CN116069004A - Self-mobile device, obstacle edge determination method for self-mobile device, and medium - Google Patents
Self-mobile device, obstacle edge determination method for self-mobile device, and medium Download PDFInfo
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- 230000004888 barrier function Effects 0.000 claims description 27
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- 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
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Abstract
The application belongs to the technical field of automatic control, and particularly relates to a self-moving device, a method for determining an obstacle edge of the self-moving device and a medium. The self-mobile device includes: a housing; the line laser sensor is positioned on the side surface of the shell, line laser emitted by the line laser sensor forms a preset angle with the horizontal plane, and the installation position of the line laser sensor is positioned on the left side and/or the right side of the shell; a controller coupled to the line laser sensor for: acquiring a sensing signal acquired by a line laser sensor in the process of moving the self-moving equipment along the first travelling direction; determining an obstacle edge position of an obstacle in a sensing range of the line laser sensor based on the sensing signal; the problem that the working effect of the edge of an obstacle is poor due to insufficient precision of the existing virtual wall can be solved; the accuracy of the line laser sensor is higher than that of other sensors, and the determined position of the obstacle edge is high, so that the working efficiency of the self-moving equipment on the obstacle edge can be improved.
Description
Technical Field
The application belongs to the technical field of automatic control, and particularly relates to a self-moving device, a method for determining an obstacle edge of the self-moving device and a medium.
Background
The body of the self-moving equipment is generally provided with more than ten sensors which are similar to eyes and ears of people, so that the self-moving equipment can avoid various obstacles and can prevent the conditions of repeated cleaning and the like.
The self-moving equipment can meet barriers such as chairs and tables in the cleaning process, the barriers can be touched through the collision plate arranged on the side face of the self-moving equipment, and when the collision plate touches the barriers, the self-moving equipment can adjust the advancing direction, so that the barriers are avoided, and the surrounding of the barriers is cleaned.
However, the environment in the home is complex, and besides obstacles such as chairs, tables and the like, obstacles such as wires, carpets, garbage cans and the like are also present, when the self-moving equipment encounters the obstacles such as wires, carpets and the like, the bump pads arranged on the side surfaces of the self-moving equipment cannot touch due to the fact that the heights of the wires and the carpets are low, and at the moment, the problem that the self-moving equipment cannot avoid the obstacles with low heights can be caused.
Meanwhile, if the self-moving device encounters a light obstacle such as a trash can, the obstacle cannot provide a sufficiently large reverse force to the striking plate, which may cause a problem of changing the position of the light obstacle from the self-moving device.
For the above problems, although there is a virtual wall technology in the prior art, an obstacle map may be pre-established, and virtual walls may be provided at edges of each obstacle, so that the self-mobile device may avoid the obstacles and work around the obstacles. However, the accuracy of the virtual wall is insufficient, so that the self-moving device cannot accurately work along the edge of the obstacle, and the working effect of the edge of the obstacle is poor.
Disclosure of Invention
The application provides a self-moving device, a method for determining the edge of an obstacle of the self-moving device and a storage medium, which can solve the problem that the self-moving device cannot work accurately along the edge of the obstacle and the working effect of the edge of the obstacle is poor due to insufficient precision of the existing virtual wall. The application provides the following technical scheme:
in a first aspect, there is provided a self-mobile device comprising:
a housing;
the line laser sensor is positioned on the side face of the shell, line laser emitted by the line laser sensor forms a preset angle with the horizontal plane, and the installation position of the line laser sensor is positioned on the left side and/or the right side of the shell;
a controller coupled to the line laser sensor for:
acquiring a sensing signal acquired by the line laser sensor in the process that the self-moving equipment moves along the first travelling direction;
and determining the position of the edge of the obstacle in the sensing range of the line laser sensor based on the sensing signal.
Optionally, an obstacle detection sensor is further provided on the housing, and the obstacle detection sensor is connected to the controller, and the controller is further configured to:
controlling the self-moving device to move a preset distance to the obstacle when the obstacle detection sensor detects that the obstacle exists in a second travelling direction, wherein the preset distance is smaller than the distance between the self-moving device and the obstacle;
adjusting the travelling direction of the self-mobile equipment to be the first travelling direction, and triggering and executing the step of acquiring the sensing signal acquired by the line laser sensor in the process of moving the self-mobile equipment along the first travelling direction; the first travel direction is different from the second travel direction.
Optionally, the obstacle detection sensor has an obstacle detection accuracy lower than that of the line laser sensor.
