CN113311836A - Control method, device, equipment and storage medium - Google Patents

Control method, device, equipment and storage medium Download PDF

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Publication number
CN113311836A
CN113311836A CN202110571249.8A CN202110571249A CN113311836A CN 113311836 A CN113311836 A CN 113311836A CN 202110571249 A CN202110571249 A CN 202110571249A CN 113311836 A CN113311836 A CN 113311836A
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path
area
entered
determining
wall line
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CN113311836B (en
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卜大鹏
曾杰鑫
霍峰
秦宝星
程昊天
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Shanghai Gaussian Automation Technology Development Co Ltd
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Shanghai Gaussian Automation Technology Development Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

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  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a control method, a control device, control equipment and a storage medium. The method comprises the following steps: acquiring information of an area to be entered and a wall line; determining an edge path according to the region to be entered; according to the technical scheme, the problems that in the task execution process, the robot regards the road edge, the wall and the like as common obstacles and is far away from the common obstacles when executing the task, a large area is missed, and the task execution effect is poor are solved, so that the electronic equipment can be controlled to track the edge path according to the wall line information to execute the task, and the task execution efficiency and the user experience are improved.

Description

Control method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to the technical field of computers, in particular to a control method, a control device, control equipment and a storage medium.
Background
With the rapid development of automation technology and artificial intelligence, robots have been applied in various scenes. The cleaning industry is a labor-intensive industry with high repeatability and is in an industry transformation period with labor force shortage and labor cost increase, and the intelligent floor washing robot can complete simple and repeated cleaning tasks through the unmanned technology, so that the labor cost is greatly reduced, and the automation of cleaning work is realized.
In the application scenario of the cleaning robot, in order to improve the cleaning efficiency and effect of the cleaning robot, the welting cleaning is a very critical function. In the cleaning process, the robot can encounter an area which is close to a wall or a road edge inevitably, the road edge, the wall and the like can be generally regarded as common obstacles by the traditional robot, and the traditional robot is far away from the common obstacles during cleaning, so that a large area is missed to be cleaned, and the cleaning effect is reduced.
Disclosure of Invention
The embodiment of the invention provides a control method, a control device, control equipment and a storage medium, so that the task execution efficiency and the user experience can be improved.
In a first aspect, an embodiment of the present invention provides a control method, including:
acquiring information of an area to be entered and a wall line;
determining an edge path according to the region to be entered;
and controlling the electronic equipment to track the edge path according to the wall line information and executing a task.
Further, controlling the electronic device to track the edge path according to the wall line information, and executing a task includes:
determining a path to be entered according to the current position of the electronic equipment and the edge path;
determining the distance between the path to be entered and the wall line according to the wall line information;
if the distance between the path to be entered and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a task;
and if the distance between the path to be entered and the wall line is greater than the distance threshold and is in an obstacle area, modifying the path to be entered.
Further, modifying the path to be entered includes:
acquiring outline information of the electronic equipment;
determining a target location from the contour information, wherein the target location is in a non-obstacle region;
and modifying the path to be entered according to the target position.
Further, the method also comprises the following steps:
if the distance between the path to be entered and the wall line is smaller than or equal to the distance threshold, determining a target execution path according to the edge path;
and generating a control instruction according to the target execution path, and controlling the electronic equipment to execute a task.
Further, determining a target execution path according to the edge path includes:
and determining a target execution path according to the edge path, the optimization function and the constraint function.
Further, acquiring the area to be entered includes:
dividing areas according to the obstacle information to obtain an obstacle area and a cleaning area;
acquiring a target area input by a user;
determining at least one first sweeping area based on the target area and the sweeping area;
and determining a first cleaning area closest to the electronic equipment as the area to be entered.
Further, determining an edge path according to the area to be entered includes:
and performing edge search on the area to be entered to obtain an edge path.
Further, acquiring the wall line information includes:
acquiring sensor data;
performing straight line fitting on the sensor data to obtain at least one line segment;
and determining wall line information according to the at least one line segment.
In a second aspect, an embodiment of the present invention further provides a control apparatus, where the apparatus includes:
the acquisition module is used for acquiring information of an area to be accessed and wall lines;
the determining module is used for determining an edge path according to the area to be entered;
and the execution module is used for controlling the electronic equipment to track the edge path according to the wall line information and executing a task.
Further, the execution module is specifically configured to:
determining a path to be entered according to the current position of the electronic equipment and the edge path;
determining the distance between the path to be entered and the wall line according to the wall line information;
if the distance between the path to be entered and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a task;
and if the distance between the path to be entered and the wall line is greater than the distance threshold and is in an obstacle area, modifying the path to be entered.
Further, the execution module is specifically configured to:
acquiring outline information of the electronic equipment;
determining a target location from the contour information, wherein the target location is in a non-obstacle region;
and modifying the path to be entered according to the target position.
