CN113467452A - Avoidance method and device for mobile robot, storage medium, and electronic device - Google Patents
Avoidance method and device for mobile robot, storage medium, and electronic device Download PDFInfo
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- CN113467452A CN113467452A CN202110753693.1A CN202110753693A CN113467452A CN 113467452 A CN113467452 A CN 113467452A CN 202110753693 A CN202110753693 A CN 202110753693A CN 113467452 A CN113467452 A CN 113467452A
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- 238000007405 data analysis Methods 0.000 claims description 8
- 238000010408 sweeping Methods 0.000 abstract description 36
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- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The invention provides an avoiding method and device of a mobile robot, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: the mobile robot comprises one or more target areas and position information of the one or more target areas on an environment map, wherein the probability that the mobile robot is stuck in the target areas is greater than a preset threshold value; correspondingly displaying one or more target areas in the environment map according to the position information, responding to the selection operation of a target object, and selecting a second area list in the first area list; and sending the second area list to the mobile robot to instruct the mobile robot to avoid the target area included in the second area list in the process of traveling. By adopting the technical scheme, the problem that the sweeping robot is easy to be trapped in a narrow space in the process of sweeping the ground is solved.
Description
[ technical field ] A method for producing a semiconductor device
The present invention relates to the field of communications, and in particular, to a method and an apparatus for avoiding a mobile robot, a storage medium, and an electronic apparatus.
[ background of the invention ]
With the development of science and technology, sweeping robots become more and more common in daily life, but the sweeping robot can have many problems and is not intelligent enough in the use process, for example, when the sweeping robot cleans in a room, the sweeping robot can be trapped for some reasons, so that the cleaning can not be continued.
In the related art, a commonly used escaping method of a sweeping robot is to search whether a path which can escape from a trapped state exists, but is limited by the sensor precision of the sweeping machine and the error of map building precision, and an ideal result is difficult to obtain for a narrow space, so that the machine is easy to be trapped.
Aiming at the problems that the floor sweeping robot is easy to get stuck in a narrow space in the process of sweeping the ground in the related technology, an effective solution is not provided at present.
[ summary of the invention ]
The invention aims to provide an avoiding method and device of a mobile robot, a storage medium and an electronic device, so as to at least solve the problem that a sweeping robot is easy to get stuck in a narrow space in the process of sweeping the ground.
The purpose of the invention is realized by the following technical scheme:
according to an aspect of an embodiment of the present invention, there is provided a method for avoiding a mobile robot, the method including: acquiring a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; correspondingly displaying the one or more target areas in the environment map according to the position information, and responding to the selection operation of a target object to select a second area list in the first area list; and sending the second area list to the mobile robot to indicate the mobile robot to avoid the target area included in the second area list in the traveling process.
Further, sending the second area list to the mobile robot to instruct the mobile robot to avoid the target area included in the second area list during the traveling process includes: sending the second list of regions to the mobile robot to instruct the mobile robot to: acquiring a target area included in the second area list; and setting a virtual wall at the position of the target area included in the second area list in the environment map.
Further, acquiring a first area list of an environment map corresponding to the mobile robot includes: instructing the mobile robot to travel over an area indicated by the environment map; and receiving the first area list sent by the mobile robot in the process of the traveling of the mobile robot, wherein the first area list is a target area list detected by the mobile robot.
Further, acquiring a first area list of an environment map corresponding to the mobile robot includes: sending an environment map corresponding to the mobile robot to a server to instruct the server to determine the first area list corresponding to the environment map through big data analysis; and receiving the first area list sent by the server.
According to another aspect of the embodiments of the present invention, there is also provided a method for avoiding a mobile robot, the method including: receiving a second area list sent by a mobile terminal, wherein the second area list is determined by the following method: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; the mobile terminal correspondingly displays the one or more target areas in the environment map according to the position information, responds to the selection operation of a target object and selects a second area list in the first area list; and controlling the mobile robot to avoid the target area included in the second area list in the traveling process.
