CN117970908A

CN117970908A - Method and device for generating working map of intelligent mobile device

Info

Publication number: CN117970908A
Application number: CN202211303350.6A
Authority: CN
Inventors: 陈小平; 吴延泽; 胡果; 陈逸
Original assignee: Guangdong Lizi Technology Co Ltd
Current assignee: Guangdong Lizi Technology Co Ltd
Priority date: 2022-10-24
Filing date: 2022-10-24
Publication date: 2024-05-03

Abstract

The invention discloses a method and a device for generating an intelligent mobile device working map, wherein the method comprises the following steps: when a certain sensor on the intelligent mobile equipment is detected to be triggered, determining the type of the sensor, and determining the type of a target object triggering the sensor according to the type of the sensor; acquiring data of a target object identified by a sensor, and determining global information of the target object according to the data of the target object; and generating a working map of the intelligent mobile device according to the global information and the navigation map of the intelligent mobile device. Therefore, the method and the device can combine various sensors, determine the type of the target object through the type of the triggered sensor, accurately identify the data of the target object according to the type of the target object, provide the working map which is closer to the real scene for the intelligent mobile device according to the data, and improve the construction accuracy of the working map of the intelligent mobile device, thereby greatly improving the fluency and the working efficiency of the navigation movement of the intelligent mobile device.

Description

Method and device for generating working map of intelligent mobile device

Technical Field

The invention relates to the technical field of intelligent mobile equipment, in particular to a method and a device for generating an intelligent mobile equipment working map.

Background

Along with the wider and wider application of intelligent mobile devices (such as mobile cleaning machines) in life scenes of people, the accuracy of the working map of the intelligent mobile device directly influences the movement smoothness and the working efficiency of the intelligent mobile device.

In the prior art, an intelligent mobile device generally adopts a sensor installed at the top of the device to scan the working environment of the device to construct a navigation map so as to guide the operation of the device. However, the sensor installed at the top of the device is found to be very easy to ignore articles with the height lower than the height of the sensor, so that the built navigation map is low in accuracy, and therefore, when the intelligent mobile device moves to the position of the article with the low height, path planning is needed to be made again, and the working efficiency of the intelligent mobile device is reduced. Therefore, it is important to provide a technical scheme for effectively identifying the objects with low height so as to improve the construction accuracy of the navigation map of the intelligent mobile device.

Disclosure of Invention

The technical problem to be solved by the invention is to provide the method and the device for generating the working map of the intelligent mobile equipment, which are beneficial to improving the construction accuracy of the working map of the intelligent mobile equipment, so that the working efficiency of the intelligent mobile equipment can be improved.

In order to solve the technical problem, the first aspect of the invention discloses a method for generating an intelligent mobile device working map, which comprises the following steps:

When a certain sensor on the intelligent mobile equipment is detected to be triggered, determining the type of the sensor, and determining the type of a target object triggering the sensor according to the type of the sensor;

Acquiring data of the target object identified by the sensor, and determining global information of the target object according to the data of the target object, wherein the global information comprises the type of the target object;

And generating a working map of the intelligent mobile equipment according to the global information and the navigation map of the intelligent mobile equipment.

As an optional implementation manner, in the first aspect of the present invention, the acquiring data of the target object identified by the sensor includes:

Generating an stress acting control parameter of the intelligent mobile equipment according to the type of the target object;

Controlling the intelligent mobile equipment to execute stress according to the stress control parameters, and identifying the outline of the target object according to the type of the target object by an identification sensor installed on the intelligent mobile equipment to obtain outline information of the target object, wherein the identification sensor comprises a line laser sensor;

determining pose information of the intelligent mobile equipment in a pre-constructed target coordinate system, wherein the target coordinate system is determined based on the central position of the intelligent mobile equipment, and the pose information comprises the position coordinates of the intelligent mobile equipment and/or the orientation of the intelligent mobile equipment;

determining the position information of the target object according to the pose information of the intelligent mobile equipment;

the determining global information of the target object according to the data of the target object includes:

and determining global information of the target object according to the contour information of the target object and the position information of the target object, wherein the global information further comprises the contour information and/or the position information.