Further, the execution module is specifically configured to:
if the distance between the path to be entered and the wall line is smaller than or equal to the distance threshold, determining a target execution path according to the edge path;
and generating a control instruction according to the target execution path, and controlling the electronic equipment to execute a task.
Further, the execution module is specifically configured to:
and determining a target execution path according to the edge path, the optimization function and the constraint function.
Further, the obtaining module is specifically configured to:
dividing areas according to the obstacle information to obtain an obstacle area and a cleaning area;
acquiring a target area input by a user;
determining at least one first sweeping area based on the target area and the sweeping area;
and determining a first cleaning area closest to the electronic equipment as the area to be entered.
Further, the determining module is specifically configured to:
and performing edge search on the area to be entered to obtain an edge path.
Further, the obtaining module is specifically configured to:
acquiring sensor data;
performing straight line fitting on the sensor data to obtain at least one line segment;
and determining wall line information according to the at least one line segment.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the control method according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium containing a computer program, where the computer program is stored, and when the computer program is executed by one or more processors, the computer program implements the control method according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the information of the area to be accessed and the wall line is obtained; determining an edge path according to the region to be entered; according to the wall line information control electronic equipment tracks the edge path and executes the task, the problems that in the task executing process, a robot regards a road edge, a wall and the like as common obstacles and is far away from the common obstacles when the task is executed, a large area is missed to be scanned, and the task executing effect is poor are solved, the wall line information control electronic equipment tracks the edge path and executes the task, and therefore task executing efficiency and user experience can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a control method in an embodiment of the invention;
FIG. 1a is a diagrammatic view of an area to be accessed in an embodiment of the present invention;
FIG. 1b is a flow chart of another control method according to an embodiment of the present invention;
FIG. 1c is a flow chart of another control method according to an embodiment of the present invention;
FIG. 1d is a flow chart of another control method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer-readable storage medium containing a computer program in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Before discussing exemplary embodiments in greater detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
The term "include" and variations thereof as used herein are intended to be open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment".
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Fig. 1 is a flowchart of a control method provided in an embodiment of the present invention, where the present embodiment is applicable to a case of controlling an electronic device, and the method may be executed by a control apparatus in an embodiment of the present invention, where the apparatus may be implemented in a software and/or hardware manner, as shown in fig. 1, the method specifically includes the following steps:
and S110, acquiring information of an area to be entered and a wall line.
The area to be entered is related to a task currently executed by the electronic device, and if the task currently executed is a cleaning task, the area to be entered is an area to be cleaned.
The method for acquiring the area to be entered may be as follows: obtaining obstacle information, and performing area division according to the obstacle information to obtain an obstacle area and a cleaning area; acquiring a target area input by a user; determining at least one first sweeping area based on the target area and the sweeping area; and determining a first cleaning area closest to the electronic equipment as the area to be entered. For example, an obstacle grid in a map updated in real time may be first marked as a cleaning-unnecessary area and a non-obstacle grid may be marked as a cleaning-unnecessary area based on the obstacle information. And then receiving polygon information input by a user, marking the area outside the polygon as an area not needing cleaning, and marking the area inside the polygon as a first cleaning area. At this time, the whole map has only two areas, a cleaning-free area and at least one first cleaning-free area, and the cleaning-free area comprises: an obstacle region. And finding a first cleaning area closest to the current position of the electronic equipment, and determining the first cleaning area closest to the current position of the electronic equipment as the area to be cleaned.
The wall line information may be acquired in a manner that: acquiring laser data; performing straight line fitting on the laser data to obtain at least one line segment; and determining wall line information according to the at least one line segment. For example, a device for emitting two-dimensional laser is arranged on the electronic equipment, two-dimensional laser information is acquired, straight line information in a laser spot is extracted from the two-dimensional laser information, and if the length of the fitted straight line segment exceeds 0.8m, the position is determined to have a wall line. The wall line information can be obtained by the following method: the method and the device for acquiring the wall information have the advantages that the pixel points of the visual data are acquired, and the pixel points of the visual data are converted into point cloud data, namely the virtual radar.
And S120, determining an edge path according to the region to be entered.
For example, the method for determining the edge path according to the area to be entered may be to perform edge search on the area to be entered to obtain the edge path, and for example, the edge path of the entire area may be extracted along the edge search of the area to be entered, as shown by a boundary between a white area and a black area in fig. 1 a. And after smoothing the edge path, taking the edge path as an edge path for subsequent line following cleaning.
And S130, controlling the electronic equipment to track the edge path according to the wall line information, and executing a cleaning task.
The electronic device may be an intelligent mobile robot, for example, a cleaning robot, or other electronic devices, which is not limited in this embodiment of the present invention.
