CN116039802A

CN116039802A - Method for adjusting acquisition direction of mobile chassis and sensor

Info

Publication number: CN116039802A
Application number: CN202211671399.7A
Authority: CN
Inventors: 周浩; 付欣; 王晓龙
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2023-05-02

Abstract

The disclosure provides a method for adjusting a collection direction of a mobile chassis and a sensor, relates to the technical field of automatic driving, and particularly relates to the field of automatic driving vehicle testing. The specific implementation scheme is as follows: the movable chassis comprises a shell, a driving wheel, a slewing mechanism, a detection part and a control unit, wherein the shell is provided with a mounting hole; the driving wheel is arranged on the shell; the rotary mechanism comprises a rotary table and a first support arm, the rotary table is rotatably arranged in the mounting hole, a first end of the first support arm is connected with the rotary table, and a second end of the first support arm extends to the outside of the shell; the detection part comprises a first sensor, and the first sensor is slidably arranged at the second end of the first support arm; the control unit is electrically connected with the turntable and controls the rotary motion of the turntable. According to the technology disclosed by the disclosure, the first sensor can rotate in all directions under the drive of the turntable, so that the acquisition direction of the first sensor can be adjusted at any time according to the movement direction of the movable chassis, and the obstacle in the movement direction of the movable chassis can be accurately detected.

Description

Method for adjusting acquisition direction of mobile chassis and sensor

Technical Field

The present disclosure relates to the field of autopilot technology, and in particular to the field of autopilot vehicle testing.

Background

In the field of automatic driving, it is very important to perform automatic driving test of a vehicle, and when testing the limit scene of the vehicle in an automatic driving closed test field, some movable obstacles are often required to be arranged for safety and controllability so as to simulate the moving track of a person or a vehicle encountered by the vehicle in the driving process of the real environment.

Disclosure of Invention

The disclosure provides a method for adjusting a collection direction of a mobile chassis and a sensor.

According to an aspect of the present disclosure, there is provided a mobile chassis including:

the top of the shell is provided with a mounting hole;

a plurality of driving wheels arranged at intervals along the circumferential direction of the shell;

the rotating mechanism comprises a rotating disc and a first support arm, the rotating disc is rotatably arranged in the mounting hole, the first end of the first support arm is connected with the rotating disc, the second end of the first support arm horizontally extends to the outside of the shell, and the rotating disc can rotate relative to the mounting hole;

the detection part comprises a first sensor, the first sensor is slidably arranged at the second end of the first support arm, and the first sensor is used for detecting an obstacle; and

and the control unit is electrically connected with the turntable and used for controlling the rotary motion of the turntable.

According to another aspect of the present disclosure, there is provided a method for adjusting an acquisition direction of a sensor, applied to a mobile chassis of any embodiment of the present disclosure, including:

Determining the current moving direction of the moving chassis;

determining a first current acquisition direction of a first sensor of the mobile chassis and a second current acquisition direction of a second sensor;

under the condition that the first current acquisition direction and the second current acquisition direction are inconsistent with the current movement direction, determining a target sensor close to the current movement direction; wherein the target sensor is a first sensor or a second sensor; and

and controlling the turntable of the movable chassis to revolve according to the target rotation angle so as to enable the acquisition direction of the target sensor to be consistent with the current movement direction.

According to another aspect of the present disclosure, there is provided an adjustment device for a collection direction of a sensor, applied to a mobile chassis of any embodiment of the present disclosure, including:

the first determining module is used for determining the current moving direction of the moving chassis;

the second determining module is used for determining a first current acquisition direction of the first sensor of the mobile chassis and a second current acquisition direction of the second sensor;

the third determining module is used for determining a target sensor close to the current moving direction under the condition that the first current collecting direction and the second current collecting direction are inconsistent with the current moving direction; wherein the target sensor is a first sensor or a second sensor; and

And the control module is used for controlling the turntable of the movable chassis to rotate according to the target rotation angle so as to enable the acquisition direction of the target sensor to be consistent with the current movement direction.

According to another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

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

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform a method according to any one of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method according to any of the embodiments of the present disclosure.

According to the technology disclosed by the disclosure, the first sensor can rotate in all directions under the drive of the turntable, so that the acquisition direction of the first sensor can be adjusted at any time according to the movement direction of the movable chassis, and the obstacle in the movement direction of the movable chassis can be accurately detected.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic structural view of a mobile chassis according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of a mobile chassis according to an embodiment of the present disclosure;

FIG. 3 is an enlarged schematic view of a portion of a mobile chassis according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural view of a mobile chassis according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural view of a mobile chassis according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural view of a mobile chassis according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a method of adjusting the acquisition direction of a sensor according to an embodiment of the present disclosure;

FIG. 8 is a simplified schematic diagram of a mobile chassis of a sensor according to an embodiment of the present disclosure;

FIG. 9 is a simplified schematic diagram of a mobile chassis of a sensor according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a method of adjusting the acquisition direction of a sensor according to an embodiment of the present disclosure;

FIG. 11 is a schematic illustration of a method of adjusting the acquisition direction of a sensor according to an embodiment of the present disclosure;

fig. 12 is a block diagram of an electronic device for implementing a method of adjusting a direction of acquisition of a sensor in accordance with an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

As shown in fig. 1 to 6, an embodiment of the present disclosure provides a mobile chassis, including: a housing 1, a plurality of driving wheels 2, a swing mechanism, a detection section, and a control unit 5.