As an optional implementation manner, in a first aspect of the present invention, the controlling the smart mobile device to perform the stress according to the stress control parameter, and identifying, according to the type of the target object, a contour of the target object by an identification sensor installed on the smart mobile device, to obtain contour information of the target object includes:

According to the stress acting control parameter, controlling the intelligent mobile device to move a preset distance in a preset direction and rotate by a preset angle;

Generating edge control parameters of the intelligent mobile equipment according to the pose information of the intelligent mobile equipment and the type of the target object;

And controlling the intelligent mobile equipment to move along the edge of the target object according to the edge control parameters, and identifying the outline of the target object through an identification sensor arranged on the intelligent mobile equipment in the moving process until the outline of the target object is identified, so as to obtain the outline information of the target object, wherein the identification sensor comprises a line laser sensor.

As an optional implementation manner, in a first aspect of the present invention, the determining, according to pose information of the smart mobile device, position information of the target object includes:

acquiring mounting position information of the sensor on the intelligent mobile device, wherein the mounting position information comprises a distance between a sensor center point and the intelligent mobile device center point and/or an included angle between a connecting line corresponding to the sensor and an x-axis target direction of the target coordinate system, and the connecting line corresponding to the sensor is a connecting line between the sensor center point and the intelligent mobile device center point;

and according to the installation position information and the pose information, carrying out pose relative transformation calculation on the position coordinates of the intelligent mobile equipment to obtain the position information of the target object.

In an optional implementation manner, in a first aspect of the present invention, the formula for performing pose relative transformation calculation on the position coordinates of the smart mobile device is:

Wherein, (x, y) is the position coordinate of the intelligent mobile device, (x ', y') is the position information of the target object, D is the distance between the sensor center point and the intelligent mobile device center point, θ is the included angle between the line connecting the sensor center point and the intelligent mobile device center point and the x-axis target direction of the target coordinate system, and α is the orientation of the intelligent mobile device.

As an alternative embodiment, in the first aspect of the present invention, the sensor comprises a ground detection sensor and/or an ultrasonic sensor and/or a line laser sensor;

The determining the type of the target object triggering the sensor according to the type of the sensor comprises the following steps:

When the type of the sensor is determined to be used for representing that the sensor comprises the ground detection sensor, determining that the type of the target object is a first object type;

determining that the type of the target object is a second object type when the type of the sensor is determined to be used for indicating that the sensor comprises the ultrasonic sensor;

determining that the type of the target object is a third object type when it is determined that the type of the sensor is used to indicate that the sensor includes the line laser sensor;

the heights of the object corresponding to the first object type, the object corresponding to the second object type and the object corresponding to the third object type are sequentially increased relative to the height of the intelligent mobile device.

As an optional implementation manner, in the first aspect of the present invention, the object corresponding to the first object type is a first object below the movement plane of the smart mobile device, and the object corresponding to the first object type includes a cliff barrier;

the object corresponding to the second object type is a second object which is above the movement plane of the intelligent mobile equipment and has a height smaller than or equal to a first preset height threshold value, and the object corresponding to the second object type comprises a carpet;

The object corresponding to the third object type is a third object which is above the intelligent mobile equipment movement plane, has a height smaller than a preset second height threshold value and larger than a first preset height threshold value;

the first height threshold is less than the second height threshold.

The second aspect of the invention discloses a device for generating a working map of an intelligent mobile device, which comprises:

The determining module is used for determining the type of a certain sensor when detecting that the sensor on the intelligent mobile device is triggered, and determining the type of a target object triggering the sensor according to the type of the sensor;

The acquisition module is used for acquiring the data of the target object identified by the sensor;

the determining module is further configured to determine global information of the target object according to the data of the target object, where the global information includes a type of the target object;

And the generation module is used for generating a working map of the intelligent mobile equipment according to the global information and the navigation map of the intelligent mobile equipment.