For example, the method for controlling the electronic device to track the edge path according to the wall line information may be: determining a path to be cleaned according to the current position of the electronic equipment and the edge path; determining the distance between the path to be cleaned and the wall line according to the wall line information; if the distance between the path to be cleaned and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a cleaning task; according to the wall line information, controlling the electronic equipment to track the edge path, and executing the task in a manner that: determining a path to be cleaned according to the current position of the electronic equipment and the edge path; and determining the distance between the path to be cleaned and the wall line according to the wall line information, and modifying the path to be cleaned if the distance between the path to be cleaned and the wall line is greater than a distance threshold value and is in an obstacle area. Controlling the electronic device to track the edge path according to the wall line information, wherein the task execution mode can also be as follows: determining a path to be cleaned according to the current position of the electronic equipment and the edge path; determining the distance between the path to be cleaned and the wall line according to the wall line information, and if the distance between the path to be cleaned and the wall line is smaller than or equal to a distance threshold value, determining a target execution path according to the edge path; and generating a control instruction according to the target execution path, and controlling the electronic equipment to execute a cleaning task.
Optionally, controlling the electronic device to track the edge path according to the wall line information, and executing a task includes:
determining a path to be entered according to the current position of the electronic equipment and the edge path;
determining the distance between the path to be entered and the wall line according to the wall line information;
if the distance between the path to be entered and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a task;
and if the distance between the path to be entered and the wall line is greater than the distance threshold and is in an obstacle area, modifying the path to be entered.
Wherein the non-obstacle region is a region other than the obstacle region.
The distance threshold may be set by a user or a system, which is not limited in the embodiment of the present invention, and for example, the distance threshold may be 1 meter.
The path to be entered may be a path to be cleaned by the electronic device, and the path to be entered may be a path selected from an edge path according to the current position of the electronic device, for example, an edge path 3 meters ahead of the electronic device may be determined as the path to be entered.
The method for determining the distance between the path to be cleared and the wall line according to the wall line information may be to obtain the distance from a point on the path to be cleared to the wall line, for example, the distance from each path point on an edge path 3 meters ahead of the electronic device to the wall line may be obtained.
The method for modifying the path to be entered may be as follows: moving a path point which is positioned in an obstacle area on a path to be entered to a non-obstacle area; the method for modifying the path to be entered may further include: acquiring outline information of the electronic equipment; determining a target location from the contour information, wherein the target location is in a non-obstacle region; and modifying the path to be entered according to the target position.
Exemplarily, as shown in fig. 1b, the method specifically includes the following steps: acquiring information of an area to be entered and a wall line; determining an edge path according to the region to be entered; determining a path to be entered according to the current position of the electronic equipment and the edge path; determining the distance between the path to be entered and the wall line according to the wall line information; if the distance between the path to be entered and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a task; and if the distance between the path to be entered and the wall line is greater than a distance threshold value and is in an obstacle area, modifying the path to be entered. It should be noted that, if the electronic device is located in the obstacle area, it indicates that the electronic device is located in the dangerous area, and only when the electronic device moves out of the obstacle area and enters the non-obstacle area, the electronic device is located in a sufficiently safe position, and therefore, the path to be entered needs to be modified.
Optionally, modifying the path to be cleaned includes:
acquiring outline information of the electronic equipment;
determining a target location from the contour information, wherein the target location is in a non-obstacle region;
and modifying the path to be entered according to the target position.
The target position is a sufficient safety position, if the electronic equipment is located in an obstacle area, the electronic equipment is located in a dangerous area, and only when the electronic equipment moves out of the obstacle area and enters a non-obstacle area, the electronic equipment is located in the sufficient safety position.
The method for determining the target position according to the contour information may be: according to the contour information of the electronic equipment and the current position of the electronic equipment, moving the path point in the obstacle area out of the obstacle area to obtain the position of the moved path point, namely the target position.
Exemplarily, as shown in fig. 1c, information of an area to be entered and a wall line is obtained; determining an edge path according to the region to be entered; determining a path to be entered according to the current position of the electronic equipment and the edge path; determining the distance between the path to be entered and the wall line according to the wall line information; if the distance between the path to be entered and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a task; if the distance between the path to be entered and the wall line is greater than a distance threshold value and is in an obstacle area, acquiring the contour information of the electronic equipment; determining a target position according to the contour information, wherein the target position is in a non-obstacle area; and modifying the path to be entered according to the target position. The method for modifying the path to be entered according to the target position may be: replacing the position of the path point of the obstacle area with a target position, wherein the distance from the path point to the wall line is greater than a distance threshold value; the method for modifying the path to be entered according to the target position may also be: and moving the position of the path point of the barrier area, wherein the distance of the wall line is greater than the distance threshold value, to the target position. For example, if the distance from the waypoint a to the wall line is greater than 1 meter and the waypoint a is located in the obstacle area, the target position p is determined according to the contour information of the electronic device, the position of the waypoint a is moved to the target position p, and if the distance from the waypoint b to the wall line is greater than 1 meter and the waypoint b is located in the obstacle area, the target position q is determined according to the contour information of the electronic device, and the position of the waypoint b is moved to the target position q.