Further, controlling the mobile robot to avoid the target area included in the second area list in the traveling process includes: acquiring a target area included in the second area list; and setting a virtual wall at the position of the target area included in the second area list in the environment map.
Further, before receiving the second area list sent by the mobile terminal, the method further includes: controlling the mobile robot to travel over an area indicated by the environment map; and in the process of the moving robot, acquiring the first area list detected by the moving robot, and sending the first area list to the mobile terminal.
Further, before obtaining the first area list detected by the mobile robot, the method further includes: determining that the mobile robot detected the target area by at least one of: in a first preset time period, a driving wheel of the mobile robot idles; in a second preset time period, the moving distance of the mobile robot is smaller than the preset distance; within a third preset time period, the mobile robot has a plurality of moving directions.
According to still another aspect of the embodiments of the present invention, there is also provided an avoidance apparatus of a mobile robot, the apparatus including: an obtaining module, configured to obtain a first area list of an environment map corresponding to the mobile robot, where the first area list includes: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; the selection module is used for correspondingly displaying the one or more target areas in the environment map according to the position information and responding to the selection operation of a target object to select a second area list in the first area list; and the sending module is used for sending the second area list to the mobile robot so as to indicate the mobile robot to avoid the target area included in the second area list in the traveling process.
According to still another aspect of the embodiments of the present invention, there is also provided an avoidance apparatus of a mobile robot, the apparatus including: a receiving module, configured to receive a second area list sent by a mobile terminal, where the second area list is determined in the following manner: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; correspondingly displaying the one or more target areas in the environment map according to the position information, and responding to the selection operation of a target object to select a second area list in the first area list; and the avoidance module is used for controlling the mobile robot to avoid the target area included in the second area list in the traveling process.
According to a further aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the avoidance method of a mobile robot described in any one of the above when the computer program is executed.
According to a further embodiment of the embodiments of the present invention, there is also provided an electronic apparatus including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the avoidance method for a mobile robot described in any one of the above.
According to the method and the device, a first area list in an environment map corresponding to the mobile robot is obtained, wherein the probability of one or more target areas in the first area list of the mobile robot being stuck is larger than a preset threshold value, the one or more target areas are correspondingly displayed in the environment map, so that a second area list is selected in the first area list in response to the selection operation of a target object, and the second area list is sent to the mobile robot to indicate the mobile robot to avoid the target areas included in the second area list in the traveling process. By adopting the technical scheme, the problem that the sweeping robot is easy to be trapped in a narrow space in the process of sweeping the ground is solved. And then the second area list is selected from the first area list through the target object, so that the sweeping robot avoids the target area included in the second area list, and the probability that the sweeping robot is trapped in a narrow space in the process of sweeping the ground is avoided.
[ description of the drawings ]
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a mobile terminal or a mobile robot of an avoidance method of the mobile robot according to an embodiment of the present invention;
fig. 2 is a flowchart (one) of an avoidance method of a mobile robot according to an embodiment of the present invention;
fig. 3 is a flowchart (ii) of an avoidance method of a mobile robot according to an embodiment of the present invention;
fig. 4 is a flowchart (iii) of an avoidance method of a mobile robot according to an embodiment of the present invention;
fig. 5 is a block diagram (one) of the structure of an avoidance apparatus of a mobile robot according to an embodiment of the present invention;
fig. 6 is a block diagram showing a configuration of an avoidance apparatus of a mobile robot according to an embodiment of the present invention.