As an optional implementation manner, in the second aspect of the present invention, the acquiring module includes:

The generation sub-module is used for generating an stress acting control parameter of the intelligent mobile equipment according to the type of the target object;

The control sub-module is used for controlling the intelligent mobile equipment to execute stress operation according to the stress operation control parameter, and identifying the outline of the target object through an identification sensor installed on the intelligent mobile equipment according to the type of the target object to obtain the outline information of the target object, wherein the identification sensor comprises a line laser sensor;

A first determining submodule, configured to determine pose information of the intelligent mobile device in a pre-constructed target coordinate system, where the target coordinate system is determined based on a central position of the intelligent mobile device, and the pose information includes position coordinates of the intelligent mobile device and/or an orientation of the intelligent mobile device;

the second determining submodule is used for determining the position information of the target object according to the pose information of the intelligent mobile equipment;

The determining module determines the specific implementation mode of the global information of the target object according to the data of the target object as follows:

As an alternative embodiment, in a second aspect of the present invention, the control submodule includes:

The control unit is used for controlling the intelligent mobile equipment to move a preset distance to a preset direction and rotate a preset angle according to the stress acting control parameter;

the generation unit is used for generating the edge control parameters of the intelligent mobile equipment according to the pose information of the intelligent mobile equipment and the type of the target object;

the control unit is further used for controlling the intelligent mobile device to move along the edge of the target object according to the edge control parameters, and identifying the outline of the target object through an identification sensor installed on the intelligent mobile device in the moving process until the outline of the target object is identified, so that outline information of the target object is obtained, and the identification sensor comprises a line laser sensor.

As an alternative embodiment, in a second aspect of the present invention, the second determining sub-module includes:

The intelligent mobile device comprises an acquisition unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring installation position information of the sensor on the intelligent mobile device, the installation position information comprises a distance between a sensor center point and the intelligent mobile device center point and/or an included angle between a connecting line corresponding to the sensor and an x-axis target direction of a target coordinate system, and the connecting line corresponding to the sensor is a connecting line between the sensor center point and the intelligent mobile device center point;

And the computing unit is used for carrying out pose relative transformation computation on the position coordinates of the intelligent mobile equipment according to the installation position information and the pose information to obtain the position information of the target object.

In a second aspect of the present invention, as an optional implementation manner, the formula for performing pose relative transformation calculation on the position coordinates of the smart mobile device is:

As an alternative embodiment, in a second aspect of the invention, the sensor comprises a ground detection sensor and/or an ultrasonic sensor and/or a line laser sensor;

The determining module determines, according to the type of the sensor, that the specific implementation mode of the type of the target object triggering the sensor is:

The height of the object corresponding to the first object type, the height of the object corresponding to the second object type and the height of the object corresponding to the third object type are sequentially increased relative to the height of the intelligent mobile device.

As an optional implementation manner, in the second aspect of the present invention, the object corresponding to the first object type is an object below the movement plane of the smart mobile device, and the object corresponding to the first object type includes a cliff barrier;

the first height threshold is less than the second height threshold.

The third aspect of the invention discloses another device for generating a working map of an intelligent mobile device, which comprises:

A memory storing executable program code;

A processor coupled to the memory;

The processor invokes the executable program codes stored in the memory to execute the method for generating the working map of the intelligent mobile device disclosed in the first aspect of the invention.

A fourth aspect of the present invention discloses a computer storage medium storing computer instructions for executing the method for generating the working map of the smart mobile device disclosed in the first aspect of the present invention when the computer instructions are called.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

In the embodiment of the invention, when a certain sensor on the intelligent mobile equipment is detected to be triggered, the type of the sensor is determined, and the type of a target object triggering the sensor is determined according to the type of the sensor; acquiring data of a target object identified by a sensor, and determining global information of the target object according to the data of the target object, wherein the global information comprises the type of the target object; and generating a working map of the intelligent mobile device according to the global information and the navigation map of the intelligent mobile device. Therefore, the method and the device can combine various sensors, determine the type of the target object through the type of the triggered sensor, accurately identify the data of the target object according to the type of the target object, provide the working map which is closer to the real scene for the intelligent mobile device according to the data, and improve the construction accuracy of the working map of the intelligent mobile device, thereby greatly improving the fluency and the working efficiency of the navigation movement of the intelligent mobile device.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of an application scenario of a cleaning map generating method for an intelligent mobile device according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a method for generating a cleaning map of an intelligent mobile device according to an embodiment of the present invention;

FIG. 3 is a flow chart of another method for generating a cleaning map for an intelligent mobile device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a cleaning map generating device for an intelligent mobile device according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another intelligent mobile device cleaning map generation architecture disclosed in an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of an apparatus for generating a cleaning map of an intelligent mobile device according to an embodiment of the present invention.