Optionally, the method further includes:
if the distance between the path to be entered and the wall line is smaller than or equal to the distance threshold, determining a target execution path according to the edge path;
and generating a control instruction according to the target execution path, and controlling the electronic equipment to execute a task.
The distance threshold may be set by a user or a system, which is not limited in the embodiment of the present invention, and for example, the distance threshold may be 1 meter.
Exemplarily, as shown in fig. 1d, information of an area to be entered and a wall line is obtained; determining an edge path according to the region to be entered; determining a path to be entered according to the current position of the electronic equipment and the edge path; determining the distance between the path to be entered and the wall line according to the wall line information; if the distance between the path to be entered and the wall line is smaller than or equal to a distance threshold, determining a target execution path according to the edge path; and generating a control instruction according to the target execution path, and controlling the electronic equipment to execute a task. The method for acquiring the distance between the path to be entered and the wall line comprises the following steps: the method includes the steps of obtaining a first path to be cleaned in a preset distance in front of a current position of the electronic device, and obtaining a distance from a path point on the first path to be cleaned to a wall line. And taking path points corresponding to the 3m edge paths, calculating the distance from the path points to the wall line, and if one path point is far away from the wall line, determining that the scene is not a wall-attached scene.
For example, after obtaining the path to be entered, the cleaning robot may track the path to be entered and perform the task. In the line tracing process, the distance between the path to be entered and the wall line is continuously checked, and if the path to be entered is far away from the wall line (beyond 1.0 m), the path to be entered is deviated to a sufficient safe position to continue executing the task; if the distance between the path to be entered and the wall line is within the wall attaching range (within 1 m), the cleaning robot is considered to need to carry out edge attaching cleaning. After the welt cleaning action is determined to be executed, a path to be entered which is automatically covered and generated is used as a welt reference line, a path which is just safe and is close to the path to be entered as much as possible is generated through a nonlinear optimization method, and the path is used as a target execution path for welt cleaning. In the constructed nonlinear model, the distance between the target execution path and the path to be entered is taken as an objective function, and the kinematic constraint of the cleaning robot and the safety of the path are taken as constraint terms.
Optionally, determining a target execution path according to the edge path includes:
the following optimization function is established:
Figure BDA0003082774710000081
wherein the coordinates of the target path point on the target execution path are
Figure BDA0003082774710000082
The coordinates of the path points on the edge path are
Figure BDA0003082774710000083
The edge path comprises n +1 path points;
and the following constraint functions are established:
Figure BDA0003082774710000091
Figure BDA0003082774710000092
Figure BDA0003082774710000093
Figure BDA0003082774710000094
Figure BDA0003082774710000095
Figure BDA0003082774710000096
Figure BDA0003082774710000097
Figure BDA0003082774710000098
Figure BDA0003082774710000099
wherein, Δ x is a preset horizontal coordinate difference value, Δ y is a preset vertical coordinate difference value,
Figure BDA00030827747100000910
is the angle of direction of the path point,
Figure BDA00030827747100000911
is the direction angle of the target path point, delta theta is the difference between the direction angle of the target path point and the direction angle of the path point,
Figure BDA00030827747100000912
is the curvature value, k, of the target path pointmaxThe value of the maximum curvature is the value of the maximum curvature,
Figure BDA00030827747100000913
is the distance, Δ s, between the current target waypoint and the next target waypointminIs a minimum distance, Δ smaxIs the maximum distance;
Figure BDA00030827747100000914
is the coordinate of the center point of the cleaning device,
Figure BDA00030827747100000915
for the closest obstacle coordinate to the center point coordinate of the cleaning device, dminThe radius is the inscribed radius of the cleaning equipment, and l is a set value;
and determining a target execution path according to the edge path, the optimization function and the constraint function.
Illustratively, the output target execution path points and the edge path points are in one-to-one correspondence, and the square of the distance between the two is easy to obtain as follows:
Figure BDA00030827747100000916
let the optimization function be:
Figure BDA00030827747100000917
wherein the coordinates of the target path point on the target execution path are
Figure BDA00030827747100000918
The coordinates of the path points on the edge path are
Figure BDA00030827747100000919
The edge path comprises n +1 path points;
obtaining an optimization function gradient according to the optimization function as follows:
Figure BDA0003082774710000101
Figure BDA0003082774710000102
Figure BDA0003082774710000103
wherein,
Figure BDA0003082774710000104
is the direction angle of the target path point,
Figure BDA0003082774710000105
is the curvature value of the target waypoint,
Figure BDA0003082774710000106
is the distance between the current target waypoint and the next target waypoint.
