CN112773261B

CN112773261B - Method and device for avoiding obstacles and sweeping robot

Info

Publication number: CN112773261B
Application number: CN201911065201.9A
Authority: CN
Inventors: 陈远; 沈大明; 林周雄
Original assignee: Midea Robozone Technology Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2022-06-21
Anticipated expiration: 2039-11-04
Also published as: CN112773261A

Abstract

The embodiment of the application provides a method and a device for avoiding obstacles and a sweeping robot, and the method comprises the following steps: under the condition that the sweeping robot moves, controlling a plurality of photon flight time sensors on the sweeping robot to send signals to the surrounding environment; determining the relative position of the obstacle in the surrounding environment and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by each photon flight time sensor; and adjusting the moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot. According to the embodiment of the application, through each photon flight time sensor on the sweeping robot, the position of the obstacle in the surrounding environment of the sweeping robot relative to the sweeping robot and the distance between the sweeping robot can be accurately obtained, so that when the sweeping robot moves according to the adjusted moving track, the sweeping robot can be effectively prevented from colliding with the obstacle in the moving process.

Description

Method and device for avoiding obstacles and sweeping robot

Technical Field

The application relates to the technical field of computers, in particular to a method and a device for avoiding obstacles and a sweeping robot.

Background

The sweeping robot can be used as an intelligent product to realize the planning of sweeping strategies according to different external environments. And avoid obstacles as much as possible in the moving and cleaning processes, and reduce the collision with the obstacles such as furniture, electrical appliances and the like. In order to prevent the sweeping robot from colliding with the obstacle in the moving process, the sensor is required to sense the surrounding environment. However, due to the factors such as color, material, transparency and the like of the obstacle, the infrared sensor on the sweeping robot has a weak signal capturing ability, so that it is difficult to accurately sense the surrounding environment, and thus, the infrared sensor cannot collide with the obstacle in the surrounding environment. In order to solve the problem, the sweeping robot identifies obstacles in the surrounding environment through the vision sensor so as to solve the problem of poor signal capturing capability of the infrared sensor, but the vision sensor has higher cost and cannot be popularized and used on sweeping robots at middle and low ends, so that the problem of collision of the existing sweeping robot in the moving process cannot be well solved.

Disclosure of Invention

The embodiment of the application provides a method and a device for avoiding obstacles and a sweeping robot, so as to solve one or more technical problems in the prior art.

In a first aspect, an embodiment of the present application provides a method for avoiding an obstacle, including:

under the condition that the sweeping robot moves, controlling a plurality of photon flight time sensors on the sweeping robot to send signals to the surrounding environment;

according to feedback signals of the surrounding environment received by each photon flight time sensor, determining the relative position of the obstacle in the surrounding environment and the sweeping robot and the distance between the obstacle and the sweeping robot;

and adjusting the moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

In one embodiment, a method of avoiding an obstacle includes:

under the condition that the sweeping robot moves forwards, controlling a photon flight time sensor at the front end of the sweeping robot and photon flight time sensors at two sides to send signals to the surrounding environment;

according to feedback signals of the surrounding environment received by the photon flight time sensors at the front end and the photon flight time sensors at the two sides, the relative positions of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot are determined;

and adjusting the forward movement track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

In one embodiment, a method of avoiding an obstacle includes:

under the condition that the sweeping robot moves backwards, a photon flight time sensor at the rear end of the sweeping robot and photon flight time sensors at two sides are controlled to send signals to the surrounding environment;

determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to feedback signals of the surrounding environment received by the photon flight time sensors at the rear end and the photon flight time sensors at the two sides;

and adjusting the backward movement track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

In one embodiment, the method of avoiding an obstacle further comprises:

under the condition that the distance of multiple movements of the sweeping robot within the preset time is smaller than a threshold value, controlling the photon flight time sensors at the front end of the sweeping robot, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end to send signals to the surrounding environment;

determining a target position area corresponding to a feedback signal with the weakest signal intensity according to feedback signals of the surrounding environment received by the photon flight time sensor at the front end, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end;

and controlling the sweeping robot to move towards the target position area so as to be separated from the current position.