The top of the shell 1 is provided with a mounting hole 11.

The plurality of driving wheels 2 are arranged at intervals along the circumferential direction of the housing 1.

The rotation mechanism comprises a rotary table 31 and a first support arm 32, the rotary table 31 is rotatably arranged in the mounting hole 11, a first end of the first support arm 32 is connected with the rotary table 31, and a second end of the first support arm 32 horizontally extends to the outside of the shell 1, wherein the rotary table 31 can rotate relative to the mounting hole 11.

The detecting portion includes a first sensor 41, the first sensor 41 is slidably disposed at the second end of the first arm 32, and the first sensor 41 is used for detecting an obstacle. And

The control unit 5 is electrically connected to the turntable 31 for controlling the gyrating movement of the turntable 31.

According to the embodiment of the disclosure, it is to be noted that:

definition the upper direction of the housing 1 in fig. 2 is the direction corresponding to the top, upper, and upper direction in the embodiments of the present disclosure. Definition the lower part of the housing 1 in fig. 2 is the corresponding direction of the bottom, lower part and lower part according to the embodiments of the present disclosure.

The shape, size, material, and space structure of the housing 1 may be selected and adjusted as needed, and are not particularly limited herein. For example, the shape and structure of the housing 1 may be triangular, rectangular, circular, or the like.

The installation position of the installation hole 11 on the housing 1 can be selected and adjusted as needed, and is not particularly limited herein. For example, it may be provided at a central position on the top of the housing 1, or at a position substantially near the center on the top of the housing 1. The size and shape of the aperture of the mounting hole 11 can be selected and adjusted according to the size and shape of the aperture of the turntable 31.

The plurality of driving wheels 2 can be arranged on the bottom surface of the shell 1 or on the peripheral outer side walls of the shell 1, so that the moving chassis can be ensured to move smoothly, and collision friction can not be generated between the bottom surface of the shell 1 and the ground. The specific structure of the driving wheel 2 may be selected and adjusted as needed, and is not particularly limited herein. For example, the driving wheel 2 may be an omni wheel or a conventional wheel. Under the condition that the driving wheel 2 adopts an omni-wheel, the mobile chassis can realize 360-degree omni-directional running without dead angles.

The turntable 31 may rotate relative to the mounting hole 11, and it is understood that the turntable 31 may rotate clockwise or counterclockwise by 360 ° relative to the mounting hole 11.

The first end of the first support arm 32 is connected with the turntable 31, which can be understood as that the first end of the first support arm 32 is connected with the edge of the turntable 31, or can be understood as being connected with the end surface of the turntable 31, and the specific connection position can be selected according to the requirement, so that the first support arm 32 can be driven to rotate together under the condition that the turntable 31 rotates. The structural shape, material, etc. of the first arm 32 can be selected and adjusted as desired, and are not particularly limited herein. The length of the second end extension of the first arm 32 can be adjusted according to the collected view of the first sensor 41, so that the collected view cannot include the housing 1 and the driving wheel 2 after the first sensor 41 is mounted at the second end, that is, the first sensor 41 cannot be interfered by the housing 1 and the driving wheel 2.

The first sensor 41 may be any sensor known in the art, and may be capable of detecting an obstacle in the surrounding environment of the mobile chassis. For example, the first sensor 41 may be an ultrasonic sensor, a laser ranging sensor, a laser radar, or the like, and is not particularly limited herein. The first sensor 41 is matched with the turntable 31 through the first support arm 32, so that the first sensor 41 can rotate to any direction of the moving chassis and detect obstacles in the moving process of the moving chassis, namely 360-degree omnibearing obstacle detection can be realized through the first sensor 41 in the moving process of the moving chassis.

The control unit 5 may employ an MCU (micro control unit, micro controller Unit), a CPU (central processing unit ), or the like, and is not particularly limited herein. The rotary table 31 can be controlled to rotate clockwise and counterclockwise by the control unit 5, and the rotation angle and the rotation speed of the rotary table 31 can be controlled by the control unit 5. The control unit 5 may be electrically connected to a driving portion corresponding to the turntable 31, and by transmitting a control command to the driving portion, the driving portion controls the turntable 31 to perform a corresponding turning operation based on the control command.

According to the technology of the embodiment of the present disclosure, the first sensor 41 can perform omnidirectional rotation under the drive of the turntable 31, so that the acquisition direction of the first sensor 41 can be adjusted at any time according to the movement direction of the moving chassis, so as to accurately and timely sense the obstacle in the movement direction (forward direction) of the moving chassis. Even if the moving chassis is provided with the omni-wheel, the first sensor 41 can also respond in time by utilizing the rotation of the turntable 31, and quickly rotates to the moving direction of the moving chassis after being changed, so that the requirement that the moving chassis needs to timely detect the obstacle in the moving direction is met, and the technical problem that the moving direction of the moving chassis after reversing does not have the sensor corresponding to the collecting direction can be effectively solved. The control unit 5 can perform quick response according to the combined speed direction (moving direction) of the moving chassis, and timely calculate the to-be-rotated angle of the first sensor 41, so that the collecting direction of the first sensor 41 can be timely adjusted to be consistent with the moving direction, and the instantaneity and the accuracy of obstacle avoidance detection are ensured.