Constraint conditions are as follows:
upper and lower limits of the optimization variables:
the position coordinates cannot deviate too far from the reference position:
Figure BDA0003082774710000107
Figure BDA0003082774710000108
the deviation of the direction angle of the target waypoint from the direction angle of the waypoint cannot be too large:
Figure BDA0003082774710000109
upper and lower limits of curvature value of target path point:
Figure BDA00030827747100001010
upper and lower limits of the distance between the current target path point and the next target path point:
Figure BDA00030827747100001011
checking and constraining:
similar to the approximate difference constraint in DWA:
Figure BDA00030827747100001012
Figure BDA00030827747100001013
Figure BDA00030827747100001014
gradient:
Figure BDA00030827747100001015
hessian matrix:
Figure BDA0003082774710000111
accordingly, obtained in the manner described above
Figure BDA0003082774710000112
And
Figure BDA0003082774710000113
security constraints (analytical methods):
the coordinates of the target path point are
Figure RE-GDA0003180083610000114
The coordinates of the center point of the cleaning device can be determined
Figure RE-GDA0003180083610000115
Safety can be ensured only by ensuring that the distance between the coordinate of the central point of the cleaning equipment and the obstacle is greater than the inner tangent radius of the cleaning equipment, and the distance is inquired in the generated obstacle distance table
Figure RE-GDA0003180083610000116
The nearest obstacle coordinate is
Figure RE-GDA0003180083610000117
The security constraints can be expressed as:
Figure BDA0003082774710000118
gradient:
Figure BDA0003082774710000119
hessian matrix:
Figure BDA00030827747100001110
and determining a target execution path according to the edge path, the optimization function and the constraint function.
Optionally, acquiring the area to be entered includes:
dividing areas according to the obstacle information to obtain an obstacle area and a cleaning area;
acquiring a target area input by a user;
determining at least one first sweeping area based on the target area and the sweeping area;
and determining a first cleaning area closest to the electronic equipment as the area to be entered.
The obstacle information may be acquired in a manner of: the electronic equipment is provided with a device for emitting two-dimensional laser, the two-dimensional laser is reflected when hitting the barrier and scattering, and then the distance between the barrier and the cleaning device is obtained, and the coordinates of the barrier are obtained.
The target area may be an area input by a user, for example, polygon information input by the user, and the target area is an area determined according to the polygon information.
For example, the obstacle grid in the map updated in real time is marked as a non-cleaning-required area according to the obstacle information, and the non-obstacle grid is marked as a cleaning area. And then receiving polygon information input by a user, marking the area outside the polygon as an area not needing cleaning, and marking the area inside the polygon as a first cleaning area. In this case, the whole map has only two areas, a cleaning-unnecessary area and at least one first cleaning-unnecessary area, and the cleaning-unnecessary area includes: an obstacle region. And finding a first cleaning area which is closest to the current position of the electronic equipment.
Optionally, determining an edge path according to the region to be entered includes:
and performing edge search on the area to be entered to obtain an edge path.
For example, an edge search is performed on the region to be entered to obtain an edge path, which may be, for example, as shown in fig. 1a, a white region, and then an edge search is performed along the edge of the region to be entered to extract the entire region edge path, as shown in fig. 1a, where the white region and the black region are located at the boundary. And after smoothing the edge path, taking the edge path as an edge path for subsequent line following cleaning.
Optionally, the obtaining the wall line information includes:
acquiring sensor data;
performing straight line fitting on the sensor data to obtain at least one line segment;
and determining wall line information according to the at least one line segment.
The sensor data may be laser data or other data, which is not limited in the embodiment of the present invention.
For example, the manner of acquiring the wall line information may be: and receiving a result of sensing the detected wall line through topic, and accessing 50 frames of wall line information.
Illustratively, during cleaning, wall line information needs to be extracted in order to sweep as close to the wall line as possible. And extracting the straight line information in the laser point from the two-dimensional laser information, and if the length of the fitted straight line segment exceeds 0.8m, determining that the wall line exists at the position.
In a specific example, when the cleaning robot performs an automatic coverage cleaning task, the cleaning robot performs area division according to obstacle information in a map to obtain an obstacle area and a cleaning area, receives polygon information input by a user, and marks an area outside the polygon as an area not requiring cleaning according to the polygon information. And then obtaining at least one first cleaning area, obtaining the distance between each first cleaning area and the cleaning robot, determining the first cleaning area closest to the electronic equipment as an area to be entered, performing edge search on the area to be entered to obtain an edge path, when the edge path is judged to be within a certain distance of an obstacle, the cleaning robot firstly performs speed reduction, and then performs different decisions according to the identified wall line information.