[ detailed description ] embodiments
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method provided by the embodiment of the invention can be executed in a mobile terminal or a mobile robot or a similar arithmetic device. Taking an example of the method performed by a mobile terminal or a mobile robot, fig. 1 is a block diagram of a hardware structure of the mobile terminal or the mobile robot according to an avoiding method of the mobile robot in the embodiment of the present invention. As shown in fig. 1, the mobile terminal or the mobile robot may include one or more (only one is shown in fig. 1) processors 102 (the processors 102 may include but are not limited to a processing device such as a Microprocessor (MPU) or a Programmable Logic Device (PLD) and a memory 104 for storing data, optionally, the mobile terminal or the mobile robot may further include a transmission device 106 for communication function and an input-output device 108. it will be understood by those skilled in the art that the structure shown in fig. 1 is only schematic, the mobile terminal or mobile robot may include more or fewer components than those shown in fig. 1, or have a different configuration with equivalent functionality to that shown in fig. 1 or with more functionality than that shown in fig. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the avoidance method of the mobile robot in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to a mobile terminal or mobile robot through 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 transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of a mobile terminal or a mobile robot. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In this embodiment, an avoidance method of a mobile robot is provided, which is applied to a mobile terminal, and fig. 2 is a flowchart (a) of an avoidance method of a mobile robot according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, a first area list of an environment map corresponding to the mobile robot is obtained, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value;
step S204, correspondingly displaying the one or more target areas in the environment map according to the position information, responding to the selection operation of a target object, and selecting a second area list in the first area list;
it should be noted that, in this embodiment, the target object is a user who uses a mobile terminal to control a mobile robot, and the mobile terminal displays the one or more corresponding target areas in the environment map on a screen of the mobile terminal according to the location information in the first area list, so that the target object can perform corresponding operations on the environment map on the mobile terminal, and select the second area list from the first area list. The one or more target areas are displayed in the environment map, and particularly, the one or more target areas can be displayed in different colors on the environment map, so that the target object can be seen more clearly and a quick selection can be made. The mobile terminal may be a mobile device such as a mobile phone and a tablet computer.
Step S206, sending the second area list to the mobile robot to instruct the mobile robot to avoid the target area included in the second area list in the traveling process.
Through the steps, a first area list in an environment map corresponding to the mobile robot is obtained, wherein the probability of the one or more target areas in the first area list of the mobile robot being stuck is greater than a preset threshold, and the one or more target areas are correspondingly displayed in the environment map, so that a second area list is selected in the first area list in response to the selection operation of a target object, and the second area list is sent to the mobile robot to indicate the mobile robot to avoid the target areas included in the second area list in the traveling process. By adopting the technical scheme, the problem that the sweeping robot is easy to be trapped in a narrow space in the process of sweeping the ground is solved. And then the second area list is selected from the first area list through the target object, so that the sweeping robot avoids the target area included in the second area list, and the probability that the sweeping robot is trapped in a narrow space in the process of sweeping the ground is reduced.
It should be noted that, sending the second area list to the mobile robot to instruct the mobile robot to avoid the target area included in the second area list in the traveling process mainly includes the following steps: sending the second list of regions to the mobile robot to instruct the mobile robot to: acquiring a target area included in the second area list; and setting a virtual wall at the position of the target area included in the second area list in the environment map.
That is, after the target object selects the second area list from the first area list from the mobile terminal, the mobile terminal sends the second area list to the mobile robot, and the mobile robot may acquire the target area included in the second area list and set a virtual wall on a boundary of the target area included in the second area list in the environment map. The mobile robot can not move forward after moving to the boundary of the target area, and the probability of jamming of the mobile robot is reduced.
Further, the mobile terminal may obtain the first area list by: instructing the mobile robot to travel over an area indicated by the environment map; and receiving the first area list sent by the mobile robot in the process of the traveling of the mobile robot, wherein the first area list is a target area list detected by the mobile robot.
It can be seen that the mobile terminal needs to instruct the mobile robot to walk on the area indicated by the environment map, the mobile robot can walk on the area indicated by the environment map according to a default program under the condition that the mobile robot does not know which areas have a high probability of sending a jam, and then the mobile robot can record the areas where the mobile robot sends the jam and the corresponding position information and store the areas and the corresponding position information into the first area list under the condition that the mobile robot has a jam in the walking process. And then after the mobile robot walks the area designated by the whole environment map, all areas with the jamming probability larger than the preset threshold value and corresponding position information are stored in the first area list. And then, the mobile robot generates the first area list to the mobile terminal, and the mobile terminal receives the first area list sent by the mobile robot.