In one embodiment, as shown in fig. 1, 2, 5 and 6, the swing mechanism further includes a second support arm 33 connected to the turntable 31, the second support arm 33 is disposed opposite to the first support arm 32 in a straight shape, a first end of the second support arm 33 is connected to the turntable 31, and a second end of the second support arm 33 extends horizontally to the outside of the housing 1.

The detecting portion further includes a second sensor 42, where the second sensor 42 is slidably disposed at a second end of the second arm 33, and the second sensor 42 is configured to detect an obstacle.

According to the embodiment of the disclosure, it is to be noted that:

the first end of the second support arm 33 is connected with the turntable 31, which can be understood that the first end of the second support arm 33 is connected with the edge of the turntable 31, or can be understood that the first end of the second support arm is connected with the end surface of the turntable 31, and the specific connection position can be selected according to the requirement, so that the second support arm 33 can be driven to rotate together under the condition that the turntable 31 rotates. The structural shape, material, etc. of the second arm 33 can be selected and adjusted as needed, and are not particularly limited herein. The length of the second end extension of the second arm 33 may be adjusted according to the collected view of the second sensor 42, so that the collected view may not include the housing 1 and the driving wheel 2 after the second sensor 42 is mounted on the second end, that is, the second sensor 42 may not be interfered by the housing 1 and the driving wheel 2.

The second sensor 42 may be any sensor known in the art that is capable of detecting an obstacle in the environment surrounding the mobile chassis. For example, the second sensor 42 may employ an ultrasonic sensor, a laser ranging sensor, a laser radar, or the like, and is not particularly limited herein. The second sensor 42 is matched with the turntable 31 through the second support arm 33, so that the movement of the moving chassis can be realized, the moving chassis can be rotated to any direction and obstacle detection can be performed, namely 360-degree omnibearing obstacle detection can be realized through the second sensor 42 in the movement process of the moving chassis.

The second support arm 33 is disposed opposite to the first support arm 32 in a straight line, which means that the first support arm 32 and the second support arm 33 are disposed at opposite sides of the turntable 31, and the first support arm 32 and the second support arm 33 are disposed at 180 degrees. When the first support arm 32 is driven to rotate by rotation, the second support arm 33 which is opposite to the first support arm rotates synchronously, so that the obstacle detection is simultaneously carried out on the advancing direction of the movable chassis and the rear side opposite to the advancing direction.

In order to increase the speed of the obstacle detection response, when the moving direction of the moving chassis is changed, the sensor relatively close to the moving direction may be swung toward the moving direction, so that the obstacle detection in the moving direction is realized most rapidly. In order to increase the efficiency, the maximum angle of each rotation of the two sensors can be 90 °, i.e. the first sensor 41 can be moved only in the range of about 90 °, avoiding a 180 ° rotation and taking a long time for the position adjustment. The second sensor 42 is the same and will not be described again.

According to the technology of the embodiment of the present disclosure, the combination of the turntable 31 and the two sensors arranged in a straight shape can be used to quickly rotate the first sensor 41 or the second sensor 42 to the moving direction of the moving chassis and perform obstacle detection in the moving process of the moving chassis, and 360 ° omnidirectional obstacle detection in the moving process of the moving chassis can be realized through the cooperation of the first sensor 41 and the second sensor 42.

In one example, the first sensor 41 and the second sensor 42 each employ an ultrasonic sensor, and not only can the manufacturing cost of the mobile chassis be reduced, but also the reliability of obstacle detection can be ensured. Meanwhile, the calculated amount of the ultrasonic sensor is relatively small, so that the power supply burden of the mobile chassis can be reduced.

In one embodiment, as shown in fig. 3 and 4, an electrically conductive slip ring 12 may be provided in the mounting hole 11, and the signal lines and the power lines 14 of the first sensor 41 and the second sensor 42 may be led out from the electrically conductive slip ring 12. The conductive slip ring 12 can ensure smooth rotation of the first sensor 41 and the second sensor 42, and the signal line and the power line 14 are not broken during rotation.

In one example, as shown in fig. 3, in order to improve the stability of the conductive slip ring 12, a fixing seat 13 may be provided in the housing 1, and the conductive slip ring 12 may be provided in the fixing seat 13.

In one example, as shown in fig. 4, the driving wheel 2 is rotated by a driving motor 21 provided in the housing 1. A motor driver 22 is also provided in the housing 1 for controlling the operation of the drive motor 21.

In one example, as shown in fig. 1, a cover plate 111 is provided on top of the mounting hole 11 to cover the mounting hole 11 and prevent the devices in the mounting hole 11 and the devices in the housing 1 from being damaged by external environmental influences.

In one example, the mobile chassis of embodiments of the present disclosure may be applied within an unmanned (autopilot) test field as an obstacle required for autopilot vehicle testing. For the unmanned closed test field, the first sensor 41, the second sensor 42 and the turntable 31 are matched, so that the obstacle avoidance function of the mobile chassis in the omni-directional movement process can be realized, the safety of the mobile chassis in the movement process is ensured, and the safety guarantee is provided for unmanned test of the closed test field. Because the movable chassis has the omnibearing obstacle avoidance function, the situation of collision with other obstacles can not occur, and unpredictable danger can not further occur to the automatic driving vehicle, and the efficient and accurate automatic driving test task can be completed by matching with the automatic driving vehicle.