Detailed Description

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 invention without making any inventive effort, are intended to be within the scope of the invention.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or article.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The invention discloses a method and a device for generating a working map of intelligent mobile equipment, which can determine the type of a target object according to the type of a sensor triggered on the intelligent mobile equipment, and determine the information of the target object according to data identified by the sensor, so as to generate the working map of the intelligent mobile equipment by combining a navigation map, provide the working map which is closer to a real scene, improve the construction accuracy of the working map of the intelligent mobile equipment, and greatly improve the fluency and the working efficiency of the navigation movement of the intelligent mobile equipment. The method and the device for generating the working map of the intelligent mobile device are respectively described in detail below.

In order to better understand the method and apparatus for generating the working map of the intelligent mobile device described in the present invention, first, a scene to which the method for generating the working map of the intelligent mobile device is applicable is described, and specifically, the scene schematic diagram may be shown in fig. 1, and fig. 1 is a scene schematic diagram in an embodiment of the present invention. As shown in fig. 1, the scene diagram is illustrated with a large area as a living room area, and the scene diagram includes smart mobile devices, carpets, home (such as chairs and sofas), cliffs (such as stairs), a first plane and a second plane. Wherein the smart mobile device moves in a first plane and the second plane is below the first plane. The intelligent mobile device determines the type of a target object according to the type of a sensor triggered on the intelligent mobile device, for example, when the sensor around or at the top of the intelligent mobile device is triggered, the sensor indicates that the target object is a carpet, a sofa or a chair, when the sensor at the bottom of the intelligent mobile device is triggered, the sensor indicates that the target object is a cliff, information of the target object, for example, information of the height, the size and the like of an obstacle is determined according to data identified by the sensor, and then a working map of the intelligent mobile device is generated by combining a navigation map.

It should be noted that the schematic view of the scene shown in fig. 1 is only for showing the scene to which the method for generating the working map of the intelligent mobile device is applicable, and the related intelligent mobile device, carpet, sofa, etc. are also only schematically shown, which is not limited by the schematic view shown in fig. 1. The above description is made of a scene to which the method for generating the working map of the intelligent mobile device is applicable, and the method and the device for generating the working map of the intelligent mobile device are described in detail below.

Example 1

Referring to fig. 2, fig. 2 is a flowchart of a method for generating a working map of an intelligent mobile device according to an embodiment of the present invention. The method for generating the working map of the smart Mobile device described in fig. 2 may be applied to a smart Mobile device based on a smart Mobile device, where the smart Mobile device based on the smart Mobile device includes any one of a smart Mobile device, a smart server for controlling the smart Mobile device, or a smart platform, where the smart Mobile device may be understood as a smart cleaning robot, and may also be understood as other smart Mobile devices with a working map planning function, and the smart server includes a local server or a cloud server, where the smart Mobile device may establish a communication connection with a user device, where the user device includes, but is not limited to, at least one of a smart Mobile phone (Android Mobile phone, iOS Mobile phone, etc.), a smart phone number watch, a tablet computer, a palm computer, a vehicle-mounted computer, a desktop computer, a netbook, a Personal digital assistant (Personal DIGITAL ASSISTANT, PDA), a smart navigator, and a Mobile internet device (Mobile INTERNET DEVICES, MID), and other smart home devices (such as a smart refrigerator device, a smart sound box, a smart television, a smart range hood device, etc.), and the embodiment of the present invention is not limited. It should be noted that an intelligent cleaning robot is preferable as the intelligent moving means. As shown in fig. 2, the method for generating the working map of the intelligent mobile device may include the following operations:

101. when a certain sensor on the intelligent mobile device is detected to be triggered, the type of the sensor is determined, and the type of a target object triggering the sensor is determined according to the type of the sensor.

In the embodiment of the invention, optionally, the sensor may be installed around, at the top of, or at the bottom of the intelligent mobile device, one sensor may be installed on the intelligent mobile device, or a plurality of sensors of the same type or different types may be installed on the intelligent mobile device, and the type of the sensor may be a ground detection sensor and/or an ultrasonic sensor and/or a line laser sensor. Further, the sensor may be fixedly installed on the intelligent mobile device or detachably installed on the intelligent mobile device, and the user may replace the sensor on the intelligent mobile device according to a specific scene and a specific use requirement.