Optionally, the mobile terminal may further obtain the first area list by: sending an environment map corresponding to the mobile robot to a server to instruct the server to determine the first area list corresponding to the environment map through big data analysis; and receiving the first area list sent by the server.
The similarity of environment maps of most families is high, and therefore target areas with high jamming sending probability of the mobile robot are probably the same, so that the mobile robot can send the environment maps to the server, the server determines the first area list corresponding to the environment maps through big data analysis, then the server sends the first area list to the mobile terminal, and the mobile terminal receives the first area list sent by the server.
It should be noted that, since some areas in the first area list may be recorded by the mobile robot due to a fault of the mobile robot itself, or may be recorded by a fault of data analysis of the server, the accuracy may be improved by selecting the second area list from the first area list by the target object.
In this embodiment, there is also provided an avoidance method for a mobile robot, which is applied to the mobile robot, and fig. 3 is a flowchart (ii) of an avoidance method for a mobile robot according to an embodiment of the present invention, as shown in fig. 3, the flowchart includes the following steps:
step S302, receiving a second area list sent by the mobile terminal, where the second area list is determined by: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; the mobile terminal correspondingly displays the one or more target areas in the environment map according to the position information, responds to the selection operation of a target object and selects a second area list in the first area list;
step S304, controlling the mobile robot to avoid the target area included in the second area list during the traveling process.
It should be noted that the mobile terminal may display the one or more corresponding target areas in the environment map on the screen of the mobile terminal according to the location information in the first area list, and then the target object may perform corresponding operations on the environment map on the mobile terminal, and select the second area list from the first area list. The one or more target areas are displayed in the environment map, and particularly, the one or more target areas can be displayed in different colors on the environment map, so that the target object can be seen more clearly and a quick selection can be made. The mobile terminal may be a mobile device such as a mobile phone and a tablet computer.
Through the steps, the multiple regions with high occurrence probability selected by the target object sent by the mobile terminal are received, and the mobile robot is further controlled to avoid the multiple regions sent by the mobile terminal in the advancing process. By adopting the technical scheme, the problem that the sweeping robot is easy to be trapped in a narrow space in the process of sweeping the ground is solved. And then a plurality of areas with higher jamming probability selected by the avoidance target object are obtained, so that the probability that the sweeping robot is trapped in a narrow space in the process of sweeping the ground is reduced.
Further, controlling the mobile robot to avoid the target area included in the second area list during the traveling process may be implemented by: acquiring a target area included in the second area list; and setting a virtual wall at the position of the target area included in the second area list in the environment map.
By arranging the virtual wall at the position of the target area included in the second area list in the environment map, the mobile robot cannot move forward after moving to the boundary of the target area, and the probability of sending a jam by the mobile robot is reduced.
Before receiving the second area list sent by the mobile terminal, the mobile robot needs to be controlled to travel on the area indicated by the environment map; and in the process of the moving robot, acquiring the first area list detected by the moving robot, and sending the first area list to the mobile terminal.
That is to say, the mobile robot needs to walk on an area specified by the environment map, so that the first area list is recorded first, the recorded first area list is sent to the mobile terminal, the target object selects the second area list from the first area list on the mobile terminal, and the mobile terminal sends the second area list to the mobile robot, so that the mobile robot can receive the second area list and avoid the target area included in the second area list.
Further, before acquiring the first area list detected by the mobile robot, the mobile robot may determine that the mobile robot detected the target area at least by one of: in a first preset time period, a driving wheel of the mobile robot idles; in a second preset time period, the moving distance of the mobile robot is smaller than the preset distance; within a third preset time period, the mobile robot has a plurality of moving directions.