Optionally, the line laser emission range of the line laser sensor includes above, in front of, and below the self-moving device.
Optionally, the determining, based on the sensing signal, an obstacle edge position of an obstacle in a sensing range of the line laser sensor includes:
determining whether a target position exists in the sensing range based on the sensing signal, wherein the height of the target position is different from the ground height;
in the presence of the target position, a successive target position is determined as the obstacle edge position.
Optionally, after determining the position of the obstacle edge of the obstacle in the sensing range of the line laser sensor based on the sensing signal, the method further includes:
determining an edge movement track based on the obstacle edge position;
and controlling the self-moving device to move according to the edge moving track so as to enable the self-moving device to move along the edge position of the obstacle, so as to work around the edge position of the obstacle.
Optionally, the determining the edgewise movement track based on the obstacle edge position includes:
filtering the edge positions of the barriers to filter mutation positions on the edge positions of the barriers;
smoothing the edge position of the filtered obstacle;
and generating the edge moving track based on the smoothed obstacle edge position.
Optionally, the filtering the obstacle edge position includes:
determining whether the change value of the edge position of the obstacle is larger than a preset threshold value;
and filtering the edge position of the obstacle under the condition that the change value is larger than the preset threshold value.
In a second aspect, there is provided a method for determining an obstacle edge of a self-mobile device, for use in the self-mobile device provided in the first aspect, the method comprising:
acquiring a sensing signal acquired by the line laser sensor in the process that the self-moving equipment moves along the first travelling direction;
and determining the position of the edge of the obstacle in the sensing range of the line laser sensor based on the sensing signal.
In a third aspect, there is provided a computer-readable storage medium having stored therein a program for implementing the obstacle edge determination method of the self-mobile device provided in the second aspect when executed by a processor.
The beneficial effects of this application include at least: a self-mobile device, comprising: a housing; the line laser sensor is positioned on the side surface of the shell, line laser emitted by the line laser sensor forms a preset angle with the horizontal plane, and the installation position of the line laser sensor is positioned on the left side and/or the right side of the shell; a controller coupled to the line laser sensor for: acquiring a sensing signal acquired by a line laser sensor in the process of moving the self-moving equipment along the first travelling direction; determining an obstacle edge position of an obstacle in a sensing range of the line laser sensor based on the sensing signal; the problem that the existing virtual wall is insufficient in precision, so that the self-moving equipment cannot work along the edge of the obstacle accurately, and the working effect of the edge of the obstacle is poor can be solved; because the precision of line laser sensor is higher than other sensors, from mobile device in the removal in-process controller according to line laser sensor collection sensing signal, the accuracy of the position at the barrier edge of determination is high, so can improve the work efficiency at the barrier edge from mobile device.
Meanwhile, as the line laser sensor is arranged on at least one side of the shell, in the process of travelling of the self-moving equipment, the line laser sensor can continuously collect sensing signals from at least one side of the self-moving equipment, and the problem that the efficiency of detecting obstacles by the self-moving equipment is lower due to the fact that the traditional self-moving equipment cannot detect the obstacles on two sides of the travelling direction can be solved; when the self-moving device moves along the travelling direction, the line laser sensor can acquire sensing signals of at least one side of the travelling direction so that the controller can determine the edge position of the obstacle according to the sensing signals, and therefore the acquisition efficiency can be improved.
Meanwhile, as the edge of the obstacle is determined by adopting the sensing signals acquired by the line laser sensor, the problem that the position of the obstacle with lighter mass can be changed from the mobile equipment because the lighter obstacle such as a garbage can not provide enough reaction force for the collision plate on the side surface of the mobile equipment can be solved; since the obstacle is not required to be touched in the process of determining the edge of the obstacle, the problem of the change of the position of the obstacle when the obstacle is collided with a light obstacle can be solved, and the working effect of the self-moving equipment can be improved.
In addition, since the obstacle detection sensor is used to detect the obstacle in the traveling direction of the self-moving device, the problem that the self-moving device cannot avoid the obstacle in the traveling direction in the process of determining the edge of the obstacle due to the fact that the obstacle in the traveling direction cannot be determined by the self-moving device because the line laser sensor is positioned at the left side and/or the right side of the self-moving device when the obstacle is detected by the obstacle detection sensor only by using the sensing signal acquired by the line laser sensor can be solved, and when the obstacle is detected by the obstacle detection sensor, the controller controls the self-moving device to change the traveling direction so as to avoid the obstacle, so that the problem that the self-moving device cannot avoid the obstacle in the traveling direction in the process of determining the edge of the obstacle can be solved, and the working effect of the self-moving device can be improved.
