CN117806298A

CN117806298A - Driving route adjustment method and device, storage medium and electronic device

Info

Publication number: CN117806298A
Application number: CN202211152500.8A
Authority: CN
Inventors: 杨咚浩; 顾一休; 许灿
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2024-04-02

Abstract

The invention discloses a method and a device for adjusting a driving route, a storage medium and an electronic device, wherein the method comprises the following steps: collecting position detection data through a position sensitive detector in the running process of the self-mobile equipment, wherein the position detection data are used for indicating the distance between the position sensitive detector and an obstacle, and the position sensitive detector is arranged on the self-mobile equipment; performing curve fitting according to the position detection data to obtain a fitted contour curve, wherein the fitted contour curve is used for indicating the contour of the obstacle; and adjusting the driving route of the self-mobile equipment according to the fitting contour curve. By adopting the technical scheme, the problem that in the prior art, the profile of the obstacle cannot be effectively perceived only by sensing the obstacle through the side edge sensor, and then the sweeping robot collides with the obstacle for many times in the driving process is solved.

Description

Driving route adjustment method and device, storage medium and electronic device

[ field of technology ]

The present invention relates to the field of communications, and in particular, to a method and apparatus for adjusting a driving route, a storage medium, and an electronic apparatus.

[ background Art ]

Along with development of science and technology, more and more people begin to use intelligent equipment to perform sanitary cleaning work in daily life, such as a sweeping robot, the sweeping robot can be roughly divided into an intelligent dust collector, an intelligent sweeping machine and an intelligent sweeping machine integrating suction and sweeping, wherein the sweeping robot can autonomously move to different areas so as to perform cleaning tasks in the different areas.

However, when the sweeping robot cleans an area, a plurality of various obstacles such as stools, dolls, tables and the like appear in the area, and in the driving process of the sweeping robot, the side edge sensors are generally adopted to clean edges of the area where the obstacles are located, but in the driving process of the sweeping robot, the side edge sensors are used for sensing the obstacles, so that the outline of the obstacles cannot be well sensed, and the sweeping robot can collide with the obstacles for a plurality of times in the driving process.

Aiming at the problems that in the prior art, the profile of an obstacle cannot be effectively perceived only by sensing the obstacle through a side edge sensor, and then the sweeping robot collides with the obstacle for a plurality of times in the driving process, and the like, no effective solution is proposed at present.

Accordingly, there is a need for an improvement in the related art to at least partially solve the above-mentioned technical problems.

[ invention ]

The embodiment of the invention provides an adjustment and device of a driving route, a storage medium and an electronic device, which at least solve the problems that in the prior art, an obstacle is sensed only by a side edge sensor and the outline of the obstacle cannot be effectively sensed, and then a sweeping robot collides with the obstacle for a plurality of times in the driving process.

According to an aspect of the embodiment of the present invention, there is provided a method for adjusting a driving route, including: collecting position detection data through a position sensitive detector in the running process of the self-mobile equipment, wherein the position detection data are used for indicating the distance between the position sensitive detector and an obstacle, and the position sensitive detector is arranged on the self-mobile equipment; performing curve fitting according to the position detection data to obtain a fitted contour curve, wherein the fitted contour curve is used for indicating the contour of the obstacle; and adjusting the driving route of the self-mobile equipment according to the fitting contour curve.

In one exemplary embodiment, collecting location detection data by a location sensitive detector during travel from a mobile device includes: controlling the position sensitive detector to emit detection signals in the process of driving the self-mobile equipment; and when the position sensitive detector receives the feedback signal of the detection signal within a preset time range, the distance between the position sensitive detector and the obstacle, which is calculated according to the transmitting time of the detection signal and the receiving time of the feedback signal, is taken as the position detection data, wherein the maximum value of the preset time range is smaller than a preset threshold value.

In an exemplary embodiment, performing curve fitting according to the position detection data to obtain a fitted contour curve includes: continuously collecting a plurality of position detection data in the running process of the self-mobile equipment; calculating a plurality of second position coordinates of the obstacle according to the plurality of position detection data, a first position coordinate and a target direction, wherein the first position coordinate is used for indicating the position of the self-moving equipment when the position detection data are acquired, the target direction is used for indicating the pose of the obstacle relative to the self-moving equipment when the position detection data are acquired, and the plurality of second position coordinates are in one-to-one correspondence with the plurality of position detection data; and performing curve fitting on the plurality of second position coordinates by using a preset fitting algorithm to obtain the fitted contour curve.