In one embodiment, determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon time-of-flight sensor at the front end and the photon time-of-flight sensors at the two sides comprises:

under the condition that a photon flight time sensor at the front end receives feedback signals from an obliquely upper environment of the sweeping robot, the relative position height between the obstacle in the obliquely upper environment and the sweeping robot and the distance between the obstacle in the obliquely upper environment and the sweeping robot are determined according to the strength of the feedback signals of the obliquely upper environment.

under the condition that a photon flight time sensor at the front end receives each feedback signal from an obliquely lower environment of the sweeping robot, determining whether an obstacle in the obliquely lower environment has a concave area or not according to the signal intensity of each feedback signal in the obliquely lower environment;

in the case of a recessed area, the relative position of the recessed area and the sweeping robot, and the distance between the recessed area and the sweeping robot are determined.

In one embodiment, the method of avoiding an obstacle further comprises:

and adjusting the position of each photon flight time sensor relative to the sweeping robot and the signal transmission range of each photon flight time sensor so as to enable the signal transmission ranges of two adjacent photon flight time sensors to have an overlapping region.

In a second aspect, an embodiment of the present application provides an obstacle avoidance apparatus, including:

the transmitting module is used for controlling a plurality of photon flight time sensors on the sweeping robot to transmit signals to the surrounding environment under the condition that the sweeping robot moves;

the first determining module is used for determining the relative positions of the obstacles in the surrounding environment and the sweeping robot and the distance between the obstacles and the sweeping robot according to the feedback signals of the surrounding environment received by each photon flight time sensor;

the first adjusting module is used for adjusting the moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

In one embodiment, an apparatus for avoiding obstacles comprises:

the sending module is also used for controlling the photon flight time sensor at the front end of the sweeping robot and the photon flight time sensors at the two sides to send signals to the surrounding environment under the condition that the sweeping robot moves forwards;

the first determining module is further used for determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to feedback signals of the surrounding environment received by the photon flight time sensor at the front end and the photon flight time sensors at the two sides;

the first adjusting module is further used for adjusting the forward moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

In one embodiment, an apparatus for avoiding obstacles comprises:

the sending module is also used for controlling the photon flight time sensor at the rear end of the sweeping robot and the photon flight time sensors at the two sides to send signals to the surrounding environment under the condition that the sweeping robot moves backwards;

the first determining module is further used for determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to feedback signals of the surrounding environment received by the photon flight time sensor at the rear end and the photon flight time sensors at the two sides;

the first adjusting module is further used for adjusting the retreating movement track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

In one embodiment, the obstacle avoidance apparatus further comprises:

the first control module is used for controlling the photon flight time sensors at the front end, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end of the sweeping robot to send signals to the surrounding environment when the condition that the distance of the sweeping robot moving for multiple times within the preset time is smaller than a threshold value is detected;

the second determining module is used for determining a target position area corresponding to the feedback signal with the weakest signal intensity according to the feedback signals of the surrounding environment received by the photon flight time sensor at the front end, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end;

and the second control module is used for controlling the sweeping robot to move towards the target position area so as to be separated from the current position.

In one embodiment, the first determining module comprises:

the first determining submodule is used for determining the relative position height between the obstacle in the obliquely upper environment and the sweeping robot and the distance between the obstacle in the obliquely upper environment and the sweeping robot according to the signal strength of each feedback signal in the obliquely upper environment under the condition that the photon flight time sensor at the front end receives each feedback signal from the obliquely upper environment of the sweeping robot.

In one embodiment, the first determining module comprises:

the second determining submodule is used for determining whether the obstacle in the oblique lower environment has a concave area or not according to the signal intensity of each feedback signal in the oblique lower environment under the condition that the photon flight time sensor at the front end receives each feedback signal from the oblique lower environment of the sweeping robot;

and the third determining submodule is used for determining the relative position of the recessed area and the sweeping robot and the distance between the recessed area and the sweeping robot under the condition that the recessed area exists.