The first preset time, the second preset time and the third preset time may be the same or different. When the driving wheel of the mobile robot idles, it can be said that the mobile robot does not move and is trapped in a certain area. The preset distance may be zero or a number approaching zero, and when the moving distance of the mobile robot is smaller than the preset distance, it indicates that the mobile robot may be stuck by an object. When the mobile robot has a plurality of moving directions, the mobile robot is in a dilemma of trying to get out of different directions.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. In order to better understand the avoidance method of the mobile robot, the following describes the above process with reference to an embodiment, but the process is not limited to the technical solution of the embodiment of the present invention, and specifically:
in an alternative embodiment, fig. 4 is a flowchart (three) of an avoidance method of a mobile robot according to an embodiment of the present invention, and the specific steps are as follows:
step S402: recording the position (corresponding to the position information in the embodiment) where the machine cleaning process frequently happens to be stuck on an app map (corresponding to the environment map on the mobile terminal in the embodiment);
step S404: after the cleaning is finished, a user (equivalent to the target object in the above embodiment) selects an area which is easy to be trapped, so that the machine needs to avoid later;
step S406: the machine identifies the easily trapped area in the subsequent cleaning, if the easily trapped area is identified, the step S410 is executed, and if the easily trapped area is not identified, the step S408 is executed;
step S408: normally sweeping;
step S410: the machine effectively avoids the easily trapped area;
step S412: and (6) exiting.
In the process of cleaning the ground, the mobile robot marks the map (corresponding to the environment map in the above embodiment) for the area where the machine is frequently stuck. After the mobile robot finishes cleaning, areas where the machine is easy to be trapped are displayed on an app interface, and after a user selects which areas, the mobile robot needs to automatically avoid. These areas are automatically identified and virtual walls are automatically drawn in these areas when the machine is subsequently swept. And the machine can effectively avoid the areas, thereby reducing the phenomenon that the machine is trapped.
In addition, according to the technical scheme of the embodiment of the invention, the mobile robot can avoid the easily trapped area to a great extent, the intelligence of the robot is enhanced, and the user experience is enhanced.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be substantially embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the methods described in the embodiments of the present application.
The embodiment also provides an avoidance device of a mobile robot, which is used for implementing the above embodiments and preferred embodiments, and the descriptions already made are omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram (one) of an avoidance apparatus of a mobile robot according to an alternative embodiment of the present invention, as shown in fig. 5:
an obtaining module 52, configured to obtain a first area list of an environment map corresponding to the mobile robot, where the first area list includes: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value;
a selecting module 54, configured to correspondingly display the one or more target areas in the environment map according to the location information, and select a second area list in the first area list in response to a selection operation of a target object;
it should be noted that the mobile terminal may display the one or more corresponding target areas in the environment map on the screen of the mobile terminal according to the location information in the first area list, and then the target object may perform corresponding operations on the environment map on the mobile terminal, and select the second area list from the first area list. The one or more target areas are displayed in the environment map, and particularly, the one or more target areas can be displayed in different colors on the environment map, so that the target object can be seen more clearly and a quick selection can be made. The mobile terminal may be a mobile device such as a mobile phone and a tablet computer.
A sending module 56, configured to send the second area list to the mobile robot, so as to instruct the mobile robot to avoid the target area included in the second area list in the traveling process.
Through the modules, a first area list in an environment map corresponding to the mobile robot is obtained, wherein the probability of one or more target areas in the first area list of the mobile robot being stuck is greater than a preset threshold value, and the one or more target areas are correspondingly displayed in the environment map, so that a second area list is selected in the first area list in response to the selection operation of a target object, and the second area list is sent to the mobile robot to indicate the mobile robot to avoid the target areas included in the second area list in the traveling process. By adopting the technical scheme, the problem that the sweeping robot is easy to be trapped in a narrow space in the process of sweeping the ground is solved. And then the second area list is selected from the first area list through the target object, so that the sweeping robot avoids the target area included in the second area list, and the probability that the sweeping robot is trapped in a narrow space in the process of sweeping the ground is reduced.