In addition, as the signal emission range of the line laser sensor comprises the upper part, the front part and the lower part of the self-moving equipment and the acquisition range of the sensing signal comprises the upper part, the front part and the lower part of the self-moving equipment, the problem that the self-moving equipment cannot determine the edge of the obstacle with lower height because the collision plate on the side surface of the self-moving equipment cannot touch the obstacle with lower height when the obstacle is determined in a collision mode at present can be solved; since the edge of the lower obstacle can be determined according to the acquired sensing signal from the lower part of the mobile device, the accuracy of the obstacle edge acquisition can be improved.
In addition, as the edge positions are filtered to filter the mutation positions on the edge positions of the barriers, the influence of information of the non-barrier edge positions which are acquired by mistake in the acquisition process on the determination of the edge positions of the barriers can be eliminated, and the accuracy of the determined edge positions of the barriers can be improved.
In addition, as the filtered edge positions are subjected to smoothing treatment, the problem that the edge working efficiency of the self-moving equipment is low because the obtained edge positions are also uneven when the edges of the barriers are uneven and the travelling direction of the self-moving equipment is frequently changed in the edge working process can be solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a self-mobile device according to one embodiment of the present application;
FIG. 2 is a schematic diagram of a self-mobile device according to one embodiment of the present application;
FIG. 3 is a schematic diagram of a method for determining an obstacle edge of a self-mobile device according to one embodiment of the present application;
FIG. 4 is a schematic diagram of a method for determining an obstacle edge of a self-mobile device according to one embodiment of the present application;
FIG. 5 is a block diagram of an obstacle edge determination apparatus for a self-moving device provided in one embodiment of the present application;
fig. 6 is a block diagram of an electronic device provided in one embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In the application, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, vertical or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.
First, several terms related to the embodiments of the present application will be described.
Line laser sensor: is a sensor comprising a laser generating component, a cylindrical objective lens and a light sensing component; when the linear laser sensor is used, the cylindrical objective lens is adopted to expand the laser beam generated by the laser generating component into a strip shape, the laser generates diffuse reflection on the target, the reflected light is imaged on the light sensing component, and the position and the shape of the target can be measured by checking the change of the imaged position and shape.
The micro control unit (Microcontroller Unit, MCU), also called as single chip microcomputer (Single Chip Microcomputer) or single chip microcomputer, is a chip level computer formed by properly reducing the frequency and specification of the central processing unit (Central Process Unit, CPU), and integrating the memory, counter (Timer), USB, etc. peripheral interfaces on a single chip.
Fig. 1 is a schematic structural diagram of a self-mobile device according to an embodiment of the present application. Among them, the self-mobile devices include, but are not limited to: the device with the automatic movement function such as the sweeper, the floor washer, the sweeping and mopping integrated machine and the like is not limited by the type of the self-moving device. As can be seen from fig. 1, the self-moving device at least comprises a housing 110, a line laser sensor 120 and a controller (not shown).
The housing 110 is a housing of the mobile device, and the shape of the housing 110 may be a regular geometric body, such as a circle, a square, or may be configured into other shapes according to an actual application scenario, which is not limited to the shape of the housing 110 in this embodiment.
The housing 110 mainly serves as a protection and support. The housing 110 may be integrally formed or may be a detachable structure, and the implementation of the housing 110 is not limited in this embodiment.
The structure of the housing 110 is substantially flat, such as a disc shape, and the shape of the housing 110 is not limited in this embodiment.
The line laser sensor 120 is located at a side of the housing 110 for emitting a line laser and collecting a sensing signal. The laser sensor 120 may be a single-line laser radar or may be a multi-line laser radar, and the present embodiment is not limited to the type of the line laser sensor 120.
In this embodiment, the line laser emitted by the line laser sensor 120 forms a preset angle with the horizontal plane, and the preset angle is not equal to 0. In other words, the line laser is not parallel to the horizontal plane, so that only one line of the obstacle is not scanned, thereby more comprehensively ensuring that the obstacle is scanned. Preferably, the line laser is perpendicular to the horizontal plane, i.e. the preset angle is 90 degrees.
To more fully scan for obstructions, the line laser emission range of the line laser sensor 120 includes from above, in front of, and/or below the mobile device. Referring to fig. 2, the line laser emission range includes from above, in front of, and below the mobile device.
