized in that includes:
the determining module is used for determining the distance between the sweeping robot and the obstacle based on the collected radar data and/or the position information change of the sweeping robot after the radar data is collected when the radar data is collected;
and the control advancing module is used for controlling the sweeping robot to advance along a preset direction when the distance between the sweeping robot and the obstacle meets a first preset condition until the fact that the distance between the sweeping robot and the obstacle is not smaller than a first preset threshold value is detected.
9. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the robot obstacle avoidance processing method according to any one of claims 1 to 7 is carried out.
10. A computer-readable storage medium, wherein the storage medium stores at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the robot obstacle avoidance processing method according to any one of claims 1 to 7.
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