In an exemplary embodiment, after curve fitting is performed on the plurality of second position coordinates using a preset fitting algorithm to obtain the fitted contour curve, the method further includes: storing the fitted contour curves into a map stored by the self-mobile equipment, wherein a plurality of fitted contour curves are stored in the map; determining a target fitting contour curve from a plurality of fitting contour curves acquired from the map under the condition that the self-moving equipment performs the next round of cleaning of the current cleaning, wherein the target fitting contour curve is a fitting contour curve with the minimum distance from the self-moving equipment, which is stored in the map; and controlling the self-moving equipment to adjust the driving route in a target obstacle area to be the target fitting contour curve, wherein the target obstacle area is the area where the target obstacle is located, and the target fitting contour curve is a fitting contour curve obstacle corresponding to the target fitting contour curve.

In one exemplary embodiment, adjusting the travel route of the self-mobile device according to the fitted profile includes: determining whether the fitted contour curve is a closed graph; and controlling the self-mobile device to be far away from the fitting contour curve in the condition that the fitting contour curve is a closed graph.

In one exemplary embodiment, after determining whether the fitted contour curve is a closed figure, the method further comprises: and in the case that the fitted contour curve is a non-closed graph, extending the fitted contour curve according to parameter information of the fitted contour curve, wherein the parameter information comprises at least one of the following: curvature, length; and controlling the self-mobile equipment to adjust the running route at the current moment into an extended fitting contour curve.

In an exemplary embodiment, extending the fitted profile according to the parameter information of the fitted profile includes: calculating a first shape and a first probability of the fitted contour curve according to the parameter information of the fitted contour curve, wherein the first probability is used for indicating the probability that the fitted contour curve is the first shape; determining a second shape corresponding to a second probability, wherein the second probability is a first probability with the largest value; and extending the fitting contour curve according to the second shape and the parameter information.

According to another aspect of the embodiment of the present invention, there is also provided an apparatus for adjusting a travel route, the apparatus including: the system comprises an acquisition module, a position detection module and a control module, wherein the acquisition module is used for acquiring position detection data through a position sensitive detector in the running process of self-mobile equipment, the position detection data are used for indicating the distance between the position sensitive detector and an obstacle, and the position sensitive detector is arranged on the self-mobile equipment; the fitting module is used for performing curve fitting according to the position detection data to obtain a fitting contour curve, wherein the fitting contour curve is used for indicating the contour of the obstacle; and the adjusting module is used for adjusting the driving route of the self-mobile equipment according to the fitting contour curve.

According to still another 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 above-described method of adjusting a travel route when running.

According to still another aspect of the embodiments of the present invention, there is further provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the method for adjusting a driving route through the computer program.

In the embodiment of the invention, position detection data for indicating the distance between a position sensitive detector and an obstacle is acquired through the position sensitive detector arranged on the self-moving equipment in the running process of the self-moving equipment; performing curve fitting according to the position detection data to obtain a fitted contour curve for indicating the contour of the obstacle; adjusting the driving route of the self-mobile equipment according to the fitting contour curve; the method comprises the steps of collecting position detection data, performing curve fitting on the collected position detection data to identify the outline of an obstacle, assisting the self-moving equipment to perform scene identification, and performing navigation assistance on the advancing direction of the self-moving equipment so as to help the self-moving equipment to finish cleaning better. By adopting the technical scheme, the problem that in the prior art, the profile of the obstacle cannot be effectively perceived only by sensing the obstacle along the side surface of the robot, so that the robot collides with the obstacle for many times in the running process is solved; the technical effect of accurately identifying the outline of the obstacle and thus helping the self-mobile device to adjust the driving direction is achieved.

[ 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 do not constitute a limitation on the invention. In the drawings:

fig. 1 is a hardware block diagram of a sweeping robot according to an alternative adjustment method of a travel route according to an embodiment of the present invention;

FIG. 2 is a flow chart of an alternative method of adjusting a travel route according to an embodiment of the invention;

FIG. 3 is a flow chart of an alternative method of adjusting a travel route according to an embodiment of the invention;

FIG. 4 is a block diagram of an alternative travel route adjustment device according to an embodiment of the invention;

fig. 5 is a schematic diagram of an alternative self-mobile device in an embodiment of the invention.