Conventional self-moving devices can only detect obstacles in front of the direction of travel to achieve obstacle avoidance. However, the self-moving device may also have obstacles on both sides in the traveling direction, and at this time, the self-moving device may not be recognized, resulting in a problem that the self-moving device has low efficiency in detecting the obstacle. Based on this, in this embodiment, the installation position of the line laser sensor 120 is located on the left side and/or the right side of the housing 110, so that the detection of the obstacle on at least one side in the traveling direction can be realized, and the detection efficiency of the obstacle can be improved. In addition, since the line laser emitted by the line laser sensor 120 forms a preset angle with the horizontal plane, it can be ensured that the line laser sensor 120 scans different positions of the obstacle located on the side surface of the self-moving device during the moving process of the self-moving device, and the comprehensiveness of the obstacle information is ensured.
Taking the traveling direction of the mobile device during the moving process as the front side, the left side of the housing 110 refers to the left side of the traveling direction of the mobile device, and the right side of the housing 110 refers to the right side of the traveling direction of the mobile device. Referring to fig. 2, the line laser sensor 120 is located at the right side of the housing 110.
Optionally, the left side of the housing 110 includes a positive left side, a left front side, and/or a left rear side of the housing 110; the right side of the housing 110 includes a right side, a right front side, and/or a right rear side of the housing 110.
Alternatively, the number of the line laser sensors 120 may be one or may be plural, and the number of the line laser sensors 120 is not limited in this embodiment.
In order for the self-moving device to scan for obstacles on both the left and right sides simultaneously, the line laser sensor 120 is provided in two, one being located on the left side of the housing 110 for emitting line laser light to the left side of the self-moving device and collecting a sensing signal from the left side of the mobile device, and the other being located on the right side of the housing 110 for emitting line laser light to the right side of the self-moving device and collecting a sensing signal from the right side of the mobile device.
The controller is connected to a line laser sensor 120. The controller may be a micro control unit installed from the inside of the mobile device, or any component having a control function, and the type of the controller is not limited in this embodiment.
The controller is configured to acquire a sensing signal acquired by the line laser sensor 120 during a movement of the mobile device along a first traveling direction; the obstacle edge position of the obstacle in the sensing range of the line laser sensor 120 is determined based on the sensing signal.
Optionally, determining the obstacle edge position of the obstacle in the sensing range of the line laser sensor 120 based on the sensing signal includes: determining whether a target position exists in the sensing range based on the sensing signal, wherein the height of the target position is different from the ground height; in the presence of target positions, successive target positions are determined as obstacle edge positions.
Optionally, determining whether the target position exists within the sensing range based on the sensing signal includes: determining whether the height of each position in the width direction in the sensing range is greater than a preset height threshold value based on the sensing signal; a position having a height greater than a preset height threshold is determined as a target position, i.e., an obstacle edge position.
The preset height threshold is 0 or a value close to 0, and the value of the preset height threshold is not limited in this embodiment.
Optionally, after determining the obstacle edge position of the obstacle in the sensing range of the line laser sensor 120 based on the sensing signal, the method further includes: determining an edge movement track based on the obstacle edge position; the self-moving device is controlled to move along the edge moving track so as to move along the edge position of the obstacle, so that the self-moving device can work around the edge position of the obstacle.
To exclude the influence of noise data and abrupt change data during acquisition, determining an edgewise movement trajectory based on the obstacle edge position includes: filtering the edge positions of the barriers to filter mutation positions on the edge positions of the barriers; smoothing the edge position of the filtered obstacle; and generating an edge moving track based on the smoothed obstacle edge position.
Optionally, filtering the obstacle edge location includes: and removing the position, which is larger than the preset difference value, of the edge positions of the barriers and the adjacent positions.
Optionally, smoothing the filtered edge position of the obstacle includes: and performing curve fitting on the filtered obstacle edge positions.
In one example, the obstacle edge locations are curve fitted using a least squares method.
Optionally, generating the edge movement track based on the smoothed obstacle edge position includes: and moving the edge position of the obstacle after the smoothing treatment to a preset offset distance in a direction away from the obstacle to obtain an edge moving track.
The preset offset distance enables the self-moving device not to collide with the obstacle, and a cleaning mechanism (such as an edge brush and the like) arranged on the self-moving device can clean the edge of the obstacle.
