CN112540600A - Boundary correction method for working area of self-moving equipment and self-moving equipment - Google Patents
Boundary correction method for working area of self-moving equipment and self-moving equipment Download PDFInfo
- Publication number
- CN112540600A CN112540600A CN201910887190.6A CN201910887190A CN112540600A CN 112540600 A CN112540600 A CN 112540600A CN 201910887190 A CN201910887190 A CN 201910887190A CN 112540600 A CN112540600 A CN 112540600A
- Authority
- CN
- China
- Prior art keywords
- obstacle
- position information
- self
- boundary
- working area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000012937 correction Methods 0.000 title claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000004048 modification Effects 0.000 claims description 4
- 238000012986 modification Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002715 modification method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention provides a boundary correction method of a working area of self-moving equipment and the self-moving equipment, wherein the method comprises the following steps: the method comprises the steps that in the moving and/or working process of the self-moving equipment, an obstacle in front of the self-moving equipment is detected, and position information of the obstacle is obtained; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary. Therefore, the position information of the working area boundary stored in the self-moving equipment is automatically corrected according to the position information of the detected obstacle in the moving and/or working process of the self-moving equipment, so that the working area boundary is more and more accurate, the self-moving equipment is ensured to normally move or work along the working area boundary, and the collision with the obstacle is avoided as much as possible.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a boundary correction method for a working area of self-moving equipment and the self-moving equipment.
Background
Currently, more and more self-moving devices move or work within a work area based on virtual work area boundaries. The mode of generating the working area boundary from the mobile device is specifically as follows: the self-moving equipment drives around the working area for one circle, position data of each position point is extracted in the driving process, the extracted position data of each position point is used as boundary position data, and the working area boundary is generated according to the boundary position data.
However, in practical situations, the boundary position data collected from the mobile device may have errors, which may cause the extracted boundary of the working area to be inaccurate, and further affect the normal operation of the mobile device.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a method for correcting a boundary of a working area of a mobile device, so as to solve a problem in the prior art that a boundary position data collected from the mobile device may be erroneous, which results in an inaccurate extracted boundary of the working area.
A second object of the present invention is to provide a self-moving device.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a boundary correction method for a working area of a mobile device, where the boundary correction method collects boundary position data of the working area from the mobile device and generates a boundary of the working area, and the boundary correction method includes:
the method comprises the steps that in the moving and/or working process of the self-moving equipment, an obstacle in front of the self-moving equipment is detected, and position information of the obstacle is obtained;
and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary.
In a possible implementation manner, the position of the obstacle is in a positional relationship with the boundary of the working area, and a point and/or a line segment corresponding to the obstacle in the boundary of the working area is a preset distance away from the obstacle.
In a possible implementation manner, the correcting the boundary position information of the working area according to the position information of the obstacle and the position relationship between the position of the obstacle and the boundary of the working area includes:
determining target position information of a point and/or a line segment corresponding to the obstacle in the boundary of the working area according to the position information of the obstacle and the preset distance;
acquiring current position information of points and/or line segments corresponding to the obstacles from the working area boundary;
judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the target position information;
and if the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary is not consistent with the target position information, adjusting the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary into the target position information.
In one possible implementation manner, the acquiring the position information of the obstacle includes:
and acquiring the position information of the obstacle in front of the mobile equipment through a ranging sensor carried by the mobile equipment.
In one possible implementation manner, the acquiring the position information of the obstacle includes: the position information of the obstacle is determined by the position information of the self-moving device and the position relationship between the self-moving device and the obstacle.
In one possible implementation, the ranging sensor includes an ultrasonic sensor, and the acquiring the position information of the obstacle in front of the mobile device includes:
controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment;
when an echo returned from an obstacle in front of the mobile equipment is detected, judging the distance between the obstacle in front and the mobile equipment according to the ultrasonic signal and the echo;
and determining the position information of the obstacle according to the position information of the self-mobile equipment and the distance.