In one embodiment, the second end of the first arm 32 is slidably provided with a first telescopic portion 321, and the first sensor 41 is connected to the first telescopic portion 321. First telescopic portion 321 is slidable along the length direction of first arm 32, so as to adjust the relative distance of first sensor 41 extending out of housing 1.

According to the embodiment of the disclosure, it is to be noted that:

the structural shape and size of first telescopic portion 321 can be selected and adjusted according to the shape and structure of first arm 32, and is not particularly limited herein.

The first telescopic part 321 may further be provided with a locking mechanism, and after the first telescopic part 321 moves to a preset adjustment position, the first telescopic part 321 and the first support arm 32 are fixed in position through the locking mechanism.

According to the technology of the embodiment of the disclosure, the relative distance that the first sensor 41 extends out of the mobile chassis can be adjusted through the first telescopic part 321, so that the acquisition view of the first sensor 41 is adjusted, and the case 1 and the driving wheel 2 are prevented from entering the acquisition view to interfere with the accuracy of the acquisition result of the first sensor 41.

In one embodiment, the second end of the second arm 33 is slidably provided with a second telescopic portion 331, and the second sensor 42 is connected to the second telescopic portion 331.

According to the embodiment of the disclosure, it is to be noted that:

the structural shape and size of the second telescopic portion 331 may be selected and adjusted according to the shape and structure of the second arm 33, which is not particularly limited herein.

The second telescopic part 331 may further be provided with a locking mechanism, and after the second telescopic part 331 moves to a preset adjusting position, the second telescopic part 331 and the second support arm 33 are fixed by the locking mechanism.

According to the technology of the embodiment of the disclosure, the relative distance that the second sensor 42 extends out of the mobile chassis can be adjusted through the second telescopic part 331, so that the acquisition view of the second sensor 42 is adjusted, and the case 1 and the driving wheel 2 are prevented from entering the acquisition view to interfere with the accuracy of the acquisition result of the second sensor 42.

In one embodiment, the mobile chassis further comprises a drive part, which is electrically connected to the control unit 5. The driving part comprises an output end, and the output end is connected with the turntable 31 and is used for driving the turntable 31 to perform rotary motion.

According to the embodiment of the disclosure, it is to be noted that:

the driving part may adopt any driving structure in the prior art, and can drive the turntable 31 to rotate through the output end. For example, the driving unit is a motor, a speed reducer connected to the motor, or the like, and is not particularly limited herein.

According to the technology of the embodiment of the present disclosure, accurate control of the rotation direction and rotation angle of the turntable 31 can be achieved by the driving section. Further, accurate adjustment of the acquisition direction of the first sensor 41 and/or the second sensor 42 can be further realized, and the acquisition direction is ensured to be consistent with the movement direction of the moving chassis, so that the obstacle in the advancing direction of the moving chassis can be accurately detected.

In one example, the driving part adopts a gear motor, and the control result of the turntable 31 is more accurate due to the fact that the reduction ratio of the transmission chain of the gear motor is larger and the position feedback is performed through the encoder of the gear motor. Precise control of the rotation angle and the rotation direction of the turntable 31 is achieved.

In one example, the drive section employs a brushless dc reduction motor, rated speed a rotates per minute, and the encoder feedback is used to implement a motor position control mode, dividing the rotation of the turntable 31 into 360 parts, each of 1 degree. The initial position of the first sensor 41 is set to the position shown in fig. 5, which is set to 0 degree of the turntable 31; since the second sensor 42 is symmetrically placed with the first sensor 41, its position is 180 degrees.

In one embodiment, the turntable 31 is provided with a first gear 311, the output is provided with a second gear 51, and the second gear 51 is meshed with the first gear 311.

According to the embodiment of the disclosure, it is to be noted that:

the pressure angle and the modulus of the first gear 311 and the second gear 51 are the same. The first gear 311 and the second gear 51 may adopt any gear structure in the prior art.

According to the technology of the embodiment of the present disclosure, by the cooperation of the first gear 311 and the second gear 51, precise control of the rotation direction and rotation angle of the turntable 31 can be achieved. Further, accurate adjustment of the acquisition direction of the first sensor 41 and/or the second sensor 42 can be further realized, and the acquisition direction is ensured to be consistent with the movement direction of the moving chassis, so that the obstacle in the advancing direction of the moving chassis can be accurately detected.

In one embodiment, the first gear 311 is a ring gear, and is disposed in the middle of the turntable 31, and the second gear 51 is located in the first gear 311.

According to the embodiment of the disclosure, it is to be noted that:

the pressure angle and the modulus of the first gear 311 and the second gear 51 are the same.

In one embodiment, the middle part of one side end surface of the turntable 31 facing away from the first support arm 32 is provided with a mounting hole 11, and the output end is inserted into the mounting hole 11. The rotary disk 31 can be driven to rotate under the condition that the output end rotates, so that the position adjustment of the first sensor 41 and the second sensor 42 is realized. In the case where the driving portion is a motor, the output end may be an output shaft of the motor.