In the embodiment of the invention, optionally, the type of the target object may be the object type in the same plane as the intelligent mobile device, or may be the object type in a different plane from the intelligent mobile device.

Optionally, the target object may be a cliff obstacle, a carpet, or a low obstacle with a height lower than that of the intelligent mobile device, or an obstacle with a height higher than that of the intelligent mobile device, when the type of the sensor is determined to be used for indicating that the sensor includes a ground detection sensor, the type of the target object is determined to be a first object type, when the type of the sensor is determined to be used for indicating that the sensor includes an ultrasonic sensor, the type of the target object is determined to be a second object type, and when the type of the sensor is determined to be used for indicating that the sensor includes a line laser sensor, the type of the target object is determined to be a third object type; the object corresponding to the first object type is an object below the movement plane of the intelligent mobile device, and the object corresponding to the first object type comprises a cliff barrier; the object corresponding to the second object type is a second object which is above the motion plane of the intelligent mobile equipment and has a height less than or equal to a first preset height threshold (such as 1/4 of the height of the intelligent mobile equipment), and the object corresponding to the second object type comprises a carpet; the object corresponding to the third object type is a third object above the motion plane of the intelligent mobile device, where the height of the third object is smaller than a preset second height threshold (e.g., the height of the intelligent mobile device itself) and larger than the first preset height threshold.

In the embodiment of the present invention, optionally, the application scenario of the intelligent mobile device may include any one of a home scenario, an office scenario, a market scenario, a factory scenario, and the like, where a working map of the intelligent mobile device needs to be generated.

102. And acquiring data of the target object identified by the sensor, and determining global information of the target object according to the data of the target object.

In the embodiment of the invention, the data of the target object comprises one or more of a contour of the target object, a position of the target object, a height of the target object, a size of the target object, a volume of the target object and an appearance of the target object. The global information of the target object includes the target object. Further, the global information of the target object may further include one or more of a contour of the target object, a position of the target object, a height of the target object, a size of the target object, a volume of the target object, and an outline of the target object.

103. And generating a working map of the intelligent mobile device according to the global information and the navigation map of the intelligent mobile device.

In the embodiment of the invention, the navigation map of the intelligent mobile device comprises the reachable area of the intelligent mobile device and the movement route of the intelligent mobile device. The working map of the intelligent mobile device comprises obstacle information in an application scene of the intelligent mobile device, an accessible area of the intelligent mobile device and obstacle avoidance movement routes of the intelligent mobile device.

Therefore, the method for generating the working map of the intelligent mobile device, which is described by the embodiment of the invention, can determine the type of the target object according to the type of the triggered sensor on the intelligent mobile device, and determine the information of the target object according to the data identified by the sensor, so as to generate the working map of the intelligent mobile device by combining the navigation map, thereby being capable of providing the working map which is closer to the real scene, improving the construction accuracy of the working map of the intelligent mobile device, and greatly improving the fluency and the working efficiency of the navigation movement of the intelligent mobile device.

In an alternative embodiment, determining the type of target object that triggers the sensor may include the following operations, depending on the type of sensor:

When the type of the sensor is determined to be used for indicating that the sensor comprises a ground detection sensor, determining the type of the target object as a first object type;

when the type of the sensor is determined to be used for indicating that the sensor comprises an ultrasonic sensor, determining that the type of the target object is a second object type;

When the type of the sensor is determined to be used for representing that the sensor comprises a line laser sensor, determining that the type of the target object is a third object type;

In this alternative embodiment, the heights of the object corresponding to the first object type, the object corresponding to the second object type, and the object corresponding to the third object type sequentially increase with respect to the height of the intelligent mobile device. The object corresponding to the first object type is an object below the movement plane of the intelligent mobile device, and the object corresponding to the first object type comprises a cliff barrier; the object corresponding to the second object type is a second object which is above the motion plane of the intelligent mobile equipment and has a height less than or equal to a first preset height threshold (such as 1/4 of the height of the intelligent mobile equipment), and the object corresponding to the second object type comprises a carpet; the object corresponding to the third object type is a third object which is above the movement plane of the intelligent mobile device, has a height smaller than a preset second height threshold (such as the self height of the intelligent mobile device) and larger than a first preset height threshold.