In one specific example, the path to be cleaned consists of N +1 discrete waypoints
Figure BDA0003082774710000131
Composition of, the coordinates of the path points are
Figure BDA0003082774710000132
An output path is expected to be obtained, the obstacle is approached as much as possible, and the wall pasting effect is achieved. The output path consists of N +1 discrete target path points
Figure BDA0003082774710000133
The components are in one-to-one correspondence with path points on the edge path. Each target path point is composed of
Figure BDA0003082774710000134
And determining the x and y coordinates corresponding to the point, the direction angle of the target path point, the curvature value of the target path point and the distance between the current target path point and the next target path point.
The optimization of the optimization function aims to enable the output target execution path to be close to the wall as much as possible, so that the effect of edge pasting is achieved. The edge path is brought as close as possible to the obstacle without considering the path safety, whereby the target whose output target execution path is as close as possible to the wall is converted into the target as close as possible to the edge path.
The output target execution path points and the edge path points are in one-to-one correspondence, and the square of the distance between the two is easy to obtain:
Figure BDA0003082774710000135
let the optimization function be:
Figure BDA0003082774710000136
wherein the coordinates of the target path point on the target execution path are
Figure BDA0003082774710000137
The coordinates of the path points on the edge path are
Figure BDA0003082774710000138
The edge path comprises n +1 path points;
obtaining an optimization function gradient according to the optimization function as follows:
Figure BDA0003082774710000139
Figure BDA00030827747100001310
Figure BDA00030827747100001311
wherein,
Figure BDA0003082774710000141
is the direction angle of the target path point,
Figure BDA0003082774710000142
is the curvature value of the target waypoint,
Figure BDA0003082774710000143
is the distance between the current target waypoint and the next target waypoint.
Constraint conditions are as follows:
upper and lower limits of the optimization variables:
the position coordinates cannot deviate too far from the reference position:
Figure BDA0003082774710000144
Figure BDA0003082774710000145
the deviation of the direction angle of the target waypoint from the direction angle of the waypoint cannot be too large:
Figure BDA0003082774710000146
upper and lower limits of curvature value of target path point:
Figure BDA0003082774710000147
upper and lower limits of the distance between the current target path point and the next target path point:
Figure BDA0003082774710000148
checking and constraining:
similar to the approximate difference constraint in DWA:
Figure BDA0003082774710000149
Figure BDA00030827747100001410
Figure BDA00030827747100001411
gradient:
Figure BDA00030827747100001412
hessian matrix:
Figure BDA0003082774710000151
accordingly, obtained in the manner described above
Figure BDA0003082774710000152
And
Figure BDA0003082774710000153
security constraints (analytical methods):
the coordinates of the target path point are
Figure RE-GDA0003180083610000154
The center of the cleaning device can be determinedPoint coordinates
Figure RE-GDA0003180083610000155
Safety can be ensured only by ensuring that the distance between the coordinate of the central point of the cleaning equipment and the obstacle is greater than the inner tangent radius of the cleaning equipment, and the distance is inquired in the generated obstacle distance table
Figure RE-GDA0003180083610000156
The nearest obstacle coordinate is
Figure RE-GDA0003180083610000157
The security constraints can be expressed as:
Figure BDA0003082774710000158
gradient:
Figure BDA0003082774710000159
hessian matrix:
Figure BDA00030827747100001510
in another specific example, first, whether the wall is in a welt state is determined according to the identified wall line information. In the welt state, the edge path is extracted based on the boundary information of the area to be cleaned, and it cannot be guaranteed that the path is safe. The target execution path after the nonlinear optimization processing can ensure the safety of the path and simultaneously approaches the original path as much as possible so as to achieve the purpose of welting and cleaning. The cleaning robot meets the vehicle in the garage channel, and the opposite direction vehicle cannot pass through the cleaning robot due to the fact that the cleaning robot is located in the middle of the vehicle channel, so that the function that the cleaning robot actively leans to the side to give way is triggered.
According to the technical scheme of the embodiment, the information of the area to be accessed and the wall line is obtained; determining an edge path according to the region to be entered; according to the wall line information, the electronic equipment is controlled to track the edge path to execute the task, the problems that in the task executing process, the robot regards the road edge, the wall and the like as common obstacles, the common obstacles are far away when the task is executed, a large area is missed to be swept, and the task executing effect is poor are solved, the electronic equipment is controlled to track the edge path according to the wall line information to execute the task, and therefore the task executing efficiency and the user experience can be improved.
Fig. 2 is a schematic structural diagram of a control device according to an embodiment of the present invention. The present embodiment may be applicable to the case of controlling an electronic device, the apparatus may be implemented in a software and/or hardware manner, and the apparatus may be integrated in any device providing a control function, as shown in fig. 2, where the control apparatus specifically includes: an acquisition module 210, a determination module 220, and an execution module 230.
The system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring information of an area to be accessed and wall lines;
the determining module is used for determining an edge path according to the area to be entered;
and the execution module is used for controlling the electronic equipment to track the edge path according to the wall line information and executing a task.