In one possible implementation manner, the self-moving device includes a positioning module and a collision sensor disposed at a front end, and the acquiring the position information of the obstacle in front of the self-moving device includes:
when the collision sensor detects that the front end of the self-moving equipment collides with the obstacle, the position information of the obstacle in front of the self-moving equipment is determined according to the position information of the self-moving equipment, the distance between the positioning module and the front end.
In one possible implementation, the method further includes:
and setting the position relation between the position of the barrier and the boundary of the working area according to the width of the self-moving equipment.
According to the boundary correction method of the working area of the self-moving equipment, the self-moving equipment detects the obstacle in front of the self-moving equipment in the moving and/or working process and obtains the position information of the obstacle; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary. Therefore, the position information of the working area boundary stored in the self-moving equipment is automatically corrected according to the position information of the detected obstacle in the moving and/or working process of the self-moving equipment, so that the working area boundary is more and more accurate, the self-moving equipment is ensured to normally move or work along the working area boundary, and the collision with the obstacle is avoided as much as possible.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a self-moving device, which collects boundary position data of a work area from the self-moving device, and generates a work area boundary. As shown in fig. 3, the self-moving device includes a detection module and a correction module;
the detection module is used for detecting an obstacle in front of the mobile equipment and acquiring position information of the obstacle in the moving and/or working process of the mobile equipment;
and the correction module is used for correcting the boundary position information of the working area according to the position information of the obstacle and the position relation between the position of the obstacle and the boundary of the working area, so that the mobile equipment moves and works in the working area according to the corrected boundary.
In a possible implementation manner, the position of the obstacle is in a positional relationship with the boundary of the working area, and a point and/or a line segment corresponding to the obstacle in the boundary of the working area is a preset distance away from the obstacle.
In a possible implementation manner, the modification module is specifically configured to:
determining target position information of a point and/or a line segment corresponding to the obstacle in the boundary of the working area according to the position information of the obstacle and the preset distance;
acquiring current position information of points and/or line segments corresponding to the obstacles from the working area boundary;
judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the target position information;
and if the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary is not consistent with the target position information, adjusting the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary into the target position information.
In a possible implementation manner, the detection module is specifically configured to:
and acquiring the position information of the obstacle in front of the mobile equipment through a ranging sensor carried by the mobile equipment.
In a possible implementation manner, the ranging sensor includes an ultrasonic sensor, and the detection module is specifically configured to:
controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment;
when an echo returned from an obstacle in front of the mobile equipment is detected, judging the distance between the obstacle in front and the mobile equipment according to the ultrasonic signal and the echo;
and determining the position information of the obstacle according to the position information of the self-mobile equipment and the distance.
In a possible implementation manner, the self-moving device includes a positioning module and a collision sensor disposed at a front end, and the detection module is specifically configured to:
when the collision sensor detects that the front end of the self-moving equipment collides with the obstacle, the position information of the obstacle in front of the self-moving equipment is determined according to the position information of the self-moving equipment, the distance between the positioning module and the front end.
In one possible implementation, the apparatus further includes:
and the setting module is used for setting the position relation between the position of the barrier and the boundary of the working area according to the width of the self-moving equipment.
According to the self-moving equipment provided by the embodiment of the invention, in the moving and/or working process of the self-moving equipment, an obstacle in front of the self-moving equipment is detected, and the position information of the obstacle is obtained; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary. Therefore, the position information of the working area boundary stored in the self-moving equipment is automatically corrected according to the position information of the detected obstacle in the moving and/or working process of the self-moving equipment, so that the working area boundary is more and more accurate, the self-moving equipment is ensured to normally move or work along the working area boundary, and the collision with the obstacle is avoided as much as possible.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart illustrating a method for correcting a boundary of a working area of a mobile device according to an embodiment of the present invention;
FIG. 2 is an exemplary work area;
fig. 3 is a schematic structural diagram of a self-moving device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another self-moving device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, 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 illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a boundary correction method for a work area of a self-moving device and the self-moving device according to an embodiment of the present invention with reference to the drawings.
Fig. 1 is a flowchart illustrating a method for correcting a boundary of a working area of a mobile device according to an embodiment of the present invention. As shown in fig. 1, the method for correcting the boundary of the working area of the self-moving device includes the following steps:
s101, detecting an obstacle in front of the self-moving equipment in the moving and/or working process of the self-moving equipment, and acquiring position information of the obstacle.