According to the technology of the embodiment of the present disclosure, by the cooperation of the mounting hole 11 and the output end of the driving portion, precise control of the rotation direction and rotation angle of the turntable 31 can be achieved. Further, accurate adjustment of the acquisition direction of the first sensor 41 and/or the second sensor 42 can be further realized, and the acquisition direction is ensured to be consistent with the movement direction of the moving chassis, so that the obstacle in the advancing direction of the moving chassis can be accurately detected.

In one embodiment, the swing mechanism further comprises a third arm connected to the turntable 31, the third arm being arranged perpendicular to the first arm 32 and the second arm 33, a first end of the third arm being connected to the turntable 31, and a second end of the third arm extending horizontally to the outside of the housing 1. And

The detection part also comprises a third sensor, the third sensor is slidably arranged at the second end of the third support arm, and the third sensor is used for detecting an obstacle.

According to the embodiment of the disclosure, it is to be noted that:

the first end of the third support arm is connected with the turntable 31, which can be understood as that the first end of the third support arm is connected with the edge of the turntable 31, and can be understood as being connected with the end face of the turntable 31, and the specific connection position can be selected according to the requirement, so that the third support arm can be driven to rotate together under the condition that the turntable 31 rotates. The structural shape, material, etc. of the third arm may be selected and adjusted as needed, and are not particularly limited herein. The length of the second end extension of the third support arm can be adjusted according to the acquisition view field of the third sensor, so that the acquisition view field can be guaranteed to be not to comprise the shell 1 and the driving wheel 2 after the third sensor is mounted at the second end, that is, the third sensor can not be interfered by the shell 1 and the driving wheel 2.

The third sensor may be any sensor in the prior art, and may be capable of detecting an obstacle in the surrounding environment of the mobile chassis. For example, the third sensor may be an ultrasonic sensor, a laser ranging sensor, a laser radar, or the like, and is not particularly limited herein. The third sensor is matched with the turntable 31 through the third support arm, so that the obstacle detection can be realized in any direction of the moving chassis in the moving process of the moving chassis, namely 360-degree omnibearing obstacle detection can be realized through the third sensor in the moving process of the moving chassis.

According to the technology of the embodiment of the disclosure, through the combination of the third sensor and the first sensor 41 and the second sensor 42, in the moving process of the moving chassis, the first sensor 41, the second sensor 42 or the third sensor can be quickly rotated to the moving direction of the moving chassis and perform obstacle detection, and 360-degree omnibearing obstacle detection in the moving process of the moving chassis can be realized.

In one embodiment, the swing mechanism further includes a fourth arm connected to the turntable 31, the fourth arm being perpendicular to the first arm 32 and the second arm 33, the fourth arm being disposed opposite the third arm in a straight shape, a first end of the fourth arm being connected to the turntable 31, and a second end of the fourth arm extending horizontally to the outside of the housing 1. And

The detection part also comprises a fourth sensor, the fourth sensor is slidably arranged at the second end of the fourth support arm, and the fourth sensor is used for detecting an obstacle.

According to the embodiment of the disclosure, it is to be noted that:

the first end of the fourth support arm is connected with the turntable 31, which can be understood as that the first end of the fourth support arm is connected with the edge of the turntable 31, and can be understood as being connected with the end surface of the turntable 31, and the specific connection position can be selected according to the requirement, so that the fourth support arm can be driven to rotate together under the condition that the turntable 31 rotates. The structural shape, material, etc. of the fourth arm may be selected and adjusted as needed, and are not particularly limited herein. The length of the second end extension of the fourth support arm can be adjusted according to the acquisition view field of the fourth sensor, so that the acquisition view field can be guaranteed to be not to comprise the shell 1 and the driving wheel 2 after the fourth sensor is installed at the second end, that is, the fourth sensor can not be interfered by the shell 1 and the driving wheel 2.

The fourth sensor may be any sensor in the prior art, and may be capable of detecting an obstacle in the surrounding environment of the mobile chassis. For example, the fourth sensor may be an ultrasonic sensor, a laser ranging sensor, a laser radar, or the like, and is not particularly limited herein. The fourth sensor is matched with the turntable 31 through the fourth support arm, so that the movement of the movable chassis can be realized, the movable chassis can be rotated to any direction and obstacle detection can be performed, namely 360-degree omnibearing obstacle detection can be realized through the fourth sensor in the movement process of the movable chassis.

According to the technology of the embodiment of the present disclosure, by the combination of the third sensor, the fourth sensor, the first sensor 41 and the second sensor 42, it is possible to quickly rotate the first sensor 41, the second sensor 42, the third sensor or the fourth sensor to the moving direction of the moving chassis and perform obstacle detection in the moving process of the moving chassis, and it is possible to perform 360 ° omnidirectional obstacle detection in the moving process of the moving chassis.

In one embodiment, the third sensor and the fourth sensor each employ an ultrasonic sensor. Not only can the manufacturing cost of the mobile chassis be reduced, but also the reliability of obstacle detection can be ensured. Meanwhile, the calculated amount of the ultrasonic sensor is relatively small, so that the power supply burden of the mobile chassis can be reduced.

As shown in fig. 7, an embodiment of the present disclosure provides a method for adjusting a collection direction of a sensor, which is applied to a mobile chassis of any embodiment of the present disclosure, including:

step S701: a current direction of movement of the mobile chassis is determined.