The method comprises the steps of obtaining information of an area to be entered and wall lines through an obtaining module, determining an edge path according to the area to be entered through a determining module, controlling an electronic device to track the edge path according to the wall line information through an executing module, executing tasks, and solving the problems that in the task executing process, a robot regards a road edge, a wall and the like as common obstacles, the common obstacles are far away during the task executing process, a large area is missed, and the task executing effect is poor.
Optionally, the execution module is specifically configured to:
determining a path to be entered according to the current position of the electronic equipment and the edge path;
determining the distance between the path to be entered and the wall line according to the wall line information;
if the distance between the path to be entered and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a task;
and if the distance between the path to be entered and the wall line is greater than the distance threshold and is in an obstacle area, modifying the path to be entered.
Determining a path to be entered according to the current position of the electronic equipment and the edge path through an execution module; determining the distance between a path to be entered and a wall line according to the wall line information, executing a task if the distance between the path to be entered and the wall line is greater than a distance threshold and is in a non-obstacle area, modifying the path to be entered if the distance between the path to be entered and the wall line is greater than the distance threshold and is in the obstacle area, so as to prevent the problem that the electronic equipment is far away from a common obstacle when executing the task, and large area missing scanning is caused, determining whether to execute the task or modify the path to be entered according to the distance between the path to be entered and the wall line and whether the path to be entered is in the non-obstacle area, and improving task execution efficiency and user experience.
Optionally, the execution module is specifically configured to:
acquiring outline information of the electronic equipment;
determining a target location from the contour information, wherein the target location is in a non-obstacle region;
and modifying the path to be entered according to the target position.
The target position is determined by the execution module according to the contour information of the electronic equipment, the path to be entered is modified according to the target position, if the electronic equipment of the cleaning equipment is in the obstacle area, the electronic equipment of the cleaning equipment is in the dangerous area, only when the electronic equipment of the cleaning equipment moves out of the obstacle area and enters the non-obstacle area, the electronic equipment is in the enough safe position, and the path to be entered is modified according to the target position, so that the electronic equipment can be prevented from being placed in the dangerous area.
Optionally, the execution module is specifically configured to:
if the distance between the path to be entered and the wall line is smaller than or equal to the distance threshold, determining a target execution path according to the edge path;
and generating a control instruction according to the target execution path, and controlling the electronic equipment to execute a task.
For example, the execution module first determines whether the wall line is in a welt state according to the identified wall line information. In the welt state, the edge path is extracted based on the boundary information of the area to be cleaned, and it cannot be guaranteed that the path is safe. The target execution path after the nonlinear optimization processing can ensure the safety of the path and simultaneously approaches to the original path as much as possible so as to achieve the purpose of welting and cleaning. Optionally, the execution module is specifically configured to:
the following optimization function is established:
Figure BDA0003082774710000171
wherein the coordinates of the target path point on the target execution path are
Figure BDA0003082774710000172
The coordinates of the path points on the edge path are
Figure BDA0003082774710000173
The edge path comprises n +1 path points;
and the following constraint functions are established:
Figure BDA0003082774710000174
Figure BDA0003082774710000175
Figure BDA0003082774710000176
Figure BDA0003082774710000181
Figure BDA0003082774710000182
Figure BDA0003082774710000183
Figure BDA0003082774710000184
Figure BDA0003082774710000185
Figure BDA0003082774710000186
wherein, Δ x is a preset horizontal coordinate difference value, Δ y is a preset vertical coordinate difference value,
Figure BDA0003082774710000187
is the angle of direction of the path point,
Figure BDA0003082774710000188
is the direction angle of the target path point, delta theta is the difference between the direction angle of the target path point and the direction angle of the path point,
Figure BDA0003082774710000189
is the curvature value, k, of the target path pointmaxThe value of the maximum curvature is the value of the maximum curvature,
Figure BDA00030827747100001810
for the current target roadDistance between a waypoint and the next target waypoint, Δ sminIs a minimum distance, Δ smaxIs the maximum distance;
Figure BDA00030827747100001811
is the coordinate of the center point of the cleaning device,
Figure BDA00030827747100001812
for the closest obstacle coordinate to the center point coordinate of the cleaning device, dminThe radius is the inscribed radius of the cleaning equipment, and l is a set value;
and determining a target execution path according to the edge path, the optimization function and the constraint function.
Optionally, the obtaining module is specifically configured to:
dividing areas according to the obstacle information to obtain an obstacle area and a cleaning area;
acquiring a target area input by a user;
determining at least one first sweeping area based on the target area and the sweeping area;
and determining a first cleaning area closest to the electronic equipment as the area to be entered.
Optionally, the determining module is specifically configured to:
and performing edge search on the area to be entered to obtain an edge path.