In one embodiment, the obstacle avoidance apparatus further comprises:

the second adjusting module is used for adjusting the position of each photon flight time sensor relative to the sweeping robot and the signal sending range of each photon flight time sensor, so that the signal sending ranges of two adjacent photon flight time sensors have an overlapping area.

In a third aspect, an embodiment of the present application provides a sweeping robot, including the obstacle avoidance device of the second aspect.

In a fourth aspect, an embodiment of the present application provides an electronic device, where functions of the electronic device may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

In one possible design, the electronic device may be configured to include a processor and a memory, the memory being configured to store a program that enables the electronic device to perform the above-described obstacle avoidance method, and the processor being configured to execute the program stored in the memory. The electronic device may also include a communication interface for communicating with other devices or a communication network.

In a fifth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions for storing an electronic device and computer software instructions for the electronic device, which includes a program for executing the above-mentioned obstacle avoidance method.

One of the above technical solutions has the following advantages or beneficial effects: according to the embodiment of the application, through each photon flight time sensor on the sweeping robot, the position of the obstacle in the surrounding environment of the sweeping robot relative to the sweeping robot and the distance between the sweeping robot can be accurately obtained, so that when the sweeping robot moves according to the adjusted moving track, the sweeping robot can be effectively prevented from colliding with the obstacle in the moving process.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

Fig. 1 shows a flowchart of a method of avoiding an obstacle according to an embodiment of the present application.

Fig. 2 shows a flow chart of a method of avoiding an obstacle according to another embodiment of the present application.

Fig. 3 shows a flow chart of a method of avoiding an obstacle according to another embodiment of the present application.

Fig. 4 shows a flowchart of a method of avoiding an obstacle according to another embodiment of the present application.

Fig. 5 shows a flowchart of a method of avoiding an obstacle according to another embodiment of the present application.

Fig. 6 is a block diagram illustrating a structure of an obstacle avoidance apparatus according to an embodiment of the present application.

Fig. 7 is a block diagram illustrating a structure of an obstacle avoidance apparatus according to another embodiment of the present application.

Fig. 8 is a block diagram illustrating a first determination module of an obstacle avoidance apparatus according to an embodiment of the present application.

Fig. 9 is a block diagram illustrating a structure of an obstacle avoidance apparatus according to another embodiment of the present application.

Fig. 10 shows a block diagram of an electronic device for implementing the method of avoiding an obstacle according to the embodiment of the present application.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Fig. 1 shows a flowchart of a method of avoiding an obstacle according to an embodiment of the present application. As shown in fig. 1, the obstacle avoidance method includes:

s100: and under the condition that the sweeping robot moves, controlling a plurality of photon time-of-flight sensors on the sweeping robot to send signals to the surrounding environment.

Each photon time-of-flight sensor can send signals to the surrounding environment in real time or on a timed basis. The frequency of the specific transmission signal can be selected and adjusted according to needs. For example, when it is detected by the photon time-of-flight sensor that an obstacle in the surrounding environment is far away from the sweeping robot, a signal may be transmitted to the surrounding environment at a preset transmission frequency. When the photon time-of-flight sensor detects that the obstacle in the surrounding environment is close to the sweeping robot, the signal can be sent to the surrounding environment continuously in real time.

In the moving process of the sweeping robot, which photon flight time sensors are controlled to send signals to the surrounding environment can be determined according to the moving direction and the pose of the sweeping robot. The angle at which each photon time-of-flight sensor emits a signal can also be adjusted as desired.

The surrounding environment may include an all-around environment in the space in which the sweeping robot is located. For example, the environment in the upper, lower, front, rear, both sides, obliquely upper, obliquely lower, and the like.

S200: and determining the relative position between the obstacle in the surrounding environment and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by each photon flight time sensor.

The feedback signal may comprise a signal reflected back after the light pulse signal emitted by the photon time-of-flight sensor reaches the obstacle.