In order to avoid collision of the self-mobile device with an obstacle during determination of the edge of the obstacle, the housing 110 is optionally further provided with an obstacle detection sensor 130, the obstacle detection sensor 130 being connected to the controller.
In this embodiment, the obstacle detection sensor 130 is configured to detect whether there is an obstacle in the traveling direction of the mobile device, where the obstacle detection sensor 130 may be an infrared sensor, or may be a camera, or may be an ultrasonic sensor, and the type of the obstacle detection sensor is not limited in this embodiment.
Accordingly, in this embodiment, the controller is further configured to: in the case where the obstacle detection sensor 130 detects that an obstacle exists in the second traveling direction, controlling the self-moving device to move toward the obstacle by a preset distance (i.e., to continue to move along the second traveling direction by a preset distance), the preset distance being smaller than a distance between the self-moving device and the obstacle; adjusting the traveling direction of the self-mobile device to a first traveling direction, and triggering and executing the step of acquiring the sensing signal acquired by the line laser sensor 120 in the process of moving the self-mobile device along the first traveling direction; the first travel direction is different from the second travel direction.
In one example, the controller controls the laser sensor 120 to remain in an activated state after powering on from the mobile device.
Optionally, the preset distance is a fixed value or is dynamically determined. In the case that the preset distance is dynamically determined, the controller is further configured to: obtain from a distance between the mobile device and the obstacle; the preset distance is determined based on the distance between the self-moving device and the obstacle and the optimal acquisition distance of the line laser sensor 120.
Wherein, obtain from the distance between mobile device and the barrier, include: the distance between the self-mobile device and the obstacle is calculated based on the signal strength of the sensing signal received by the obstacle sensor 130.
In one example, determining the preset distance based on the distance between the self-mobile device and the obstacle and the optimal acquisition distance of the line laser sensor 120 includes: the difference between the distance between the self-moving device and the obstacle and the optimal acquisition distance of the line laser sensor 120 is determined as a preset distance.
For example, the distance between the self-moving device and the obstacle is 10 meters, the optimal acquisition distance of the line laser sensor 120 is 1 meter, and the preset distance is 9 meters.
Alternatively, the obstacle detecting sensor 130 may be one or more, and the number of the obstacle detecting sensors 130 is not limited in this embodiment.
Since the obstacle detection sensor 130 only needs to detect an obstacle, in this embodiment, the obstacle detection accuracy of the obstacle detection sensor 130 is set lower than that of the line laser sensor 120. Since the amount of data of the sensor signal with low accuracy is small, the calculation resources consumed when detecting the obstacle using the sensor signal with low accuracy are low, and therefore, the calculation resources when detecting the obstacle from the mobile device can be saved.
In addition, in this embodiment, the detection distance of the obstacle detection sensor 130 is set to be greater than the detection distance of the line laser sensor 120, so that it can be ensured that an obstacle can be detected in a larger range, so that the self-mobile device can avoid the obstacle in time.
In order to enable the self-moving device to collect edge information of an obstacle, adjusting a traveling direction of the self-moving device to a first traveling direction includes: the rotation of the mobile device in the opposite direction to the direction in which the wire laser sensor 120 is installed by a preset rotation angle is controlled so that the obstacle is within the sensing range of the wire laser sensor 120. Wherein the direction after rotation is the first direction of travel.
Alternatively, the preset rotation angle is determined according to the installation position of the line laser sensor 120.
In one example, the line laser sensor 120 is mounted on the right front side of the self-moving device, and the angle between the line between the mounting position and the centroid of the device and the direction of travel is 45 degrees, the self-moving device rotates in the following manner: rotated 45 degrees counterclockwise.
If there is an obstacle in the first traveling direction, the controller, after determining the position of the edge of the obstacle based on the sensing signal, takes the first traveling direction as the second traveling direction, and again executes the step of controlling the moving device to move a predetermined distance toward the obstacle until the movement of the work area is completed when the obstacle detection sensor 130 detects the presence of the obstacle in the second traveling direction.
In summary, the self-mobile device provided in this embodiment includes: a housing; the line laser sensor is positioned on the side surface of the shell, line laser emitted by the line laser sensor forms a preset angle with the horizontal plane, and the installation position of the line laser sensor is positioned on the left side and/or the right side of the shell; a controller coupled to the line laser sensor for: acquiring a sensing signal acquired by a line laser sensor in the process of moving the self-moving equipment along the first travelling direction; determining an obstacle edge position of an obstacle in a sensing range of the line laser sensor based on the sensing signal; the problem that the existing virtual wall is insufficient in precision, so that the self-moving equipment cannot work along the edge of the obstacle accurately, and the working effect of the edge of the obstacle is poor can be solved; because the precision of line laser sensor is higher than other sensors, from mobile device in the removal in-process controller according to line laser sensor collection sensing signal, the accuracy of the position at the barrier edge of determination is high, so can improve the work efficiency at the barrier edge from mobile device.