[ detailed description ] of the invention

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The method embodiments provided in the embodiments of the present invention may be performed in a sweeping robot (equivalent to the self-moving device described above) or similar computing device. Taking the example of running on the sweeping robot as an example, fig. 1 is a hardware structure block diagram of the sweeping robot of the driving route adjusting method according to the embodiment of the invention. As shown in fig. 1, the sweeping robot may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor (Microprocessor Unit, abbreviated MPU) or a programmable logic device (Programmable logic device, abbreviated PLD)) and a memory 104 for storing data, and in one exemplary embodiment, the sweeping robot may further include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the sweeping robot. For example, the sweeping robot may also include more or less components than shown in fig. 1, or have a different configuration equivalent to the function shown in fig. 1 or more than the function shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method for adjusting a driving route in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, to implement the above-mentioned method. 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 remotely located with respect to the processor 102, which may be connected to the sweeping 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 the robot cleaner. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect 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 configured to communicate with the internet wirelessly.

In this embodiment, there is provided a method for adjusting a driving route, and fig. 2 is a flowchart of a method for adjusting a driving route according to an embodiment of the present invention, the flowchart including the steps of:

step S202, position detection data are collected through a position sensitive detector in the running process of the self-mobile device, wherein the position detection data are used for indicating the distance between the position sensitive detector and an obstacle, and the position sensitive detector is arranged on the self-mobile device;

it should be noted that, the position sensitive detector is also called a position detector (Position Sensitive Detector, PSD), which is a device capable of detecting a photoelectric position, and is widely used as a position sensor combined with a light emitting source, and the PSD basically belongs to a light sensor, which is also called a coordinate photocell.

Step S204, curve fitting is carried out according to the position detection data to obtain a fitted contour curve, wherein the fitted contour curve is used for indicating the contour of the obstacle;

the above curve fitting process is to convert the collected position detection data into position coordinate data of the obstacle, and obtain a fitted contour curve for indicating the contour of the obstacle by using a curve fitting algorithm on the position coordinate data.

And step S206, adjusting the driving route of the self-mobile device according to the fitting contour curve.

Optionally, by extending the obtained fitting profile and adjusting the driving route to the extended fitting profile, the probability of collision between the self-mobile device and the obstacle can be reduced, and the self-mobile device can be helped to smoothly drive along the obstacle.

Through the steps, position detection data for indicating the distance between the position sensitive detector and an obstacle are collected through the position sensitive detector arranged on the self-moving equipment in the running process of the self-moving equipment; performing curve fitting according to the position detection data to obtain a fitted contour curve for indicating the contour of the obstacle; adjusting the driving route of the self-mobile equipment according to the fitting contour curve; the method comprises the steps of collecting position detection data, performing curve fitting on the collected position detection data to identify the outline of an obstacle, assisting the self-moving equipment to perform scene identification, and performing navigation assistance on the advancing direction of the self-moving equipment so as to help the self-moving equipment to finish cleaning better. By adopting the technical scheme, the problem that in the prior art, the profile of the obstacle cannot be effectively perceived only by sensing the obstacle along the side surface of the robot, so that the robot collides with the obstacle for many times in the running process is solved; the technical effect of accurately identifying the outline of the obstacle and thus helping the self-mobile device to adjust the driving direction is achieved.

Wherein, the above-mentioned acquisition step S202 is performed: collecting position detection data by a position sensitive detector in the process of traveling from mobile equipment, comprising the following steps: controlling the position sensitive detector to emit detection signals in the process of driving the self-mobile equipment; and when the position sensitive detector receives the feedback signal of the detection signal within a preset time range, the distance between the position sensitive detector and the obstacle, which is calculated according to the transmitting time of the detection signal and the receiving time of the feedback signal, is taken as the position detection data, wherein the maximum value of the preset time range is smaller than a preset threshold value.

The position sensitive detector is arranged on the self-moving equipment, and continuously transmits detection signals in the running process of the self-moving equipment so as to sense obstacles around the self-moving equipment, if the position sensitive detector receives feedback signals of the detection signals within a preset time range, the situation that the obstacles occur in the detection range of the position sensitive detector is indicated, and the self-moving equipment only needs to detect the obstacles with relatively short distance through the position sensitive detector, so that the preset time range is set smaller, namely the minimum value of the preset time range is smaller than a preset threshold value, and the influence of the running of the self-moving equipment caused by the excessively far obstacles detected by the self-moving equipment is avoided; and calculating the distance between the obstacle and the mobile device according to the difference between the transmitting time and the receiving time of the detection signal, and taking the distance as position detection data.