Therefore, according to the alternative embodiment, the type of the target object triggering the sensor can be determined according to the type of the sensor, so that the data of the target object to be determined later can be more targeted, the efficiency and the accuracy of determining the data of the target object are improved, meanwhile, the characteristics of the target objects corresponding to the types of different target objects are different, and the accuracy and the reliability of determining the data of the target object are further ensured.

Example two

Referring to fig. 3, fig. 3 is a flowchart illustrating another method for generating a working map of an intelligent mobile device according to an embodiment of the present invention. The method for generating the working map of the smart Mobile device described in fig. 3 may be applied to a smart Mobile device based on a smart Mobile device, where the smart Mobile device based on the smart Mobile device includes any one of a smart Mobile device, a smart server for managing the smart Mobile device, or a smart platform, where the smart Mobile device may be understood as a smart cleaning robot, or may be understood as other smart Mobile devices with a working map planning function, and the smart server includes a local server or a cloud server, where the smart Mobile device based on the smart Mobile device may establish a communication connection with a user device, where the user device includes, but is not limited to, at least one of a smart Mobile phone (Android Mobile phone, iOS Mobile phone, etc.), a smart phone number watch, a tablet computer, a palm computer, a vehicle-mounted computer, a desktop computer, an internet book, a Personal digital assistant (Personal DIGITAL ASSISTANT, PDA), a smart navigator, and a Mobile internet device (Mobile INTERNET DEVICES, MID), and other smart home devices (such as a refrigerator device, a sound box, a smart television, a smart oil smoke device, etc., the embodiment of the present invention is not limited to. It should be noted that an intelligent cleaning robot is preferable as the intelligent mobile device. As shown in fig. 3, the method for generating the working map of the intelligent mobile device may include the following operations:

201. When a sensor on the intelligent mobile device is detected to be triggered, the type of the sensor is determined, and the type of a target object triggering the sensor is determined according to the type of the touch sensor.

202. And generating an stress acting control parameter of the intelligent mobile equipment according to the type of the target object.

In the embodiment of the invention, optionally, the stress control parameters of the intelligent mobile device include a mobile control parameter and a rotation control parameter. Further, the stress control parameters of the intelligent mobile device further comprise one or more of distance control parameters and sensor call control parameters.

203. And controlling the intelligent mobile equipment to execute the stress operation according to the stress operation control parameter, and identifying the outline of the target object through an identification sensor arranged on the intelligent mobile equipment according to the type of the target object to obtain the outline information of the target object.

204. And determining pose information of the intelligent mobile equipment in a pre-constructed target coordinate system.

In the embodiment of the invention, the target coordinate system is determined based on the central position of the intelligent mobile device, specifically, the central point of the intelligent mobile device is taken as the origin of the target coordinate system, the designated direction is taken as the x-axis target direction, and the designated direction perpendicular to the x-axis is taken as the y-axis positive direction, so that the target coordinate system is constructed. The pose information of the intelligent mobile device comprises coordinate information of the intelligent mobile device and/or orientation of the intelligent mobile device.

205. And determining the position information of the target object according to the pose information of the intelligent mobile device.

206 Determining global information of the target object based on the contour information of the target object and the position information of the target object.

In the embodiment of the invention, the global information of the target object comprises contour information of the target object and/or position information of the target object.

207. And generating a working map of the intelligent mobile device according to the global information and the navigation map of the intelligent mobile device.

It should be noted that, the order of occurrence of steps 202 to 203 and steps 204 to 205 is not related, and may occur simultaneously or in tandem. It should be noted that, when steps 202-203 and steps 204-205 are executed simultaneously, the efficiency of obtaining the contour information and the position information of the target object is higher, so as to improve the efficiency of generating the working map of the intelligent mobile device.

In the embodiment of the present invention, for other descriptions of step 201 and step 207, please refer to the detailed descriptions of step 101 and step 103 in the first embodiment, and the description of the embodiment of the present invention is omitted.