Step S702: a first current acquisition direction of the first sensor 41 of the mobile chassis and a second current acquisition direction of the second sensor 42 are determined.

Step S703: and under the condition that the first current acquisition direction and the second current acquisition direction are inconsistent with the current movement direction, determining a target sensor close to the current movement direction. Wherein the target sensor is the first sensor 41 or the second sensor 42.

Step S704: the turntable 31 of the moving chassis is controlled to revolve according to the target rotation angle so that the collection direction of the target sensor coincides with the current moving direction.

According to the embodiment of the disclosure, it is to be noted that:

the current moving direction of the moving chassis, as shown in fig. 8 and 9, can be understood as the direction of the combined speed of the moving chassis in the x-axis and the speed of the moving chassis in the y-axis.

The first current acquisition direction of the first sensor 41 can be understood as the direction directly in front of the self-acquisition field of view of the first sensor 41.

The second current acquisition direction of the second sensor 42 can be understood as the direction directly in front of the self-acquisition field of view of the second sensor 42.

The object sensor that determines the proximity to the current moving direction can be understood as a first sensor 41 or a second sensor 42 that is closer to the extension line of the moving direction in spatial position. As shown in fig. 8, the first sensor 41 is a sensor relatively close to the moving direction, and thus the first sensor 41 is a target sensor. When the turntable 31 is controlled to rotate, the turntable 31 drives the first sensor 41 to rotate anticlockwise by a certain angle, so that the collection direction of the first sensor 41 coincides with the current moving direction.

According to the technology of the embodiment of the disclosure, the dynamic adjustment of the acquisition direction of the sensor of the mobile chassis moving in all directions is realized according to the moving direction of the mobile chassis, so that the detection of the obstacle in the advancing direction of the mobile chassis can be still realized under the condition that the advancing direction of the mobile chassis is dynamically and randomly changed, and the detection method has important significance and value for improving the testing safety and efficiency of a testing field.

In one embodiment, determining a current direction of movement of the mobile chassis comprises:

and determining the motion speed of the mobile chassis in the current x-axis direction and the motion speed of the mobile chassis in the current y-axis direction under the self coordinate system.

And determining the moving angle of the moving chassis relative to a preset datum line of the self coordinate system according to the moving speed of the current x-axis direction and the moving speed of the current y-axis direction.

And determining the current moving direction of the moving chassis according to the moving angle.

According to the technology of the embodiment of the disclosure, the accurate moving angle of the moving chassis can be obtained by taking the preset datum line of the moving chassis in the self coordinate system as a reference.

In one embodiment, determining a first current acquisition direction of the first sensor 41 and a second current acquisition direction of the second sensor 42 of the mobile chassis comprises:

the acquisition angle of the first sensor 41 of the mobile chassis is determined according to the included angle between the first support arm 32 of the mobile chassis and a preset reference line of the self-coordinate system of the mobile chassis.

The first current acquisition direction of the first sensor 41 is determined from the acquisition angle of the first sensor 41.

The acquisition angle of the second sensor 42 of the mobile chassis is determined according to the included angle between the second arm 33 of the mobile chassis and the preset reference line.

A second current acquisition direction of the second sensor 42 is determined based on the acquisition angle of the second sensor 42.

According to the technology of the embodiment of the present disclosure, by moving the preset reference line of the chassis in the own coordinate system as a reference, an accurate movement angle to the first sensor 41 and the second sensor 42 can be obtained.

In one example, the transmission ratio of the second gear 51 to the first gear 311 is a:d, so that the maximum reaction time t of the turntable 31 can be obtained according to the rated rotation speed a as follows:

in the above equation, the reaction time can be obtained in relation to the rotation speed of the driving motor of the second gear 51, and a very fast reaction time can be achieved. The reaction time is understood to be the time taken to start adjusting the acquisition direction of the first sensor 41 and the second sensor 42 to the end of the adjustment.

In one example, as shown in fig. 10, when the moving direction of the moving chassis is changed, the moving direction and the clamping foot of the moving chassis (the driving wheel 2 is an omni wheel) which moves omnidirectionally are acquired, and V is set _x And V is equal to _y The speeds of the x axis and the y axis of the mobile chassis under the self coordinate system are respectively, L is the distance between the three wheels (driving wheels 2) of the mobile chassis and the center of the mobile chassis moving omnidirectionally, and V ₁ 、V ₂ And V is equal to ₃ The speed of the three wheels along the driving direction is respectively, the angle phi is the included angle of the wheels and the x axis of the coordinate system of the movable chassis, omega is the angular speed of the movement of the movable chassis, the clockwise direction is assumed to be the positive direction, and the movement equation of the movable chassis moving omnidirectionally is as follows:

V ₁ ＝V _x +Lω

V ² ＝-V _x cosφ+V _y s i nφ+Lω

V ³ ＝-V _x cosφ-V _y s i nφ+Lω

from this kinematic solution, the actual motion velocity V in the x, y direction of the mobile chassis is obtained _x And V is equal to _y The moving angle of the movable chassis can be solved by the actual moving speed in the x and y directions:

wherein the value of θ is according to V _x And V is equal to _y Respectively, determines which quadrant of the coordinate system is in. For example, as shown in FIG. 8, V _x And V is equal to _y And when the two positions are positive values, the moving direction of the moving chassis is positioned in the first quadrant of the self coordinate system. V (V) _x Is of negative value, V _y And when the movement direction is positive, the movement direction of the mobile chassis is positioned in the second quadrant of the self coordinate system. And solving the rotation angle of the turntable 31 according to theta, wherein a rotation optimal algorithm in control logic can judge the nearest rotation angle between the 180-degree placed ultrasonic device and the theta direction, so as to judge the rotation direction of the turntable 31 and obtain the rotation parameters of the driving part of the turntable.