By adopting the scheme, the position sensitive detector arranged on the self-moving equipment continuously transmits the detection signal in the moving process of the self-moving equipment, and receives the feedback signal of the detection signal through the position sensitive detector, and the self-moving equipment continuously moves and has smaller detection range, so that a preset time range is set, and the distance between the position sensitive detector and the obstacle is calculated under the condition that the feedback signal of the detection signal received in the preset time range is only perceived; thereby acquiring position data of the obstacle.

It should be noted that the above-mentioned manner of calculating the distance by the difference between the transmission time and the reception time of the detection signal is merely used as an example, and the position-sensitive detector may obtain the position data by other manners, which is not limited in this application.

Optionally, the fitting step S204 is as follows: performing curve fitting according to the position detection data to obtain a fitted contour curve, which can be realized by the following steps: continuously collecting a plurality of position detection data in the running process of the self-mobile equipment; calculating a plurality of second position coordinates of the obstacle according to the plurality of position detection data, a first position coordinate and a target direction, wherein the first position coordinate is used for indicating the position of the self-moving equipment when the position detection data are acquired, the target direction is used for indicating the pose of the obstacle relative to the self-moving equipment when the position detection data are acquired, and the plurality of second position coordinates are in one-to-one correspondence with the plurality of position detection data; and performing curve fitting on the plurality of second position coordinates by using a preset fitting algorithm to obtain the fitted contour curve.

Continuously acquiring position detection data in the running process of the self-mobile equipment so as to acquire the outline of the obstacle more accurately, and performing curve fitting according to the acquired position detection data while moving the self-mobile equipment so as to enable the self-mobile equipment to adjust the running direction according to the newly acquired fitting outline curve of the obstacle; the curve fitting is performed by acquiring a plurality of position coordinates (corresponding to the second position coordinates) of the obstacle, determining a plurality of position coordinates of the obstacle according to the position coordinates (corresponding to the first position coordinates) of the self-mobile device when the position detection data are acquired and recorded by the self-mobile device, the acquired plurality of position detection data, and the position (corresponding to the target direction) of the obstacle relative to the self-mobile device when the position detection data are acquired, and performing curve fitting on the plurality of position coordinates by using a preset fitting algorithm to obtain the fitted contour curve.

By adopting the scheme, the fitting contour curve can be obtained by performing curve fitting on the plurality of position coordinates through the plurality of position detection data of the obstacle continuously collected in the running process of the self-moving equipment, the first position coordinates of the self-moving equipment when the plurality of position detection data are collected and the plurality of position coordinates of the obstacle relative to the azimuth of the self-moving equipment when the plurality of position detection data are collected, so that the self-moving equipment is helped to recognize the contour of the obstacle, and the running route is planned conveniently.

It should be noted that, the position sensitive detector is disposed at a fixed position of the self-mobile device, so that the position of the obstacle detected by the same position sensitive detector at the same time relative to the self-mobile device can be determined according to the current pose of the self-mobile device and the position of the position sensitive detector disposed at the self-mobile device.

Based on the above steps, the fitting step S204 is performed: after curve fitting is performed on the plurality of second position coordinates by using a preset fitting algorithm to obtain the fitted contour curve, the method further comprises: storing the fitted contour curves into a map stored by the self-mobile equipment, wherein a plurality of fitted contour curves are stored in the map; determining a target fitting contour curve from a plurality of fitting contour curves acquired from the map under the condition that the self-moving equipment performs the next round of cleaning of the current cleaning, wherein the target fitting contour curve is a fitting contour curve with the minimum distance from the self-moving equipment, which is stored in the map; and controlling the self-moving equipment to adjust the driving route in a target obstacle area to be the target fitting contour curve, wherein the target obstacle area is the area where the target obstacle is located, and the target fitting contour curve is a fitting contour curve obstacle corresponding to the target fitting contour curve.

After the fitted contour curve is obtained, the self-mobile equipment records the fitted contour curve in a map of the self-mobile equipment, and all the fitted contour curves obtained from the history of the self-mobile equipment are stored in the map; when the self-mobile device performs the next cleaning, the self-mobile device selects a fitting contour curve (corresponding to the target fitting contour curve) of the obstacle closest to the self-mobile device according to the current position of the self-mobile device, and when the self-mobile device moves to the area where the target fitting contour curve is located according to the original route, the self-mobile device moves according to the fitting contour curve so as to clean the periphery of the obstacle, and avoid the occurrence of the missing cleaning.