According to the position of each photon flight Time sensor on the sweeping robot, the angle of each photon flight Time sensor receiving the feedback signal, the flight Time (TOF) of the received feedback signal and other information, the distance between the obstacle corresponding to the feedback signal received by each photon flight Time sensor and the sweeping robot and the relative position of the obstacle and the sweeping robot can be judged.

S300: and adjusting the moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

The moving track is used for not only effectively cleaning each area in the moving process of the sweeping robot according to the track, but also avoiding each obstacle in the cleaning and moving processes and preventing the obstacle from colliding.

The photon flight time sensor can detect signals reflected by objects such as transparent materials, surface gray, surface black, surface red and the like, so that the position and distance of each obstacle in the surrounding environment can be detected. The problem of other sensors such as infrared ray sensor can't detect the signal that transparent material, surface grey, surface black, object such as surface red reflect back is solved. Therefore, the sweeping robot can still effectively avoid obstacles in the surrounding environment under the condition of not utilizing a high-cost vision sensor.

In one example, the signal transmitted by a photon time-of-flight sensor can be tapered outwardly so that one photon time-of-flight sensor can transmit multiple signals to multiple different locations simultaneously. The range of signals received by the photon time-of-flight sensor can also be a conical outward divergent region, so that one photon time-of-flight sensor can receive signals reflected back from one or more different positions.

In one example, if the received signal of the photon time-of-flight sensor on the left side is large, it is proved that there is an object in the range of the received signal on the left side, and if the received signal of the other photon time-of-flight sensors changes little, the specific direction of the object can be determined. If the received signals of other photon flight time sensors with the overlapping area with the range of the TOF received signal on the left side are also enlarged, the distance and the direction between the object and the sweeper can be estimated according to algorithms such as a similar trigonometric function, and the deceleration or evasion action can be performed in advance.

In one embodiment, as shown in fig. 2, a method of avoiding an obstacle includes:

s110: and under the condition that the sweeping robot moves forwards, controlling the photon flight time sensor at the front end of the sweeping robot and the photon flight time sensors at the two sides to send signals to the surrounding environment.

The forward movement may include a state in which the sweeping robot moves straight forward and moves curved forward. The photon time-of-flight sensor at the front end at least needs to send a signal to the right front of the sweeping robot. Because the transmitted signals are conical and radial, the obstacles which are positioned at a certain distance and are obliquely above and below the sweeping robot can be detected. The photon flight time sensors on the two sides at least need to send signals to the environment areas on the two sides of the front end of the sweeping robot, so that the sweeping robot cannot collide with surrounding obstacles when turning to the two sides or adjusting the pose.

In one example, when the front end of the sweeping robot is provided with three photon time-of-flight sensors, the three photon time-of-flight sensors can be respectively controlled to send signals to the right front, the obliquely upper side and the obliquely lower side of the sweeping robot. Therefore, the all-round detection of the area in front of the sweeping robot is realized.

In the present embodiment, the obliquely upward and obliquely downward directions refer to obliquely upward and obliquely downward directions in the moving direction of the sweeping robot.

S210: and determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon flight time sensors at the front end and the photon flight time sensors at the two sides.

S310: and adjusting the forward movement track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

The embodiment can detect whether obstacles exist at least in the front, at the two sides of the sweeping robot, obliquely above and obliquely below the sweeping robot or not. The obstacle at the oblique upper side can comprise table legs, a sofa bottom, a tea table bottom, a bed bottom and the like which are higher than the height of the sweeping robot, and the obstacle at the oblique lower side can comprise a cliff environment such as a step, a lower frame of a door and the like. Through the detection to oblique top barrier, can prevent effectively that the robot of sweeping the floor from entering into narrow and small space or inserting the unable condition of getting rid of poverty in the gap at the in-process of advancing. Through the detection of the obstacles obliquely below, the sweeping robot can be effectively prevented from falling or turning on one side in the advancing process.