It should be noted that the sending module 56 is further configured to send the second area list to the mobile robot to instruct the mobile robot to perform the following operations: acquiring a target area included in the second area list; and setting a virtual wall at the position of the target area included in the second area list in the environment map.
That is, after the target object selects the second area list from the first area list from the mobile terminal, the mobile terminal sends the second area list to the mobile robot, and the mobile robot may acquire the target area included in the second area list and set a virtual wall on a boundary of the target area included in the second area list in the environment map. The mobile robot can not move forward after moving to the boundary of the target area, and the probability of sending jamming by the mobile robot is reduced.
Further, the obtaining module 52 is further configured to obtain the first area list by: instructing the mobile robot to travel over an area indicated by the environment map; and receiving the first area list sent by the mobile robot in the process of the traveling of the mobile robot, wherein the first area list is a target area list detected by the mobile robot.
It can be seen that the mobile terminal needs to instruct the mobile robot to walk on the area indicated by the environment map, the mobile robot can walk on the area indicated by the environment map according to a default program under the condition that the mobile robot does not know which areas have a high probability of sending a jam, and then the mobile robot can record the areas where the mobile robot sends the jam and the corresponding position information and store the areas and the corresponding position information into the first area list under the condition that the mobile robot has a jam in the walking process. And then after the mobile robot walks the area designated by the whole environment map, all areas with the jamming probability larger than the preset threshold value and corresponding position information are stored in the first area list. And then, the mobile robot generates the first area list to the mobile terminal, and the mobile terminal receives the first area list sent by the mobile robot.
Optionally, the obtaining module 52 is further configured to obtain the first area list by: sending an environment map corresponding to the mobile robot to a server to instruct the server to determine the first area list corresponding to the environment map through big data analysis; and receiving the first area list sent by the server.
The similarity of environment maps of most families is high, and therefore target areas with high jamming sending probability of the mobile robot are probably the same, so that the mobile robot can send the environment maps to the server, the server determines the first area list corresponding to the environment maps through big data analysis, then the server sends the first area list to the mobile terminal, and the mobile terminal receives the first area list sent by the server.
It should be noted that, since some areas in the first area list may be recorded by the mobile robot due to a fault of the mobile robot itself, or may be recorded by a fault of data analysis of the server, the accuracy may be improved by selecting the second area list from the first area list by the target object.
Fig. 6 is a block diagram (ii) of an avoidance apparatus of a mobile robot according to an alternative embodiment of the present invention, as shown in fig. 6:
a receiving module 62, configured to receive a second area list sent by the mobile terminal, where the second area list is determined by: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; the mobile terminal correspondingly displays the one or more target areas in the environment map according to the position information, responds to the selection operation of a target object and selects a second area list in the first area list;
and an avoidance module 64, configured to control the mobile robot to avoid the target area included in the second area list during the traveling process.
It should be noted that the mobile terminal may display the one or more corresponding target areas in the environment map on the screen of the mobile terminal according to the location information in the first area list, and then the target object may perform corresponding operations on the environment map on the mobile terminal, and select the second area list from the first area list. The one or more target areas are displayed in the environment map, and particularly, the one or more target areas can be displayed in different colors on the environment map, so that the target object can be seen more clearly and a quick selection can be made. The mobile terminal may be a mobile device such as a mobile phone and a tablet computer.
And receiving a plurality of regions with higher occurrence probability selected by the target object sent by the mobile terminal through the template, and further controlling the mobile robot to avoid the plurality of regions sent by the mobile terminal in the advancing process. By adopting the technical scheme, the problem that the sweeping robot is easy to be trapped in a narrow space in the process of sweeping the ground is solved. And then a plurality of areas with higher jamming probability selected by the avoidance target object are obtained, so that the probability that the sweeping robot is trapped in a narrow space in the process of sweeping the ground is reduced.