The execution main body of the boundary correction method of the self-moving equipment working area is self-moving equipment or software installed in the self-moving equipment. The self-moving device can be, for example, an intelligent mower, a cleaning robot, and the like. In this embodiment, a self-moving device is taken as an example of an intelligent lawn mower.
Before step S101, boundary position data of the work area is collected from the mobile device, and a work area boundary is generated. Specifically, the boundary position data of the self-moving equipment comprises outer boundary data and inner boundary data, the self-moving equipment travels around a working area for one circle, the position data of each position point is extracted in the traveling process, the extracted position data of each position point is used as the outer boundary position data, the working area boundary is generated according to the boundary position data, and when the self-moving equipment travels in the working area, some island regions which do not need to be processed exist in the working area, such as obstacles, flower beds and the like, the inner boundary is generated by acquiring the position data of the inner boundary, so that the self-moving equipment avoids processing the region surrounded by the inner boundary in the traveling process. The shape of the boundary of the working area is not limited, and is, for example, a polygon.
Specifically, in the moving and/or working process of the self-moving equipment, if a front obstacle is detected, the position information of the obstacle is acquired, so that the position information of the working area boundary stored in the self-moving equipment is corrected according to the position information of the obstacle.
In different application scenarios, the manner of obtaining the position information of the obstacle is not limited, and the following is taken as an example:
the first example: the position information of an obstacle in front of the mobile device is acquired by a ranging sensor mounted on the mobile device.
Taking the distance measuring sensor as an ultrasonic sensor as an example, the specific way of acquiring the position information of the obstacle in front of the mobile device is as follows: controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment; when an echo returned from an obstacle in front of the mobile equipment is detected, judging the distance between the obstacle in front and the mobile equipment according to the ultrasonic signal and the echo; and determining the position information of the obstacle according to the position information of the self-mobile equipment and the distance.
Taking a distance measuring sensor as an infrared distance measuring instrument as an example, the specific way of acquiring the position information of the obstacle in front of the mobile device is as follows: controlling an infrared distance meter to send an infrared signal to the front of the self-moving equipment, and judging the distance between the front obstacle and the self-moving equipment according to the infrared signal and the reflected signal when detecting the reflected signal returned from the obstacle in front of the self-moving equipment; and determining the position information of the obstacle according to the position information of the self-mobile equipment and the distance.
It should be noted that the position information of the mobile device itself can be obtained through a mounted Positioning module, such as a Global Positioning System (GPS) or a BeiDou Navigation Satellite System (BDS), but not limited thereto.
For example, the position information of the mobile device itself is (x1, y1), the distance is Δ x, and the position information of the obstacle is (x2, y2), where x1+ Δ x is x2, and y1 is y 2.
The second example is: in order to more accurately acquire the position information of the obstacle in front of the mobile device, the acquisition timing of the position information of the obstacle in front of the mobile device is set at the time when the mobile device collides with the obstacle.
Specifically, from mobile device including orientation module and the collision sensor who sets up at the front end, the concrete implementation who obtains the position information from the barrier in mobile device the place ahead does: when the collision sensor detects that the front end of the self-moving equipment collides with the obstacle, the position information of the obstacle in front of the self-moving equipment is determined according to the position information of the self-moving equipment, the distance between the positioning module and the front end.
The distance L between the positioning module and the front end of the positioning module can be calculated by the self-moving equipment according to the installation position of the positioning module.
Specifically, after the position information (x1, y1) of the mobile device and the distance L between the positioning module and the front end thereof are acquired by the positioning module, the position information of the obstacle in front of the mobile device can be determined to be (x2, y2), wherein x1+ L is x2, and y1 is y 2.
The third example: acquiring the position information of the obstacle includes: the position information of the obstacle is determined by the position information of the self-moving device and the position relationship between the self-moving device and the obstacle.
S102, correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary.