If the height of the relative position of the obstacle and the sweeping robot is lower, the speed can be reduced in time according to the distance between the obstacle and the sweeping robot, and obstacle avoidance action of the obstacle can be performed. For example, the front obstacle is a region such as a sofa or a bed bottom.

and under the condition that the photon flight time sensor at the front end receives each feedback signal from the obliquely lower environment of the sweeping robot, determining whether the obstacle in the obliquely lower environment has a concave area or not according to the signal intensity of each feedback signal in the obliquely lower environment.

The strength of the signal can be understood as the time of flight of the signal. And if the flight time is short, the signal is strong, and the obstacle reflecting the signal is closer to the sweeping robot. If the flight time is long, the signal is weak, and the obstacle reflecting the signal is far away from the sweeping robot.

If the floor sweeping robot is detected to have a concave area in the environment obliquely below and the distance of the concave area is short, the floor sweeping robot is controlled to decelerate in time and to perform obstacle avoidance actions. For example, the front obstacle is a downward staircase or pit.

In one embodiment, as shown in fig. 3, a method of avoiding an obstacle includes:

s120: and under the condition that the sweeping robot moves backwards, controlling the photon flight time sensor at the rear end of the sweeping robot and the photon flight time sensors at the two sides to send signals to the surrounding environment.

The backward movement may include a state in which the sweeping robot moves straight backward and moves curved backward. The photon time-of-flight sensor at the rear end at least needs to send a signal to the right back where the sweeping robot moves. Because the transmitted signals are conical and radial, the obstacles which are positioned at a certain distance and are obliquely above and below the sweeping robot can be detected. The photon flight time sensors on the two sides at least need to send signals to the environment areas on the two sides of the rear end of the sweeping robot, so that the sweeping robot cannot collide with surrounding obstacles when turning to the two sides or adjusting the pose.

In one example, when the rear end of the sweeping robot is provided with three photon time-of-flight sensors, the three photon time-of-flight sensors can be respectively controlled to send signals to the right rear part, the obliquely upper part and the obliquely lower part of the sweeping robot. Therefore, the comprehensive detection of the rear area of the sweeping robot is realized.

S220: and determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon flight time sensors at the rear end and the photon flight time sensors at the two sides.

S320: and adjusting the backward movement track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

The embodiment can at least detect whether the right back, two sides, the oblique upper part and the oblique lower part of the sweeping robot have obstacles. The obliquely above obstacle may comprise a table leg, a sofa bottom, a tea table bottom, a bed bottom, etc. higher than the height of the sweeping robot, and the obliquely below obstacle may comprise a step, a lower frame of a door, etc. Through the detection to oblique top barrier, can prevent effectively that the robot of sweeping the floor from getting into narrow and small space or inserting the unable condition of getting rid of poverty in the gap in the in-process of moving back. Through the detection of the obstacles obliquely below, the sweeping robot can be effectively prevented from falling, turning on one side or being lifted when colliding with the obstacles in the backward moving process.

In one embodiment, as shown in fig. 4, the method of avoiding an obstacle further includes:

s400: and under the condition that the distance of the sweeping robot moving for multiple times within the preset time is smaller than a threshold value, controlling the photon flight time sensors at the front end of the sweeping robot, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end to send signals to the surrounding environment.

The situation that the distance of the sweeping robot moving for multiple times is less than the threshold value can happen when the sweeping robot is trapped in a narrow area and cannot be separated. For example, the sweeping robot moves to the bottom of a table or chair and is trapped by the table or chair legs. For another example, when the sweeping robot moves to the bottom of the bed, the sweeping robot cannot get out of the bed due to more sundries stored in the bottom of the bed.

S500: and determining a target position area corresponding to the feedback signal with the weakest signal intensity according to the feedback signals of the surrounding environment received by the photon flight time sensor at the front end, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end.

The area with the weakest signal strength indicates that the flight time of the signal fed back by the position is longer, that is, the obstacle reflecting the signal is far away from the sweeping robot.

S600: and controlling the sweeping robot to move towards the target position area so as to be separated from the current position.