Meanwhile, as the line laser sensor is arranged on at least one side of the shell, in the process of travelling of the self-moving equipment, the line laser sensor can continuously collect sensing signals from at least one side of the self-moving equipment, and the problem that the efficiency of detecting obstacles by the self-moving equipment is lower due to the fact that the traditional self-moving equipment cannot detect the obstacles on two sides of the travelling direction can be solved; when the self-moving device moves along the travelling direction, the line laser sensor can acquire sensing signals of at least one side of the travelling direction so that the controller can determine the edge position of the obstacle according to the sensing signals, and therefore the acquisition efficiency can be improved.
Meanwhile, as the edge of the obstacle is determined by adopting the sensing signals acquired by the line laser sensor, the problem that the position of the obstacle with lighter mass can be changed from the mobile equipment because the lighter obstacle such as a garbage can not provide enough reaction force for the collision plate on the side surface of the mobile equipment can be solved; since the obstacle is not required to be touched in the process of determining the edge of the obstacle, the problem of the change of the position of the obstacle when the obstacle is collided with a light obstacle can be solved, and the working effect of the self-moving equipment can be improved.
In addition, since the obstacle detection sensor is used to detect the obstacle in the traveling direction of the self-moving device, the problem that the self-moving device cannot avoid the obstacle in the traveling direction in the process of determining the edge of the obstacle due to the fact that the obstacle in the traveling direction cannot be determined by the self-moving device because the line laser sensor is positioned at the left side and/or the right side of the self-moving device when the obstacle is detected by the obstacle detection sensor only by using the sensing signal acquired by the line laser sensor can be solved, and when the obstacle is detected by the obstacle detection sensor, the controller controls the self-moving device to change the traveling direction so as to avoid the obstacle, so that the problem that the self-moving device cannot avoid the obstacle in the traveling direction in the process of determining the edge of the obstacle can be solved, and the working effect of the self-moving device can be improved.
In addition, as the signal emission range of the line laser sensor comprises the upper part, the front part and the lower part of the self-moving equipment and the acquisition range of the sensing signal comprises the upper part, the front part and the lower part of the self-moving equipment, the problem that the self-moving equipment cannot determine the edge of the obstacle with lower height because the collision plate on the side surface of the self-moving equipment cannot touch the obstacle with lower height when the obstacle is determined in a collision mode at present can be solved; since the edge of the lower obstacle can be determined according to the acquired sensing signal from the lower part of the mobile device, the accuracy of the obstacle edge acquisition can be improved.
In addition, as the edge positions are filtered to filter the mutation positions on the edge positions of the barriers, the influence of information of the non-barrier edge positions which are acquired by mistake in the acquisition process on the determination of the edge positions of the barriers can be eliminated, and the accuracy of the determined edge positions of the barriers can be improved.
In addition, as the filtered edge positions are subjected to smoothing treatment, the problem that the edge working efficiency of the self-moving equipment is low because the obtained edge positions are also uneven when the edges of the barriers are uneven and the travelling direction of the self-moving equipment is frequently changed in the edge working process can be solved.
The method for determining the edge of the obstacle of the self-mobile device provided by the application is described in detail below.
The present embodiment provides a method for determining an obstacle edge of a self-mobile device, as shown in fig. 3. This embodiment will be described by taking the method used in the controller of the self-mobile device shown in fig. 1 as an example. The method at least comprises the following steps:
The related description of the present embodiment refers to the above embodiment, and the present embodiment is not described herein.
According to the above embodiment, in the method for determining the edge of the obstacle of the self-moving device, the controller acquires the sensing signal acquired by the line laser sensor during the travelling process of the self-moving device, and the line laser sensor is mounted on at least one side of the housing, so that the line laser sensor can continuously acquire the sensing signal from at least one side of the self-moving device during the travelling process of the self-moving device, and the problem that the efficiency of detecting the obstacle by the self-moving device is low due to the fact that the traditional self-moving device cannot detect the obstacle on two sides of the travelling direction can be solved; since the controller can determine the position of the edge of the obstacle according to the sensing signal of at least one side of the traveling direction acquired by the line laser sensor when the self-moving device moves along the traveling direction, the acquisition efficiency can be improved.