The position relation between the position of the obstacle and the boundary of the working area is a preset distance between a point and/or a line segment corresponding to the obstacle in the boundary of the working area and the obstacle. The preset distance is calibrated according to a large amount of test data, and the preset distance can ensure that the self-moving equipment normally moves or works along the boundary of the working area, so that the collision with the obstacle is avoided as much as possible.
As an example, before step S102, the positional relationship of the position of the obstacle and the boundary of the work area is set according to the width of the self-moving apparatus.
For example, the width of the self-moving device is D, and the position of the obstacle and the position relationship of the working area boundary are set such that the distance between the point and/or line segment corresponding to the obstacle in the working area boundary and the obstacle is 0.5D.
Fig. 2 is an exemplary work area. The working area is within the working area boundary 1, the non-working area (not shown) is outside the working area boundary 1, and the obstacle is in the non-working area. In fig. 2, a preset distance between a point and/or a line segment corresponding to the working area boundary 1 at the obstacle and the obstacle is 0.5D.
Further, a specific implementation manner of step S102 includes the following steps:
and S1021, determining target position information of a point and/or a line segment corresponding to the obstacle in the working area boundary according to the position information of the obstacle and the preset distance.
Continuing with the example of fig. 2, if the position information of the obstacle is (x2, y2), the target position information of the point and/or the line segment corresponding to the obstacle in the boundary of the working area is (x3, y3), where x3+0.5D is x2, and y3 is y 2.
And S1022, acquiring current position information of points and/or line segments corresponding to the obstacles from the working area boundary.
And S1023, judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the target position information.
And S1024, if the position information is inconsistent with the position information of the obstacle, adjusting the current position information of the point and/or the line segment corresponding to the obstacle in the boundary of the working area into the target position information.
For example, if the current position information of the point and/or line segment corresponding to the obstacle obtained from the work area boundary is (x4, y 4). If (x4, y4) is different from (x3, y3), adjusting the current position information of the point and/or line segment corresponding to the obstacle in the boundary of the working area to (x3, y 3); if (x4, y4) is the same as (x3, y3), the process ends.
According to the boundary correction method for the working area of the self-moving equipment provided by the embodiment of the invention, the self-moving equipment detects the obstacle in front of the self-moving equipment in the moving and/or working process and acquires the position information of the obstacle; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary. Therefore, the position information of the working area boundary stored in the self-moving equipment is automatically corrected according to the position information of the detected obstacle in the moving and/or working process of the self-moving equipment, so that the working area boundary is more and more accurate, the self-moving equipment is ensured to normally move or work along the working area boundary, and the collision with the obstacle is avoided as much as possible.
Fig. 3 is a schematic structural diagram of a self-moving device according to an embodiment of the present invention. Boundary position data of the working area are collected from the mobile equipment, and a working area boundary is generated. As shown in fig. 3, the self-moving device includes a detection module and a correction module;
the detection module is used for detecting an obstacle in front of the mobile equipment and acquiring position information of the obstacle in the moving and/or working process of the mobile equipment;
and the correction module is used for correcting the boundary position information of the working area according to the position information of the obstacle and the position relation between the position of the obstacle and the boundary of the working area, so that the mobile equipment moves and works in the working area according to the corrected boundary.
In a possible implementation manner, the position of the obstacle is in a positional relationship with the boundary of the working area, and a point and/or a line segment corresponding to the obstacle in the boundary of the working area is a preset distance away from the obstacle.
In a possible implementation manner, the modification module is specifically configured to:
determining target position information of a point and/or a line segment corresponding to the obstacle in the boundary of the working area according to the position information of the obstacle and the preset distance;
acquiring current position information of points and/or line segments corresponding to the obstacles from the working area boundary;
judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the target position information;
and if the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary is not consistent with the target position information, adjusting the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary into the target position information.
In a possible implementation manner, the detection module is specifically configured to:
and acquiring the position information of the obstacle in front of the mobile equipment through a ranging sensor carried by the mobile equipment.
In a possible implementation manner, the ranging sensor includes an ultrasonic sensor, and the detection module is specifically configured to:
controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment;
when an echo returned from an obstacle in front of the mobile equipment is detected, judging the distance between the obstacle in front and the mobile equipment according to the ultrasonic signal and the echo;
and determining the position information of the obstacle according to the position information of the self-mobile equipment and the distance.