Through the reasonable layout of the photon flight time sensors on the sweeping robot, the relative position of the sweeping robot in a narrow space can be identified by utilizing the photon flight time sensors, so that the sweeping machine can find out the direction which can be separated, for example, the space in the legs of a table and a chair, the robot can hardly separate out through common walking logic, the direction with weaker signals, namely, the region without obstacles, is detected out through the photon flight time sensors, the range of the region without obstacles is calculated by calculating the signal strength received by each receiving head, the avoiding posture is planned, and collision avoidance and quick escaping are realized. And the distance between the sweeper and the surrounding obstacles is judged according to other sensors such as a wall sensor and the like, so that a proper evading posture is made, and secondary collision is avoided or sweeping logic of the sweeper is prevented from being influenced.

In one embodiment, as shown in fig. 5, the method of avoiding an obstacle further includes:

s700: and adjusting the position of each photon flight time sensor relative to the sweeping robot and the signal transmission range of each photon flight time sensor so as to enable the signal transmission ranges of two adjacent photon flight time sensors to have an overlapping region.

Because the signal transmission ranges of two adjacent photon time-of-flight sensors have an overlapping region, the full-coverage detection of the surrounding region of the sweeping robot can be realized. And obstacles with small volume, such as legs of a desk and a chair, can not be missed. And can also realize avoiding colliding lighter barrier of quality, like garbage bin, the fruit that drops on the ground, toy etc. to prevent moving against the barrier.

In one example, after the photon flight time sensor of the sweeping robot detects an obstacle, the distance between the sweeping robot and the surrounding objects can be judged by using other sensors such as a wall sensor, so that a proper avoidance posture can be made, and secondary collision is avoided or sweeping logic of the sweeper is not influenced.

Fig. 6 is a block diagram illustrating a structure of an obstacle avoidance apparatus according to an embodiment of the present application. As shown in fig. 6, the obstacle avoidance apparatus 100 includes:

and the sending module 10 is used for controlling the photon flight time sensors on the sweeping robot to send signals to the surrounding environment under the condition that the sweeping robot moves.

The first determining module 20 is configured to determine, according to the feedback signals of the surrounding environment received by the photon time-of-flight sensors, the relative positions of the obstacle in the surrounding environment and the sweeping robot, and the distance between the obstacle and the sweeping robot.

The first adjusting module 30 is configured to adjust a moving track of the sweeping robot according to a relative position between the obstacle and the sweeping robot and a distance between the obstacle and the sweeping robot.

In one embodiment, an obstacle avoidance apparatus includes:

and the sending module is also used for controlling the photon flight time sensor at the front end of the sweeping robot and the photon flight time sensors at the two sides to send signals to the surrounding environment under the condition that the sweeping robot moves forwards.

The first determining module is further used for determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon flight time sensor at the front end and the photon flight time sensors at the two sides.

In one embodiment, an obstacle avoidance apparatus includes:

and the sending module is also used for controlling the photon flight time sensor at the rear end of the sweeping robot and the photon flight time sensors at the two sides to send signals to the surrounding environment under the condition that the sweeping robot moves backwards.

The first determining module is further used for determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon flight time sensor at the rear end and the photon flight time sensors at the two sides.

In one embodiment, as shown in fig. 7, the obstacle avoidance apparatus further includes:

the first control module 40 is configured to control the photon flight time sensors at the front end, the photon flight time sensors at the two sides, and the photon flight time sensor at the rear end of the sweeping robot to send signals to the surrounding environment when it is detected that the distance that the sweeping robot moves for multiple times within the preset time is smaller than a threshold value.

The second determining module 50 is configured to determine a target position region corresponding to a feedback signal with the weakest signal strength according to feedback signals of the surrounding environment received by the photon time-of-flight sensor at the front end, the photon time-of-flight sensors at the two sides, and the photon time-of-flight sensor at the rear end.

And the second control module 60 is used for controlling the sweeping robot to move towards the target position area so as to be separated from the current position.