Specifically, according to V _x And V is equal to _y When the moving direction of the moving chassis moving omnidirectionally is determined to be at the first quadrant, v in the figure represents the current moving direction of the moving chassis, and the dotted circle represents the rotation locus range of the first sensor 41 and the second sensor 42, as shown in fig. 8.

Because the first sensor 41 and the second sensor 42 are symmetrically arranged at 180 degrees, no numbers are distinguished in the operation process, the included angle alpha between the first sensor 41 and the second sensor 42 and the y direction is always between-90 degrees and 90 degrees, and the setting limit range of the angle alpha is as follows:

When α < -90 degrees, α=180+α

When α >90 degrees, α=α -180

From the formula

It can be known that θ takes the value and V _x And V is equal to _y In relation to the size of the material, the material is between-90 DEG and 90 DEG, so that the following conditions can be obtained:

(1) When-90 ° < α - θ <90 °, the target rotation angle β=α - θ of the first sensor 41 is obtained, and if β >0, counterclockwise rotation is performed, and if β <0, clockwise rotation is performed, the rotation angles are absolute values of (α - θ);

(2) When α - θ < -90 ° or α - θ >90 °, it is indicated that the second sensor 42 is closest to the movement direction at this time, so that the second sensor 42 is controlled to reach the movement direction position, and if α - θ < -90 °, the counterclockwise rotation is performed, the rotation angle is:

β＝180+α-θ

the absolute value of which is the angle of rotation required.

If alpha-theta is more than 90 degrees, clockwise rotation is carried out, and the rotation angles are as follows:

β＝180-α+θ

the absolute value of which is the angle of rotation required.

Until the value of α is equal to the value of β, the turntable 31 stops rotating.

The reaction time t required for the turntable 31 is:

the reaction time of the first sensor 41 or the second sensor 42 can be determined, and the time of the wave generation of the first sensor 41 and the second sensor 42, the time of the filtering operation, and the like can be controlled according to the reaction time, so that adverse effects caused by wave generation in the reaction time can be avoided.

As shown in fig. 11, an embodiment of the present disclosure provides a device for adjusting a collection direction of a sensor, which is applied to a mobile chassis of any embodiment of the present disclosure, and includes:

a first determining module 1101 is configured to determine a current moving direction of the moving chassis.

A second determining module 1102 is configured to determine a first current acquisition direction of the first sensor 41 and a second current acquisition direction of the second sensor 42 of the mobile chassis.

The third determining module 1103 is configured to determine a target sensor that is close to the current moving direction if the first current collecting direction and the second current collecting direction are not consistent with the current moving direction. Wherein the target sensor is the first sensor 41 or the second sensor 42. And

The control module 1104 is used for controlling the turntable 31 of the mobile chassis to rotate according to the target rotation angle so as to enable the acquisition direction of the target sensor to be consistent with the current movement direction.

In one embodiment, the first determining module 1101 is configured to:

In one embodiment, the second determining module 1102 is configured to:

For descriptions of specific functions and examples of each module and sub-module of the apparatus in the embodiments of the present disclosure, reference may be made to the related descriptions of corresponding steps in the foregoing method embodiments, which are not repeated herein.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 12 shows a schematic block diagram of an example electronic device 1200 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile apparatuses, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 12, the apparatus 1200 includes a computing unit 1201, which may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a Random Access Memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 may also be stored. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other via a bus 1204. An input/output (I/O) interface 1205 is also connected to the bus 1204.

Various components in device 1200 are connected to I/O interface 1205, including: an input unit 1206 such as a keyboard, mouse, etc.; an output unit 1207 such as various types of displays, speakers, and the like; a storage unit 1208 such as a magnetic disk, an optical disk, or the like; and a communication unit 1209, such as a network card, modem, wireless communication transceiver, etc. The communication unit 1209 allows the device 1200 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.

The computing unit 1201 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 1201 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The computing unit 1201 performs the various methods and processes described above, such as the adjustment method of the acquisition direction of the sensor. For example, in some embodiments, the method of adjusting the direction of acquisition of the sensor may be implemented as a computer software program, tangibly embodied on a machine-readable medium, such as the storage unit 1208. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 1200 via ROM 1202 and/or communication unit 1209. When the computer program is loaded into the RAM 1203 and executed by the computing unit 1201, one or more steps of the above-described method of adjusting the acquisition direction of the sensor may be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured to perform the method of adjustment of the acquisition direction of the sensor in any other suitable way (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

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. The 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.