After the fitting contour curve of the obstacle is obtained, the fitting contour curve is stored in the map, and when the self-moving equipment cleans the obstacle for the next time and moves to the vicinity of the fitting contour curve, the driving route of the self-moving equipment in the area where the fitting contour curve is located is controlled to be adjusted to the fitting contour curve, so that the self-moving equipment can drive the obstacle along the edge, and the situation of missing scanning is avoided.

If the fitted profile newly obtained from the mobile device is different from the previously recorded fitted profile at the same location in the map, the fitted profile at that location is updated by the mobile device.

Optionally, the adjusting step S206: the adjustment of the driving route of the self-mobile device according to the fitted contour curve can be realized by the following scheme, and the method specifically comprises the following steps: determining whether the fitted contour curve is a closed graph; and controlling the self-mobile device to be far away from the fitting contour curve in the condition that the fitting contour curve is a closed graph.

In the process of adjusting the driving route of the self-moving equipment according to the fitting contour curve, the self-moving equipment is driven while collecting position detection data to perform curve fitting, namely the fitting contour curve is updated and prolonged all the time, if the self-moving equipment detects that the fitting contour curve is prolonged to be a closed graph, the self-moving equipment is driven along the obstacle for one circle, the contour of the obstacle is completely identified, and the cleaning of the area where the obstacle is located is completed in the round of cleaning, the self-moving equipment can be controlled to be far away from the obstacle corresponding to the fitting contour curve so as to clean other areas.

By adopting the scheme, under the condition that the obtained fitting contour curve is determined to be a closed graph, the self-moving equipment can be confirmed to run for one circle along the obstacle, namely the self-moving equipment can completely clean the periphery of the obstacle, PSD data (equivalent to the position detection data) of the periphery of the obstacle can be acquired, and the self-moving equipment can be controlled to be far away from the obstacle, so that repeated cleaning is avoided.

Based on the steps: after determining whether the fitted contour curve is a closed figure, the method further comprises: and in the case that the fitted contour curve is a non-closed graph, extending the fitted contour curve according to parameter information of the fitted contour curve, wherein the parameter information comprises at least one of the following: curvature, length; and controlling the self-mobile equipment to adjust the running route at the current moment into an extended fitting contour curve.

If the fitted contour curve is recognized as a non-closed figure, it is explained that the obstacle is not recognized completely by the mobile device yet, but the mobile device needs to continue to move along the obstacle, but since the automatic device does not record the PSD data in front (corresponding to the position detection data), it is necessary to predict the fitted contour curve to a certain extent according to the currently obtained fitted contour curve, lengthen the fitted contour curve to a certain extent according to the curvature and length of the fitted contour curve, and control the mobile device to travel according to the prolonged fitted contour curve.

According to the scheme, under the condition that the fitted contour curve is not a closed graph, the fact that the self-moving equipment does not recognize the contour of the obstacle is determined, in order to enable the self-moving equipment to better attach to the obstacle for driving, the self-moving equipment can extend the fitted contour curve appropriately according to the parameter information of the fitted contour curve so as to adjust the driving route of the self-moving equipment, and the self-moving equipment can drive the obstacle along the edge.

Optionally, the extending step comprises: extending the fitting contour curve according to the parameter information of the fitting contour curve, including: calculating a first shape and a first probability of the fitted contour curve according to the parameter information of the fitted contour curve, wherein the first probability is used for indicating the probability that the fitted contour curve is the first shape; determining a second shape corresponding to a second probability, wherein the second probability is a first probability with the largest value; and extending the fitting contour curve according to the second shape and the parameter information.

Extending the fitting contour according to the parameter information of the fitting contour curve, comprising the following steps: predicting what shape the fitted contour curve may be and the probability of various shapes according to the curvature and length of the fitted contour curve, determining the shape corresponding to the probability with the largest numerical value in the probabilities as the shape of the fitted contour curve, and extending the fitted contour curve according to the second shape and the parameter information such as the curvature, the length and the like of the fitted contour curve.

For example, the probability of predicting the fitted contour curve as a rectangle is 60%, the probability as a square is 30%, and the probability as a circle is 10%; the fitting contour curve is considered as a rectangle, and the remaining length of the side which is not recognized at present is predicted according to the length of each side of the fitting contour curve which is existing at present, and the fitting contour curve is prolonged.