In a possible implementation manner, the self-moving device includes a positioning module and a collision sensor disposed at a front end, and the detection module is specifically configured to:
when the collision sensor detects that the front end of the self-moving equipment collides with the obstacle, the position information of the obstacle in front of the self-moving equipment is determined according to the position information of the self-moving equipment, the distance between the positioning module and the front end.
In one possible implementation, the apparatus further includes:
and the setting module is used for setting the position relation between the position of the barrier and the boundary of the working area according to the width of the self-moving equipment.
It should be noted that the foregoing explanation on the boundary modification method embodiment of the self-moving device working area is also applicable to the self-moving device of this embodiment, and is not repeated here.
According to the self-moving equipment provided by the embodiment of the invention, in the moving and/or working process of the self-moving equipment, an obstacle in front of the self-moving equipment is detected, and the position information of the obstacle is obtained; and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary. Therefore, the position information of the working area boundary stored in the self-moving equipment is automatically corrected according to the position information of the detected obstacle in the moving and/or working process of the self-moving equipment, so that the working area boundary is more and more accurate, the self-moving equipment is ensured to normally move or work along the working area boundary, and the collision with the obstacle is avoided as much as possible.
Fig. 4 is a schematic structural diagram of another self-moving device according to an embodiment of the present invention. The self-moving device includes:
The processor 1002, when executing the program, implements the boundary correction method for the work area of the self-mobile device provided in the above-described embodiment.
Further, the self-moving device further comprises:
a communication interface 1003 for communicating between the memory 1001 and the processor 1002.
A memory 1001 for storing computer programs that may be run on the processor 1002.
The processor 1002 is configured to implement the boundary correction method for a work area of a self-moving device according to the foregoing embodiment when executing the program.
If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the boundary correction method for a working area of a self-moving device as described above.
The present invention also provides a computer program product, which when executed by an instruction processor in the computer program product, implements the boundary correction method for a working area of a self-moving device as described above.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (15)
1. A boundary correction method for a working area of a mobile device, the boundary correction method being characterized in that the boundary correction method comprises the following steps:
the method comprises the steps that in the moving and/or working process of the self-moving equipment, an obstacle in front of the self-moving equipment is detected, and position information of the obstacle is obtained;
and correcting the position information of the working area boundary according to the position information of the obstacle and the position relation between the position of the obstacle and the working area boundary, so that the mobile equipment moves and works in the working area according to the corrected working area boundary.
2. The method of claim 1, wherein the position of the obstacle is related to the position of the boundary of the working area, and the corresponding point and/or line segment of the obstacle in the boundary of the working area is a preset distance away from the obstacle.
3. The method of claim 2, wherein the correcting the boundary position information of the working area based on the position information of the obstacle and the positional relationship between the position of the obstacle and the boundary of the working area comprises:
determining target position information of a point and/or a line segment corresponding to the obstacle in the boundary of the working area according to the position information of the obstacle and the preset distance;
acquiring current position information of points and/or line segments corresponding to the obstacles from the working area boundary;
judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the target position information;
and if the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary is not consistent with the target position information, adjusting the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary into the target position information.
4. The method of claim 1, wherein the obtaining the location information of the obstacle comprises:
and acquiring the position information of the obstacle in front of the mobile equipment through a ranging sensor carried by the mobile equipment.
5. The method of claim 1, wherein the obtaining the location information of the obstacle comprises: the position information of the obstacle is determined by the position information of the self-moving device and the position relationship between the self-moving device and the obstacle.
6. The method of claim 4, wherein the ranging sensor comprises an ultrasonic sensor, and wherein the obtaining position information of the obstacle in front of the self-moving device comprises:
controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment;
when an echo returned from an obstacle in front of the mobile equipment is detected, judging the distance between the obstacle in front and the mobile equipment according to the ultrasonic signal and the echo;
and determining the position information of the obstacle according to the position information of the self-mobile equipment and the distance.