In order to more clearly understand the method for determining the edge of an obstacle of a self-mobile device provided in the present application, an example of the method is described below. As shown in fig. 4. This embodiment will be described by taking the method used in the controller of the self-mobile device shown in fig. 1 as an example. The method at least comprises the following steps:
The related description of the present embodiment refers to the above embodiment, and the present embodiment is not described herein.
According to the above embodiment, in the method for determining the edge of the obstacle of the self-moving device, the controller detects whether the obstacle exists in the traveling direction through the obstacle detection sensor, and controls the self-moving device to change the traveling direction under the condition that the obstacle exists in the traveling direction, so that the problem that the self-moving device cannot avoid the obstacle in the traveling direction in the process of determining the edge of the obstacle can be solved, and the working effect of the self-moving device can be improved because the line laser sensor emits line laser to the left side and/or the right side of the self-moving device and collects sensing signals when the line laser sensor is used for detecting the obstacle, and the problem that the self-moving device cannot avoid the obstacle in the traveling direction in the process of determining the edge of the obstacle is solved.
The present embodiment provides an obstacle edge determination device of a self-moving apparatus, as shown in fig. 5. The present embodiment is applied to the controller of the self-mobile device shown in fig. 1, and the apparatus includes at least the following modules, a signal acquisition module 501 and an edge determination module 502.
The signal acquisition module 501 is configured to acquire a sensing signal acquired by the line laser sensor during a movement of the mobile device along a first travelling direction;
an edge determination module 502 is configured to determine an obstacle edge position of an obstacle in a sensing range of the line laser sensor based on the sensing signal.
For relevant details reference is made to the above-described method and apparatus embodiments.
It should be noted that: in the obstacle edge determining device of the self-mobile device according to the above embodiment, only the division of the functional modules is used for illustration, and in practical application, the above-mentioned functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the obstacle edge determining device of the mobile device is divided into different functional modules to perform all or part of the functions described above. In addition, the obstacle edge determining device of the mobile device and the obstacle edge determining method of the mobile device provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the obstacle edge determining device and the obstacle edge determining method of the mobile device are detailed in the method embodiments and are not described herein.
The present embodiment provides an electronic device, as shown in fig. 6. The electronic device may be the self-mobile device of fig. 1. The electronic device comprises at least a processor 601 and a memory 602.
Processor 601 may include one or more processing cores, such as: 4 core processors, 8 core processors, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 601 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 601 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 602 is used to store at least one instruction for execution by processor 601 to implement the obstacle edge determination method provided by the method embodiments herein from a mobile device.
In some embodiments, the electronic device may further optionally include: a peripheral interface and at least one peripheral. The processor 601, memory 602, and peripheral interfaces may be connected by buses or signal lines. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.
Of course, the electronic device may also include fewer or more components, as the present embodiment is not limited in this regard.
Optionally, the application further provides a computer readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the method for determining an obstacle edge of a self-mobile device according to the above method embodiment.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A self-moving device, comprising:
a housing;
the line laser sensor is positioned on the side face of the shell, line laser emitted by the line laser sensor forms a preset angle with the horizontal plane, and the installation position of the line laser sensor is positioned on the left side and/or the right side of the shell;
a controller coupled to the line laser sensor for:
acquiring a sensing signal acquired by the line laser sensor in the process that the self-moving equipment moves along the first travelling direction;
and determining the position of the edge of the obstacle in the sensing range of the line laser sensor based on the sensing signal.
2. The self-moving device according to claim 1, wherein an obstacle detecting sensor is further provided on the housing, the obstacle detecting sensor being connected to the controller, the controller being further configured to:
controlling the self-moving device to move a preset distance to the obstacle when the obstacle detection sensor detects that the obstacle exists in a second travelling direction, wherein the preset distance is smaller than the distance between the self-moving device and the obstacle;
adjusting the travelling direction of the self-mobile equipment to be the first travelling direction, and triggering and executing the step of acquiring the sensing signal acquired by the line laser sensor in the process of moving the self-mobile equipment along the first travelling direction; the first travel direction is different from the second travel direction.
3. The self-moving device according to claim 2, wherein the obstacle detection accuracy of the obstacle detection sensor is lower than that of the line laser sensor.