If the shape of the fitting contour curve is judged to be a circle, the circle center and the radius of the circle are calculated according to the length and the curvature of the obtained fitting contour curve, the length of an arc which is not recognized yet is predicted according to the obtained data, and the fitting contour curve is prolonged by a proper amount according to the current curvature and the predicted length.

It should be apparent that the above-described embodiments are only some embodiments, but not all embodiments, of the present invention, and in order to better understand the above-described adjustment method of the driving route, the following description of the above-described process is provided with reference to the alternative embodiments, which are not intended to limit the technical solutions of the embodiments of the present invention.

In this embodiment, a method for adjusting a driving route is provided, which is a schematic flow chart of an alternative method for adjusting a driving route according to an embodiment of the present invention, as shown in fig. 3, and specifically includes the following steps:

step S302: PSD data (corresponding to the position detection data) is acquired by a PSD sensor (corresponding to the position sensitive detector) arranged on the sweeping robot and stored in a map;

step S304: performing curve fitting on the PSD data through a curve fitting algorithm to obtain the outline of the obstacle;

Step S306: the sweeping robot is controlled to adjust the running direction in real time according to the obtained fitting curve (corresponding to the fitting contour curve) so as to enable the sweeping robot to run for a circle along the obstacle and obtain the complete contour of the obstacle;

step S308: when the sweeping robot performs the next sweeping, a running reference route is provided for the sweeping robot according to the stored fitting curve, so that the sweeping robot can be helped to complete the sweeping work better.

Through the steps, the sweeping robot firstly acquires a large amount of accumulated PSD data by running in a target area, simultaneously carries out curve fitting on the acquired PSD data, helps the sweeping robot to adjust the running direction according to a curve obtained by fitting so as to better finish sweeping, avoids the condition that the sweeping robot turns in advance to cause the missing sweeping of certain areas, and provides a reference route for the sweeping robot according to a stored fitting curve when the sweeping robot carries out the next sweeping; the problem that the profile of the obstacle cannot be effectively perceived only by sensing the obstacle through the side edge sensor in the prior art, so that the sweeping robot collides with the obstacle for a plurality of times in the driving process is solved; the technical effect of accurately identifying the outline of the obstacle and thus helping the self-mobile device to adjust the driving direction is achieved.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the various embodiments of the present invention.

In this embodiment, a device for adjusting a driving route is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.

Fig. 4 is a block diagram showing a construction of an alternative travel route adjustment device according to an embodiment of the present invention, the device including:

the acquisition module 42 is configured to acquire position detection data through a position sensitive detector during a traveling process of a self-mobile device, where the position detection data is used to indicate a distance between the position sensitive detector and an obstacle, and the position sensitive detector is disposed on the self-mobile device;

a fitting module 44, configured to perform curve fitting according to the position detection data, so as to obtain a fitted contour curve, where the fitted contour curve is used to indicate a contour of the obstacle;

an adjustment module 46 is configured to adjust the driving route of the self-mobile device according to the fitted contour curve.

Through the device, the position detection data for indicating the distance between the position sensitive detector and the obstacle is collected through the position sensitive detector arranged on the self-moving equipment in the running process of the self-moving equipment; performing curve fitting according to the position detection data to obtain a fitted contour curve for indicating the contour of the obstacle; adjusting the driving route of the self-mobile equipment according to the fitting contour curve; the method comprises the steps of collecting position detection data, performing curve fitting on the collected position detection data to identify the outline of an obstacle, assisting the self-moving equipment to perform scene identification, and performing navigation assistance on the advancing direction of the self-moving equipment so as to help the self-moving equipment to finish cleaning better. By adopting the technical scheme, the problem that in the prior art, the profile of the obstacle cannot be effectively perceived only by sensing the obstacle along the side surface of the robot, so that the robot collides with the obstacle for many times in the running process is solved; the technical effect of accurately identifying the outline of the obstacle and thus helping the self-mobile device to adjust the driving direction is achieved.

Wherein, the acquisition module 42 is further configured to control the position sensitive detector to emit a detection signal during the running process of the self-mobile device; and when the position sensitive detector receives the feedback signal of the detection signal within a preset time range, the distance between the position sensitive detector and the obstacle, which is calculated according to the transmitting time of the detection signal and the receiving time of the feedback signal, is taken as the position detection data, wherein the maximum value of the preset time range is smaller than a preset threshold value.