Optionally, the obtaining module is specifically configured to:
acquiring sensor data;
performing straight line fitting on the sensor data to obtain at least one line segment;
and determining wall line information according to the at least one line segment.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, the information of the area to be accessed and the wall line is obtained; determining an edge path according to the region to be entered; according to the wall line information, the electronic equipment is controlled to track the edge path to execute the task, the problems that in the task execution process, the robot regards the road edge, the wall and the like as common obstacles, the common obstacles are far away when the task is executed, a large area is missed to be swept, and the task execution effect is poor are solved, the electronic equipment is controlled to track the edge path according to the wall line information to execute the task, and therefore task execution efficiency and user experience can be improved.
Fig. 3 is a schematic structural diagram of an electronic device in an embodiment of the present invention. FIG. 3 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 3 is only an example and should not bring any limitations to the function and scope of use of the embodiments of the present invention.
As shown in FIG. 3, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, at least one sensor 15, a system memory 28, a bus 18 connecting the various system components (including the system memory 28 and the processing unit 16), wherein the sensor may be a radar sensor, a lidar sensor, or a vision sensor.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (a Compact disk-Read Only Memory (CD-ROM)), Digital Video disk (DVD-ROM), or other optical media may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. In the electronic device 12 of the present embodiment, the display 24 is not provided as a separate body, but is embedded in the mirror surface, and when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), and/or a public Network such as the internet) via the Network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the control method provided by the embodiment of the present invention:
acquiring information of an area to be entered and a wall line;
determining an edge path according to the region to be entered;
and controlling the electronic equipment to track the edge path according to the wall line information and executing a task.
Fig. 4 is a schematic structural diagram of a computer-readable storage medium containing a computer program according to an embodiment of the present invention. Embodiments of the present invention provide a computer-readable storage medium 61, on which a computer program 610 is stored, which when executed by one or more processors implements the control method as provided by all inventive embodiments of the present application:
acquiring information of an area to be entered and a wall line;
determining an edge path according to the region to be entered;
and controlling the electronic equipment to track the edge path according to the wall line information and executing a task.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (Hyper Text Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in more detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (11)

1. A control method, comprising:
acquiring information of an area to be entered and a wall line;
determining an edge path according to the region to be entered;
and controlling the electronic equipment to track the edge path according to the wall line information and executing a task.
2. The method of claim 1, wherein controlling an electronic device to track the edge path according to the wall line information, performing a task comprises:
determining a path to be entered according to the current position of the electronic equipment and the edge path;
determining the distance between the path to be entered and the wall line according to the wall line information;
if the distance between the path to be entered and the wall line is greater than the distance threshold value and is in a non-obstacle area, executing a task;
and if the distance between the path to be entered and the wall line is greater than the distance threshold and is in an obstacle area, modifying the path to be entered.
3. The method of claim 2, wherein modifying the path to be entered comprises:
acquiring outline information of the electronic equipment;
determining a target location from the contour information, wherein the target location is in a non-obstacle region;
and modifying the path to be entered according to the target position.
4. The method of claim 2, further comprising:
if the distance between the path to be entered and the wall line is smaller than or equal to a distance threshold, determining a target execution path according to the edge path;
and generating a control instruction according to the target execution path, and controlling the electronic equipment to execute a task.
5. The method of claim 4, wherein determining a target execution path from the edge path comprises:
and determining a target execution path according to the edge path, the optimization function and the constraint function.
6. The method of claim 1, wherein acquiring the area to be entered comprises:
dividing areas according to the obstacle information to obtain an obstacle area and a cleaning area;
acquiring a target area input by a user;
determining at least one first sweeping area based on the target area and the sweeping area;
and determining a first cleaning area closest to the electronic equipment as the area to be entered.
7. The method of claim 1, wherein determining an edge path from the area to enter comprises:
and performing edge search on the area to be entered to obtain an edge path.
8. The method of claim 1, wherein obtaining wall line information comprises:
acquiring sensor data;
performing straight line fitting on the sensor data to obtain at least one line segment;
and determining wall line information according to the at least one line segment.
9. A control device, comprising:
the acquisition module is used for acquiring information of an area to be accessed and wall lines;
the determining module is used for determining an edge path according to the area to be entered;
and the execution module is used for controlling the electronic equipment to track the edge path according to the wall line information and executing a task.
10. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the processors to implement the method of any of claims 1-8.
11. A computer-readable storage medium containing a computer program, on which the computer program is stored, characterized in that the program, when executed by one or more processors, implements the method according to any one of claims 1-8.
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CN114714350A (en) * 2022-03-31 2022-07-08 北京云迹科技股份有限公司 Service robot control method, device, equipment and medium
CN114714350B (en) * 2022-03-31 2024-03-26 北京云迹科技股份有限公司 Control method, device, equipment and medium of service robot

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