4. The self-moving device according to claim 1, wherein the line laser emission range of the line laser sensor includes above, in front of, and below the self-moving device.
5. The self-mobile device of claim 1, wherein the determining an obstacle edge location of an obstacle within a sensing range of the line laser sensor based on the sensing signal comprises:
determining whether a target position exists in the sensing range based on the sensing signal, wherein the height of the target position is different from the ground height;
in the presence of the target position, a successive target position is determined as the obstacle edge position.
6. The self-mobile device of claim 5, wherein after determining the obstacle edge position of the obstacle within the sensing range of the line laser sensor based on the sensing signal, further comprising:
determining an edge movement track based on the obstacle edge position;
and controlling the self-moving device to move according to the edge moving track so as to enable the self-moving device to move along the edge position of the obstacle, so as to work around the edge position of the obstacle.
7. The self-moving device of claim 6, wherein the determining an edgewise movement trajectory based on the obstacle edge location comprises:
filtering the edge positions of the barriers to filter mutation positions on the edge positions of the barriers;
smoothing the edge position of the filtered obstacle;
and generating the edge moving track based on the smoothed obstacle edge position.
8. The self-mobile device of claim 7, wherein the filtering the obstacle edge locations comprises:
determining whether the change value of the edge position of the obstacle is larger than a preset threshold value;
and filtering the edge position of the obstacle under the condition that the change value is larger than the preset threshold value.
9. A method of determining an edge of an obstacle for a self-moving device, for use in a self-moving device as claimed in any one of claims 1 to 8, the method comprising:
acquiring a sensing signal acquired by the line laser sensor in the process that the self-moving equipment moves along the first travelling direction;
and determining the position of the edge of the obstacle in the sensing range of the line laser sensor based on the sensing signal.
10. A computer-readable storage medium, in which a program is stored which, when being executed by a processor, is adapted to carry out the obstacle edge determination method of a self-mobile device as claimed in claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111270685.8A CN116069004A (en) | 2021-10-29 | 2021-10-29 | Self-mobile device, obstacle edge determination method for self-mobile device, and medium |
| PCT/CN2022/126927 WO2023071967A1 (en) | 2021-10-29 | 2022-10-24 | Self-moving device, method for determining obstacle edge of self-moving device, and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111270685.8A CN116069004A (en) | 2021-10-29 | 2021-10-29 | Self-mobile device, obstacle edge determination method for self-mobile device, and medium |
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| CN116069004A true CN116069004A (en) | 2023-05-05 |
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| CN202111270685.8A Pending CN116069004A (en) | 2021-10-29 | 2021-10-29 | Self-mobile device, obstacle edge determination method for self-mobile device, and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000276232A (en) * | 1999-03-25 | 2000-10-06 | Fuji Heavy Ind Ltd | Obstacle evasion controller for autonomous-travel working vehicle |
| CN103120573A (en) * | 2012-12-06 | 2013-05-29 | 深圳市圳远塑胶模具有限公司 | Working method and working system of intelligent cleaning robot |
| CN109426264A (en) * | 2017-08-30 | 2019-03-05 | 苏州宝时得电动工具有限公司 | From mobile device and its control method of movement routine |
| EP3702111B1 (en) * | 2017-10-25 | 2024-01-24 | LG Electronics Inc. | Artificial intelligence moving robot which learns obstacles, and control method therefor |
| CN107894773A (en) * | 2017-12-15 | 2018-04-10 | 广东工业大学 | A kind of air navigation aid of mobile robot, system and relevant apparatus |
| CN110069057A (en) * | 2018-01-24 | 2019-07-30 | 南京机器人研究院有限公司 | A kind of obstacle sensing method based on robot |
| CN211559963U (en) * | 2019-12-20 | 2020-09-25 | 深圳市杉川机器人有限公司 | Autonomous robot |
| CN111538034B (en) * | 2020-04-22 | 2021-05-28 | 追创科技(苏州)有限公司 | Obstacle recognition method, obstacle recognition device and storage medium |
| CN112051844B (en) * | 2020-08-17 | 2023-08-04 | 尚科宁家(中国)科技有限公司 | Self-moving robot and control method thereof |
| CN112056994A (en) * | 2020-09-25 | 2020-12-11 | 苏州三六零机器人科技有限公司 | Floor sweeping robot |
| CN112641387A (en) * | 2020-12-30 | 2021-04-13 | 苏州三六零机器人科技有限公司 | Floor sweeping robot |
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