Optionally, the fitting module 44 is further configured to continuously collect a plurality of position detection data during the traveling process of the self-mobile device; calculating a plurality of second position coordinates of the obstacle according to the plurality of position detection data, a first position coordinate and a target direction, wherein the first position coordinate is used for indicating the position of the self-moving equipment when the position detection data are acquired, the target direction is used for indicating the pose of the obstacle relative to the self-moving equipment when the position detection data are acquired, and the plurality of second position coordinates are in one-to-one correspondence with the plurality of position detection data; and performing curve fitting on the plurality of second position coordinates by using a preset fitting algorithm to obtain the fitted contour curve.

Based on the above steps, the above fitting module 44 is further configured to perform curve fitting on the plurality of second location coordinates using a preset fitting algorithm, so as to obtain the fitted profile, and store the fitted profile into a map stored in the self-mobile device, where a plurality of fitted profiles are already stored in the map; determining a target fitting contour curve from a plurality of fitting contour curves acquired from the map under the condition that the self-moving equipment performs the next round of cleaning of the current cleaning, wherein the target fitting contour curve is a fitting contour curve with the minimum distance from the self-moving equipment, which is stored in the map; and controlling the self-moving equipment to adjust the driving route in a target obstacle area to be the target fitting contour curve, wherein the target obstacle area is the area where the target obstacle is located, and the target fitting contour curve is a fitting contour curve obstacle corresponding to the target fitting contour curve.

In an exemplary embodiment, the adjustment module 46 is further configured to determine whether the fitted contour curve is a closed figure; and controlling the self-mobile device to be far away from the fitting contour curve in the condition that the fitting contour curve is a closed graph.

Based on the above steps, the above fitting module 44 is further configured to determine whether the fitted profile is a closed figure, and then, if the fitted profile is a non-closed figure, extend the fitted profile according to parameter information of the fitted profile, where the parameter information includes at least one of the following: curvature, length; and controlling the self-mobile equipment to adjust the running route at the current moment into an extended fitting contour curve.

Optionally, the fitting module 44 is further configured to calculate a first shape and a first probability of the fitted contour according to parameter information of the fitted contour, where the first probability is used to indicate a probability that the fitted contour is the first shape; determining a second shape corresponding to a second probability, wherein the second probability is a first probability with the largest value; and extending the fitting contour curve according to the second shape and the parameter information.

The embodiment of the invention also provides a structure schematic diagram of an optional self-mobile device, as shown in fig. 5, which specifically includes:

the laser radar sensor 52, also called LDS (Laser Docking Sensor ), is used for sensing and ranging the surrounding environment from the mobile device;

a position sensitive detector 54, also known as PSD (Position Sensitive detector), is provided on the right side of the self-moving device for collecting position data of the obstacle from the mobile device for curve fitting.

It should be noted that the position sensitive detector 54 may be disposed on the right side of the self-mobile device, may be disposed on the left side of the self-mobile device, and may be disposed at another position of the self-mobile device, which is not limited in this application.

It should be noted that the above-mentioned position-sensitive detectors may be one or a plurality of position-sensitive detectors, and are shown only as an illustration, which is not limited in the present application.

It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 5 is merely illustrative and is not intended to limit the configuration of the self-moving device described above. For example, the self-mobile device may also include more or fewer components than shown in fig. 5, or have a different configuration than the equivalent functionality shown in fig. 5 or more than the functionality shown in fig. 5.

Through the structure, the self-moving equipment can finish the set cleaning task together through the mutual cooperation among the components, and can automatically process under emergency conditions, for example, when an obstacle appears in a driving route, the driving route can be adjusted, the cleaning of the periphery of the obstacle is finished, and the condition of missing cleaning is avoided. According to the device, the problem that in the prior art, the profile of the obstacle cannot be effectively perceived only by sensing the obstacle along the side surface of the robot, and then the robot collides with the obstacle for multiple times in the running process is solved; the technical effect of accurately identifying the outline of the obstacle and thus helping the self-mobile device to adjust the driving direction is achieved.

Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.

Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:

s1, acquiring position detection data through a position sensitive detector in the running process of a self-mobile device, wherein the position detection data are used for indicating the distance between the position sensitive detector and an obstacle, and the position sensitive detector is arranged on the self-mobile device;

s2, performing curve fitting according to the position detection data to obtain a fitted contour curve, wherein the fitted contour curve is used for indicating the contour of the obstacle;

and S3, adjusting the driving route of the self-mobile equipment according to the fitting contour curve.