7. The method of claim 1, wherein the self-moving device comprises a positioning module and a collision sensor disposed at a front end, and wherein the obtaining the position information of the obstacle in front of the self-moving device comprises:
when the collision sensor detects that the front end of the self-moving equipment collides with the obstacle, the position information of the obstacle in front of the self-moving equipment is determined according to the position information of the self-moving equipment, the distance between the positioning module and the front end.
8. The method of claim 1, further comprising:
and setting the position relation between the position of the barrier and the boundary of the working area according to the width of the self-moving equipment.
9. An autonomous mobile device for collecting boundary location data of a work area and generating a work area boundary, comprising:
the detection module is used for detecting an obstacle in front of the mobile equipment and acquiring position information of the obstacle in the moving and/or working process of the mobile equipment;
and the correction module is used for correcting the boundary position information of the working area according to the position information of the obstacle and the position relation between the position of the obstacle and the boundary of the working area, so that the mobile equipment moves and works in the working area according to the corrected boundary.
10. The self-moving device as claimed in claim 9, wherein the position of the obstacle is related to the position of the boundary of the working area, and the point and/or line segment corresponding to the obstacle in the boundary of the working area is a preset distance away from the obstacle.
11. The self-moving device as recited in claim 9, wherein the modification module is specifically configured to:
determining target position information of a point and/or a line segment corresponding to the obstacle in the boundary of the working area according to the position information of the obstacle and the preset distance;
acquiring current position information of points and/or line segments corresponding to the obstacles from the working area boundary;
judging whether the current position information of the point and/or the line segment corresponding to the obstacle is consistent with the target position information;
and if the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary is not consistent with the target position information, adjusting the current position information of the points and/or line segments corresponding to the obstacles in the working area boundary into the target position information.
12. The self-moving device of claim 9, wherein the detection module is specifically configured to:
and acquiring the position information of the obstacle in front of the mobile equipment through a ranging sensor carried by the mobile equipment.
13. The self-moving device of claim 12, wherein the ranging sensor comprises an ultrasonic sensor, and wherein the detection module is specifically configured to:
controlling the ultrasonic sensor to send an ultrasonic signal to the front of the self-moving equipment;
when an echo returned from an obstacle in front of the mobile equipment is detected, judging the distance between the obstacle in front and the mobile equipment according to the ultrasonic signal and the echo;
and determining the position information of the obstacle according to the position information of the self-mobile equipment and the distance.
14. The self-moving device as claimed in claim 9, wherein the self-moving device comprises a positioning module and a collision sensor disposed at a front end, and the detection module is specifically configured to:
when the collision sensor detects that the front end of the self-moving equipment collides with the obstacle, the position information of the obstacle in front of the self-moving equipment is determined according to the position information of the self-moving equipment, the distance between the positioning module and the front end.
15. The self-moving device of claim 9, further comprising:
and the setting module is used for setting the position relation between the position of the barrier and the boundary of the working area according to the width of the self-moving equipment.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910887190.6A CN112540600A (en) | 2019-09-19 | 2019-09-19 | Boundary correction method for working area of self-moving equipment and self-moving equipment |