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

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

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this disclosure, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed. Either mechanical or electrical or communication. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the disclosure. The components and arrangements of specific examples are described above in order to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions, improvements, etc. that are within the principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A mobile chassis, comprising:

the top of the shell is provided with a mounting hole;

a plurality of driving wheels arranged at intervals along the circumferential direction of the housing;

the rotary mechanism comprises a rotary table and a first support arm, the rotary table is rotatably arranged in the mounting hole, the first end of the first support arm is connected with the rotary table, and the second end of the first support arm horizontally extends to the outside of the shell, wherein the rotary table can rotate relative to the mounting hole;

2. The mobile chassis of claim 1, wherein the swing mechanism further comprises a second support arm connected to the turntable, the second support arm being disposed opposite the first support arm in a straight line, a first end of the second support arm being connected to the turntable, a second end of the second support arm extending horizontally to the outside of the housing; and

the detection part further comprises a second sensor, the second sensor is slidably arranged at the second end of the second support arm, and the second sensor is used for detecting obstacles.

3. A mobile chassis according to claim 1 or 2, wherein the second end of the first arm is slidably provided with a first telescopic portion, the first sensor being connected to the first telescopic portion.

4. The mobile chassis of claim 2, wherein the second end of the second arm is slidably provided with a second telescoping portion, the second sensor being coupled to the second telescoping portion.

5. The mobile chassis of claim 1 or 2, further comprising:

the driving part is electrically connected with the control unit and comprises an output end, and the output end is connected with the turntable and used for driving the turntable to perform rotary motion.

6. The mobile chassis of claim 5, wherein the turntable is provided with a first gear and the output is provided with a second gear, the second gear being in mesh with the first gear.

7. The mobile chassis of claim 6, wherein the first gear is a ring gear disposed in a middle portion of the turntable, and the second gear is located in the first gear.

8. The mobile chassis of claim 5, wherein a mounting hole is provided in a middle portion of a side end surface of the turntable facing away from the first support arm, and the output end is inserted into the mounting hole.

9. The mobile chassis of claim 2, wherein the swing mechanism further comprises a third arm coupled to the turntable, the third arm disposed perpendicular to the first and second arms, a first end of the third arm coupled to the turntable, a second end of the third arm extending horizontally outside the housing; and

The detection part further comprises a third sensor, the third sensor is slidably arranged at the second end of the third support arm, and the third sensor is used for detecting an obstacle.

10. The mobile chassis of claim 9, wherein the swing mechanism further comprises a fourth arm connected to the turntable, the fourth arm being perpendicular to the first arm and the second arm, the fourth arm being disposed opposite the third arm in a straight line, a first end of the fourth arm being connected to the turntable, a second end of the fourth arm extending horizontally outside the housing; and

the detection part further comprises a fourth sensor, the fourth sensor is slidably arranged at the second end of the fourth support arm, and the fourth sensor is used for detecting obstacles.

11. The mobile chassis of claim 2, wherein the first sensor and the second sensor each employ an ultrasonic sensor.

12. The mobile chassis of claim 10, wherein the third sensor and the fourth sensor each employ an ultrasonic sensor.

13. The mobile chassis of claim 1 or 2, wherein the plurality of drive wheels employ omni-wheels.

14. A method of adjusting the acquisition direction of a sensor, applied to the mobile chassis of any one of claims 2 to 13, comprising:

determining the current moving direction of the moving chassis;

determining a first current acquisition direction of a first sensor and a second current acquisition direction of a second sensor of the mobile chassis;

determining a target sensor close to the current moving direction under the condition that the first current collecting direction and the second current collecting direction are inconsistent with the current moving direction; wherein the target sensor is the first sensor or the second sensor; and

15. The method of claim 14, wherein the determining the current direction of movement of the mobile chassis comprises:

determining the motion speed of the mobile chassis in the current x-axis direction and the motion speed of the mobile chassis in the current y-axis direction under the self coordinate system;

determining a moving angle of the moving chassis relative to a preset reference line of the self coordinate system according to the moving speed of the current x-axis direction and the moving speed of the current y-axis direction;

16. The method of claim 14 or 15, wherein the determining a first current acquisition direction of a first sensor and a second current acquisition direction of a second sensor of the mobile chassis comprises:

determining an acquisition angle of a first sensor of the mobile chassis according to an included angle between a first support arm of the mobile chassis and a preset reference line of a self coordinate system of the mobile chassis;

determining a first current acquisition direction of the first sensor according to the acquisition angle of the first sensor;

determining an acquisition angle of a second sensor of the mobile chassis according to an included angle between a second support arm of the mobile chassis and the preset reference line;

and determining a second current acquisition direction of the second sensor according to the acquisition angle of the second sensor.

17. A sensor acquisition direction adjustment device for use with a mobile chassis according to any one of claims 2 to 13, comprising:

The third determining module is used for determining a target sensor close to the current moving direction under the condition that the first current collecting direction and the second current collecting direction are inconsistent with the current moving direction; wherein the target sensor is the first sensor or the second sensor; and

and the control module is used for controlling the turntable of the movable chassis to revolve according to the target rotation angle so as to enable the acquisition direction of the target sensor to be consistent with the current movement direction.

18. The apparatus of claim 17, wherein the first determination module is configured to:

19. The apparatus of claim 17 or 18, wherein the second determining module is configured to:

20. An electronic device, comprising:

at least one processor; and

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

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 14 to 16.

21. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 14 to 16.

22. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 14 to 16.