In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.

Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.

An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:

In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps 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 of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for adjusting a travel route, comprising:

collecting position detection data through a position sensitive detector in the running process of the self-mobile equipment, wherein the position detection data are used for indicating the distance between the position sensitive detector and an obstacle, and the position sensitive detector is arranged on the self-mobile equipment;

performing curve fitting according to the position detection data to obtain a fitted contour curve, wherein the fitted contour curve is used for indicating the contour of the obstacle;

and adjusting the driving route of the self-mobile equipment according to the fitting contour curve.

2. The method of claim 1, wherein collecting position detection data by the position sensitive detector during travel from the mobile device comprises:

controlling the position sensitive detector to emit detection signals in the process of driving the self-mobile equipment;

and when the position sensitive detector receives the feedback signal of the detection signal within a preset time range, the distance between the position sensitive detector and the obstacle, which is calculated according to the transmitting time of the detection signal and the receiving time of the feedback signal, is taken as the position detection data, wherein the maximum value of the preset time range is smaller than a preset threshold value.

3. The method of claim 1, wherein performing curve fitting based on the position detection data to obtain a fitted contour curve, comprises:

continuously collecting a plurality of position detection data in the running process of the self-mobile equipment;

calculating a plurality of second position coordinates of the obstacle according to the plurality of position detection data, a first position coordinate and a target direction, wherein the first position coordinate is used for indicating the position of the self-moving equipment when the position detection data are acquired, the target direction is used for indicating the pose of the obstacle relative to the self-moving equipment when the position detection data are acquired, and the plurality of second position coordinates are in one-to-one correspondence with the plurality of position detection data;

and performing curve fitting on the plurality of second position coordinates by using a preset fitting algorithm to obtain the fitted contour curve.

4. The method of claim 3, further comprising, after curve fitting the plurality of second position coordinates using a preset fitting algorithm to obtain the fitted profile, the method further comprising:

Storing the fitted contour curves into a map stored by the self-mobile equipment, wherein a plurality of fitted contour curves are stored in the map;

determining a target fitting contour curve from a plurality of fitting contour curves acquired from the map under the condition that the self-moving equipment performs the next round of cleaning of the current cleaning, wherein the target fitting contour curve is a fitting contour curve with the minimum distance from the self-moving equipment, which is stored in the map;

and controlling the self-moving equipment to adjust the driving route in a target obstacle area to be the target fitting contour curve, wherein the target obstacle area is the area where the target obstacle is located, and the target fitting contour curve is a fitting contour curve obstacle corresponding to the target fitting contour curve.

5. The method of claim 1, wherein adjusting the travel route of the self-mobile device according to the fitted profile comprises:

determining whether the fitted contour curve is a closed graph;

and controlling the self-mobile device to be far away from the fitting contour curve in the condition that the fitting contour curve is a closed graph.

6. The method of claim 5, wherein after determining whether the fitted profile is a closed figure, the method further comprises:

and in the case that the fitted contour curve is a non-closed graph, extending the fitted contour curve according to parameter information of the fitted contour curve, wherein the parameter information comprises at least one of the following: curvature, length;

and controlling the self-mobile equipment to adjust the running route at the current moment into an extended fitting contour curve.

7. The method according to claim 6, wherein extending the fitted profile according to the parameter information of the fitted profile, comprises:

calculating a first shape and a first probability of the fitted contour curve according to the parameter information of the fitted contour curve, wherein the first probability is used for indicating the probability that the fitted contour curve is the first shape;

determining a second shape corresponding to a second probability, wherein the second probability is a first probability with the largest value;

and extending the fitting contour curve according to the second shape and the parameter information.

8. An adjustment device for a travel route, comprising:

the system comprises an acquisition module, a position detection module and a control module, wherein the acquisition module is used for acquiring position detection data through a position sensitive detector in the running process of self-mobile equipment, the position detection data are used for indicating the distance between the position sensitive detector and an obstacle, and the position sensitive detector is arranged on the self-mobile equipment;

the fitting module is used for performing curve fitting according to the position detection data to obtain a fitting contour curve, wherein the fitting contour curve is used for indicating the contour of the obstacle;

and the adjusting module is used for adjusting the driving route of the self-mobile equipment according to the fitting contour curve.

9. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 1 to 7 when run.

10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 7.