Further, the avoidance module 64 is further configured to obtain a target area included in the second area list; and setting a virtual wall at the position of the target area included in the second area list in the environment map.
By arranging the virtual wall at the position of the target area included in the second area list in the environment map, the mobile robot cannot move forward after moving to the boundary of the target area, and the probability of sending a jam by the mobile robot is reduced.
It should be noted that the receiving module 62 is further configured to control the mobile robot to travel on the area indicated by the environment map; and in the process of the moving robot, acquiring the first area list detected by the moving robot, and sending the first area list to the mobile terminal.
That is to say, the mobile robot needs to walk on an area specified by the environment map, so that the first area list is recorded first, the recorded first area list is sent to the mobile terminal, the target object selects the second area list from the first area list on the mobile terminal, and the mobile terminal sends the second area list to the mobile robot, so that the mobile robot can receive the second area list and avoid the target area included in the second area list.
Further, the receiving module 62 is further configured to determine that the mobile robot detects the target area by one of: in a first preset time period, a driving wheel of the mobile robot idles; in a second preset time period, the moving distance of the mobile robot is smaller than the preset distance; within a third preset time period, the mobile robot has a plurality of moving directions.
The first preset time, the second preset time and the third preset time may be the same or different. When the driving wheel of the mobile robot idles, it can be said that the mobile robot does not move and is trapped in a certain area. The preset distance may be zero or a number approaching zero, and when the moving distance of the mobile robot is smaller than the preset distance, it indicates that the mobile robot may be stuck by an object. When the mobile robot has a plurality of moving directions, the mobile robot is in a dilemma of trying to get out of different directions.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value;
s2, correspondingly displaying the one or more target areas in the environment map according to the position information, and responding to the selection operation of a target object to select a second area list in the first area list;
and S3, sending the second area list to the mobile robot to indicate the mobile robot to avoid the target area included in the second area list in the traveling process.
Or is arranged to store a computer program for performing the steps of:
s1, receiving a second area list sent by the mobile terminal, wherein the second area list is determined by: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; the mobile terminal correspondingly displays the one or more target areas in the environment map according to the position information, responds to the selection operation of a target object and selects a second area list in the first area list;
and S2, controlling the mobile robot to avoid the target area included in the second area list in the traveling process.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a U disk, a read only memory ROM, a random access memory RAM, a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value;
s2, correspondingly displaying the one or more target areas in the environment map according to the position information, and responding to the selection operation of a target object to select a second area list in the first area list;
and S3, sending the second area list to the mobile robot to indicate the mobile robot to avoid the target area included in the second area list in the traveling process.
Or arranged to perform the following steps by means of a computer program:
s1, receiving a second area list sent by the mobile terminal, wherein the second area list is determined by: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; the mobile terminal correspondingly displays the one or more target areas in the environment map according to the position information, responds to the selection operation of a target object and selects a second area list in the first area list;
and S2, controlling the mobile robot to avoid the target area included in the second area list in the traveling process.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
Embodiments of the present invention also provide a robot comprising a body, a motion assembly and a controller arranged to perform the steps of any of the method embodiments described above.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. An avoidance method for a mobile robot, the method comprising:
acquiring a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value;
correspondingly displaying the one or more target areas in the environment map according to the position information, and responding to the selection operation of a target object to select a second area list in the first area list;
and sending the second area list to the mobile robot to indicate the mobile robot to avoid the target area included in the second area list in the traveling process.
2. The method for avoiding of a mobile robot according to claim 1, wherein transmitting the second area list to the mobile robot to instruct the mobile robot to avoid the target area included in the second area list during traveling comprises:
sending the second list of regions to the mobile robot to instruct the mobile robot to: acquiring a target area included in the second area list; and setting a virtual wall at the position of the target area included in the second area list in the environment map.