In one embodiment, as shown in fig. 8, the first determining module 20 includes:

the first determining submodule 21 is configured to determine, according to the signal strength of each feedback signal of the obliquely-above environment, the height of the relative position between the obstacle in the obliquely-above environment and the sweeping robot and the distance between the obstacle in the obliquely-above environment and the sweeping robot, when the photon time-of-flight sensor at the front end receives each feedback signal from the obliquely-above environment of the sweeping robot.

and the second determining submodule 22 is used for determining whether the obstacle in the oblique lower environment has a concave area or not according to the signal intensity of each feedback signal in the oblique lower environment under the condition that the photon flight time sensor at the front end receives each feedback signal from the oblique lower environment of the sweeping robot.

And a third determining submodule 23, configured to determine, in the case of a recessed area, a relative position of the recessed area and the sweeping robot, and a distance between the recessed area and the sweeping robot.

In one embodiment, as shown in fig. 9, the obstacle avoidance apparatus further includes:

the second adjusting module 70 is configured to adjust a position of each photon time-of-flight sensor relative to the cleaning robot and a signal transmission range of each photon time-of-flight sensor, so that signal transmission ranges of two adjacent photon time-of-flight sensors have an overlapping region.

The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.

The embodiment of the application also comprises a sweeping robot which comprises the device for avoiding the obstacle in any embodiment.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 10 is a block diagram of an electronic device according to the method for constructing a road traffic network model according to the embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 10, the electronic apparatus includes: one or more processors 901, memory 902, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display Graphical User Interface (GUI) Graphical information on an external input/output device, such as a display device coupled to the Interface. In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 10 illustrates an example of a processor 901.

Memory 902 is a non-transitory computer readable storage medium as provided herein. The memory stores instructions executable by at least one processor to cause the at least one processor to execute the road traffic network model construction method provided by the application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the road traffic network model construction method provided by the present application.

The memory 902, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the road traffic network model construction method in the embodiments of the present application. The processor 901 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 902, that is, implements the road traffic network model building method in the above method embodiments.

The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the road traffic network model building electronic device, and the like. Further, the memory 902 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 902 may optionally include memory remotely located from the processor 901, which may be connected to the road traffic network model building electronics via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the road traffic network model construction method may further include: an input device 903 and an output device 904. The processor 901, the memory 902, the input device 903, and the output device 904 may be connected by a bus or other means, and fig. 10 illustrates an example of a connection by a bus.

The input device 903 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the road traffic network model building electronics, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or other input device. The output devices 904 may include a display device, auxiliary lighting devices (e.g., LEDs), tactile feedback devices (e.g., vibrating motors), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD) such as a Liquid crystal Cr9 star display 9, a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, Integrated circuitry, Application Specific Integrated Circuits (ASICs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (Cathode Ray Tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of avoiding an obstacle, comprising:

according to the feedback signals of the surrounding environment received by each photon flight time sensor, determining the relative position of the obstacle in the surrounding environment and the sweeping robot and the distance between the obstacle and the sweeping robot;

adjusting the moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot;

under the condition that the distance of the sweeping robot moving for multiple times within the preset time is smaller than a threshold value, controlling a photon flight time sensor at the front end of the sweeping robot, photon flight time sensors at two sides and a photon flight time sensor at the rear end to send signals to the surrounding environment; determining a region corresponding to a feedback signal with the weakest signal intensity as a target position region according to the feedback signals of the surrounding environment received by the photon time-of-flight sensor at the front end, the photon time-of-flight sensors at the two sides and the photon time-of-flight sensor at the rear end;

2. The method of claim 1, comprising:

determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon flight time sensors at the front end and the photon flight time sensors at the two sides;

3. The method of claim 1, comprising:

under the condition that the sweeping robot moves backwards, controlling a photon flight time sensor at the rear end of the sweeping robot and photon flight time sensors at two sides to send signals to the surrounding environment;

determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon flight time sensors at the rear end and the photon flight time sensors at the two sides;

and adjusting the retreating movement track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

4. The method of claim 2, wherein determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon time-of-flight sensor at the front end and the photon time-of-flight sensors at the two sides comprises:

under the condition that the photon flight time sensor at the front end receives feedback signals from the robot sweeping obliquely above, the relative position height between the obstacle in the obliquely above environment and the robot sweeping and the distance between the obstacle in the obliquely above environment and the robot sweeping are determined according to the strength of the feedback signals of the obliquely above environment.