| CN202080051160.2A CN114096930B (en) | 2019-09-19 | 2020-09-18 | Self-moving device and automatic moving and working method thereof |
| PCT/CN2020/116224 WO2021052468A1 (en) | 2019-09-19 | 2020-09-18 | Self-moving device and automatic moving and working method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910887190.6A CN112540600A (en) | 2019-09-19 | 2019-09-19 | Boundary correction method for working area of self-moving equipment and self-moving equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112540600A true CN112540600A (en) | 2021-03-23 |
Family
ID=74883965
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910887190.6A Withdrawn CN112540600A (en) | 2019-09-19 | 2019-09-19 | Boundary correction method for working area of self-moving equipment and self-moving equipment |
| CN202080051160.2A Active CN114096930B (en) | 2019-09-19 | 2020-09-18 | Self-moving device and automatic moving and working method thereof |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080051160.2A Active CN114096930B (en) | 2019-09-19 | 2020-09-18 | Self-moving device and automatic moving and working method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN112540600A (en) |
| WO (1) | WO2021052468A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114353801A (en) * | 2021-12-31 | 2022-04-15 | 未岚大陆(北京)科技有限公司 | Self-moving equipment and navigation method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107305125A (en) * | 2016-04-21 | 2017-10-31 | 中国移动通信有限公司研究院 | A kind of map constructing method and terminal |
| CN107544507A (en) * | 2017-09-28 | 2018-01-05 | 速感科技（北京）有限公司 | Mobile robot control method for movement and device |
| CN108604098A (en) * | 2016-11-11 | 2018-09-28 | 苏州宝时得电动工具有限公司 | Automatic working system and its control method |
| CN108763571A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of operation map updating method |
| CN109033136A (en) * | 2018-06-05 | 2018-12-18 | 北京智行者科技有限公司 | A kind of operation map updating method |
| 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 |
Family Cites Families (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11296229A (en) * | 1998-02-13 | 1999-10-29 | Komatsu Ltd | Vehicle guide device |
| GB201000158D0 (en) * | 2010-01-07 | 2010-02-24 | Bamidele Michael O | Seeker device and tags - inventory search, identification and cataloguing system |
| US20120029752A1 (en) * | 2010-07-28 | 2012-02-02 | Johnson David A | Robotic Mower Stuck Detection System |
| KR101984214B1 (en) * | 2012-02-09 | 2019-05-30 | 삼성전자주식회사 | Apparatus and method for controlling cleaning in rototic cleaner |
| CN102929280B (en) * | 2012-11-13 | 2015-07-01 | 朱绍明 | Mobile robot separating visual positioning and navigation method and positioning and navigation system thereof |
| CN103891465B (en) * | 2012-12-25 | 2016-04-27 | 苏州宝时得电动工具有限公司 | Hold together careless device and mower |
| US9483055B2 (en) * | 2012-12-28 | 2016-11-01 | Irobot Corporation | Autonomous coverage robot |
| EP2884364B1 (en) * | 2013-12-12 | 2018-09-26 | Hexagon Technology Center GmbH | Autonomous gardening vehicle with camera |
| CN105988471B (en) * | 2015-02-15 | 2020-09-22 | 苏州宝时得电动工具有限公司 | Intelligent mowing system and mowing control method of mower |
| CN105320140B (en) * | 2015-12-01 | 2018-09-18 | 浙江宇视科技有限公司 | A kind of sweeping robot and its clean paths planning method |
| CN107920466B (en) * | 2016-02-03 | 2021-03-16 | 苏州宝时得电动工具有限公司 | Self-moving equipment and control method thereof |
| CN107239074A (en) * | 2016-03-29 | 2017-10-10 | 苏州宝时得电动工具有限公司 | Automatic working system and its map method for building up of working region |
| CN105796002B (en) * | 2016-03-31 | 2018-09-18 | 北京小米移动软件有限公司 | Clean robot indoor cleaning processing method, clean robot and mobile terminal |
| JP6683056B2 (en) * | 2016-07-29 | 2020-04-15 | 工機ホールディングス株式会社 | Self-propelled work machine |
| AU2017101247A6 (en) * | 2016-09-16 | 2017-11-02 | Bissell Inc. | Autonomous vacuum cleaner |
| CN106777269A (en) * | 2016-12-28 | 2017-05-31 | 深圳市佳都实业发展有限公司 | For the method that the robot and robot that build dynamic map build dynamic map |
| TW201832710A (en) * | 2017-03-14 | 2018-09-16 | 聯潤科技股份有限公司 | Partition-cleaning method of self-propelled cleaning device and self-propelled cleaning device using the method capable of increasing the cleaning efficiency of the self-propelled cleaning device |
| CN109426266A (en) * | 2017-08-30 | 2019-03-05 | 苏州宝时得电动工具有限公司 | From mobile device |