3. The avoidance method for a mobile robot according to claim 1, wherein the obtaining of the first area list of the environment map corresponding to the mobile robot includes:
instructing the mobile robot to travel over an area indicated by the environment map;
and receiving the first area list sent by the mobile robot in the process of the traveling of the mobile robot, wherein the first area list is a target area list detected by the mobile robot.
4. The avoidance method for a mobile robot according to claim 1, wherein the obtaining of the first area list of the environment map corresponding to the mobile robot includes:
sending an environment map corresponding to the mobile robot to a server to instruct the server to determine the first area list corresponding to the environment map through big data analysis;
and receiving the first area list sent by the server.
5. An avoidance method for a mobile robot, the method comprising:
receiving a second area list sent by a mobile terminal, wherein the second area list is determined by the following method: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; the mobile terminal correspondingly displays the one or more target areas in the environment map according to the position information, responds to the selection operation of a target object and selects a second area list in the first area list;
and controlling the mobile robot to avoid the target area included in the second area list in the traveling process.
6. The avoiding method for a mobile robot according to claim 5, wherein controlling the mobile robot to avoid the target area included in the second area list during traveling includes:
acquiring a target area included in the second area list;
and setting a virtual wall at the position of the target area included in the second area list in the environment map.
7. The avoidance method for a mobile robot according to claim 5, wherein before receiving the second area list transmitted from the mobile terminal, the method further comprises:
controlling the mobile robot to travel over an area indicated by the environment map;
and in the process of the moving robot, acquiring the first area list detected by the moving robot, and sending the first area list to the mobile terminal.
8. The method of claim 7, wherein prior to obtaining the first list of regions detected by the mobile robot, the method further comprises:
determining that the mobile robot detected the target area by at least one of:
in a first preset time period, a driving wheel of the mobile robot idles;
in a second preset time period, the moving distance of the mobile robot is smaller than the preset distance;
within a third preset time period, the mobile robot has a plurality of moving directions.
9. An avoidance device for a mobile robot, comprising:
an obtaining module, configured to obtain a first area list of an environment map corresponding to the mobile robot, where the first area list includes: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value;
the selection module is used for correspondingly displaying the one or more target areas in the environment map according to the position information and responding to the selection operation of a target object to select a second area list in the first area list;
and the sending module is used for sending the second area list to the mobile robot so as to indicate the mobile robot to avoid the target area included in the second area list in the traveling process.
10. An avoidance device for a mobile robot, comprising:
a receiving module, configured to receive a second area list sent by a mobile terminal, where the second area list is determined in the following manner: the mobile terminal acquires a first area list of an environment map corresponding to the mobile robot, wherein the first area list comprises: one or more target areas and position information of the one or more target areas on the environment map, wherein the probability of the mobile robot being stuck in the target areas is greater than a preset threshold value; correspondingly displaying the one or more target areas in the environment map according to the position information, and responding to the selection operation of a target object to select a second area list in the first area list;
and the avoidance module is used for controlling the mobile robot to avoid the target area included in the second area list in the traveling process.
11. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 4 when executed, or to perform the method of any of claims 5 to 8.
12. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 4, or to perform the method of any of claims 5 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110753693.1A CN113467452A (en) | 2021-07-02 | 2021-07-02 | Avoidance method and device for mobile robot, storage medium, and electronic device |
| PCT/CN2022/099074 WO2023273899A1 (en) | 2021-07-02 | 2022-06-16 | Avoidance method and apparatus of mobile robot, storage medium, and electronic apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110753693.1A CN113467452A (en) | 2021-07-02 | 2021-07-02 | Avoidance method and device for mobile robot, storage medium, and electronic device |
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| CN202110753693.1A Pending CN113467452A (en) | 2021-07-02 | 2021-07-02 | Avoidance method and device for mobile robot, storage medium, and electronic device |
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Cited By (1)
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| WO2023273899A1 (en) | 2023-01-05 |
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