5. The method of claim 2, wherein determining the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon time-of-flight sensor at the front end and the photon time-of-flight sensors at the two sides comprises:

under the condition that the photon flight time sensor at the front end receives each feedback signal from the environment obliquely below the sweeping robot, determining whether an obstacle in the environment obliquely below has a concave area or not according to the signal intensity of each feedback signal in the environment obliquely below;

and determining the relative position of the recessed area and the sweeping robot and the distance between the recessed area and the sweeping robot under the condition of having the recessed area.

6. The method of claim 1, further comprising:

and adjusting the position of each photon time-of-flight sensor relative to the sweeping robot and the signal transmission range of each photon time-of-flight sensor so as to enable the signal transmission ranges of two adjacent photon time-of-flight sensors to have an overlapping region.

7. An obstacle avoidance apparatus, comprising:

the system comprises a sending module, a control module and a control module, wherein the sending module is used for controlling a plurality of photon flight time sensors on the sweeping robot to send signals to the surrounding environment under the condition that the sweeping robot moves;

the first determination module is used for determining the relative positions of obstacles in the surrounding environment and the sweeping robot and the distance between the obstacles and the sweeping robot according to the feedback signals of the surrounding environment received by each photon flight time sensor;

the first adjusting module is used for adjusting the moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot;

the first control module is used for controlling the photon flight time sensors at the front end, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end to send signals to the surrounding environment when the condition that the distance that the sweeping robot moves for multiple times within the preset time is smaller than a threshold value is detected; determining a region corresponding to the feedback signal with the weakest signal intensity as a target position region according to the feedback signals of the surrounding environment received by the photon flight time sensor at the front end, the photon flight time sensors at the two sides and the photon flight time sensor at the rear end;

and the second control module is used for controlling the sweeping robot to move towards the target position area.

8. The apparatus of claim 7, comprising:

the sending module is further configured to control the photon flight time sensor at the front end of the sweeping robot and the photon flight time sensors on the two sides to send signals to the surrounding environment when the sweeping robot moves forward;

the first determining module is further configured to determine a relative position between the obstacle and the sweeping robot and a distance between the obstacle and the sweeping robot according to feedback signals of the surrounding environment received by the photon flight time sensor at the front end and the photon flight time sensors at the two sides;

the first adjusting module is further used for adjusting a forward moving track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

9. The apparatus of claim 7, comprising:

the sending module is also used for controlling the photon flight time sensors at the rear end and the two sides of the sweeping robot to send signals to the surrounding environment under the condition that the sweeping robot moves backwards;

the first determining module is further configured to determine the relative position between the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot according to the feedback signals of the surrounding environment received by the photon flight time sensor at the rear end and the photon flight time sensors at the two sides;

the first adjusting module is further used for adjusting a retreating movement track of the sweeping robot according to the relative position of the obstacle and the sweeping robot and the distance between the obstacle and the sweeping robot.

10. The apparatus of claim 8, wherein the first determining module comprises:

the first determining submodule is used for determining the relative position height between the obstacle in the obliquely upper environment and the sweeping robot and the distance between the obstacle in the obliquely upper environment and the sweeping robot according to the signal strength of each feedback signal of the obliquely upper environment under the condition that the photon flight time sensor at the front end receives each feedback signal from the obliquely upper environment of the sweeping robot.

11. The apparatus of claim 8, wherein the first determining module comprises:

12. The apparatus of claim 7, further comprising:

the second adjusting module is used for adjusting the position of each photon flight time sensor relative to the sweeping robot and the signal sending range of each photon flight time sensor, so that the signal sending ranges of two adjacent photon flight time sensors have an overlapping region.

13. A sweeping robot comprising an obstacle avoidance apparatus according to any one of claims 7 to 12.

14. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

15. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.