| CN107976998A (en) * | 2017-11-13 | 2018-05-01 | 河海大学常州校区 | A kind of grass-removing robot map building and path planning system and method |
| CN110119136A (en) * | 2018-02-05 | 2019-08-13 | 苏州宝时得电动工具有限公司 | From mobile device and its obstacle detection method |
| CN108733060A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | A kind of processing method of operation cartographic information |
| CN109287246B (en) * | 2018-08-24 | 2020-09-22 | 宁波市德霖机械有限公司 | Intelligent mower for building map based on laser radar |
| CN109605374B (en) * | 2018-12-21 | 2023-09-29 | 深圳乐动机器人股份有限公司 | Method and device for displaying movement path of robot and robot |
| CN109828584A (en) * | 2019-03-01 | 2019-05-31 | 重庆润通智能装备有限公司 | Lawn to be cut removes, the paths planning method after addition barrier and system |
-
2019
- 2019-09-19 CN CN201910887190.6A patent/CN112540600A/en not_active Withdrawn
-
2020
- 2020-09-18 CN CN202080051160.2A patent/CN114096930B/en active Active
- 2020-09-18 WO PCT/CN2020/116224 patent/WO2021052468A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107305125A (en) * | 2016-04-21 | 2017-10-31 | 中国移动通信有限公司研究院 | A kind of map constructing method and terminal |
| CN108604098A (en) * | 2016-11-11 | 2018-09-28 | 苏州宝时得电动工具有限公司 | Automatic working system and its control method |
| 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 |
| CN107544507A (en) * | 2017-09-28 | 2018-01-05 | 速感科技（北京）有限公司 | Mobile robot control method for movement and device |
| CN108763571A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of operation map updating method |
| CN109033136A (en) * | 2018-06-05 | 2018-12-18 | 北京智行者科技有限公司 | A kind of operation map updating method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114353801A (en) * | 2021-12-31 | 2022-04-15 | 未岚大陆(北京)科技有限公司 | Self-moving equipment and navigation method thereof |
| CN114353801B (en) * | 2021-12-31 | 2024-02-27 | 未岚大陆(北京)科技有限公司 | Self-mobile device and navigation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114096930A (en) | 2022-02-25 |
| WO2021052468A1 (en) | 2021-03-25 |
| CN114096930B (en) | 2023-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109712421B (en) | Method, apparatus and storage medium for speed planning of autonomous vehicles | |
| CN110553652B (en) | Robot multi-sensor fusion positioning method and application thereof | |
| CN110316193B (en) | Preview distance setting method, device, equipment and computer readable storage medium | |
| CN109633662B (en) | Obstacle positioning method and device and terminal | |
| CN109814575B (en) | Lane changing route planning method and device for automatic driving vehicle and terminal | |
| CN109814574B (en) | Method and device for planning speed of junction of automatic driving lanes and storage medium | |
| US10386483B2 (en) | Processing sensor measurements of a vehicle environment with low transverse resolution | |
| JPWO2017209112A1 (en) | Position acquisition method and system | |
| US20210031795A1 (en) | Correcting a position of a vehicle with slam | |
| JP6793883B2 (en) | Vehicle travel control device, vehicle travel control method, control circuit and storage medium | |
| CN109959919B (en) | Automobile and monocular camera ranging method and device | |
| CN109816981B (en) | Automatic driving method, device and storage medium | |
| CN110850859B (en) | Robot and obstacle avoidance method and obstacle avoidance system thereof | |
| JP2019028665A (en) | Calibration apparatus and method for on-vehicle camera | |
| CN111483464B (en) | Dynamic automatic driving lane changing method, equipment and storage medium based on road side unit | |
| CN112540600A (en) | Boundary correction method for working area of self-moving equipment and self-moving equipment | |
| CN112445221B (en) | Automatic working system and regression method | |
| CN112426105B (en) | Charging seat, calibration method and device for position of charging seat and sweeping system | |
| CN112689842B (en) | Target detection method and device | |
| CN112835045A (en) | Radar detection method and device, storage medium and electronic equipment | |
| CN112124305B (en) | Steering control method and device, automatic driving equipment and readable storage medium | |
| CN111103872A (en) | Method and device for controlling robot to avoid charging device and computing equipment | |
| US20220227386A1 (en) | Vehicle control system | |
| US11454698B2 (en) | Radar mount-angle calibration | |
| JP2018128386A (en) | Position estimation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210323 |