Therefore, the method for generating the working map of the intelligent mobile device, which is described by the embodiment of the invention, can determine the type of the target object according to the type of the triggered sensor on the intelligent mobile device, generate the stress operation control parameter of the intelligent mobile device according to the type of the target object, further control the intelligent mobile device to execute the stress operation according to the stress operation control parameter, identify the outline of the target object according to the type of the target object through the identification sensor arranged on the intelligent mobile device, obtain the outline information of the target object, ensure the accuracy of the intelligent mobile device in executing the stress operation, further ensure the accuracy and the reliability of the outline information of the target object identified by the identification sensor on the intelligent mobile device, further determine the pose information of the intelligent mobile device in a pre-constructed target coordinate system, determine the position information of the target object according to the pose information of the intelligent mobile device, ensure the accuracy and the reliability of the position information of the determined target object, determine the global information of the target object according to the outline information of the target object and the position information of the target object, further ensure the accuracy of the intelligent mobile device, and the navigation map of the intelligent mobile device, and further ensure the accuracy of the working map of the intelligent mobile device.

In an alternative embodiment, according to the stress action control parameter, controlling the intelligent mobile device to execute the stress action, and according to the type of the target object, identifying the outline of the target object through an identification sensor installed on the intelligent mobile device, obtaining the outline information of the target object may include the following operations:

according to the stress acting control parameter, controlling the intelligent mobile equipment to move a preset distance in a preset direction and rotate by a preset angle;

Generating edge control parameters of the intelligent mobile equipment according to pose information of the intelligent mobile equipment and the type of the target object;

And controlling the intelligent mobile equipment to move along the edge of the target object according to the edge control parameters, and identifying the outline of the target object through an identification sensor arranged on the intelligent mobile equipment in the moving process until the outline of the target object is identified, so as to obtain the outline information of the target object.

In this optional embodiment, the controlling the intelligent mobile device to move a preset distance in a preset direction and rotate by a preset angle may specifically be controlling the intelligent mobile device to retreat by 10cm and rotate by 90 degrees in the preset direction, which is not limited in this embodiment; the edge control parameters include one or more of a movement control parameter, a distance control parameter, and a sensor call parameter.

Therefore, the implementation of the optional embodiment can control the intelligent mobile device to move a preset distance to a preset direction and rotate a preset angle according to the stress acting control parameter, generate the edgewise control parameter of the intelligent mobile device according to the pose information of the intelligent mobile device and the type of the target object, control the intelligent mobile device to move along the edge of the target object according to the edgewise control parameter, and identify the outline of the target object through the identification sensor arranged on the intelligent mobile device in the moving process until the outline of the target object is identified, so that the outline information of the target object is obtained, the identification accuracy and reliability of the outline information of the target object are guaranteed, the reliability of a working map of the intelligent mobile device is further guaranteed, and the navigation moving smoothness and the working efficiency of the intelligent mobile device are further improved.

In another alternative embodiment, determining the location information of the target object according to the pose information of the smart mobile device may include the operations of:

acquiring the installation position information of a sensor on intelligent mobile equipment;

And according to the installation position information and the pose information of the intelligent mobile equipment, carrying out pose relative transformation calculation on the position coordinates of the intelligent mobile equipment to obtain the position information of the target object.

In this optional embodiment, the location information includes a distance between a center point of the sensor on the intelligent mobile device and the center point of the intelligent mobile device and/or an included angle between a connection line corresponding to the sensor and an x-axis target direction (such as an x-axis positive direction) of the target coordinate system, where the connection line corresponding to the sensor is a connection line between the center point of the sensor and the center point of the intelligent mobile device.

Therefore, the implementation of the optional embodiment can acquire the installation position information of the sensor on the intelligent mobile device, and according to the installation position information and the pose information of the intelligent mobile device, the position coordinates of the intelligent mobile device are subjected to pose relative transformation calculation to obtain the position information of the target object, so that the accuracy and the reliability of the obtained position information of the target object are ensured, the accuracy and the reliability of the working map of the intelligent mobile device are further ensured, and the navigation movement fluency and the working efficiency of the intelligent mobile device are further improved.

In yet another alternative embodiment, the formula for pose relative transformation calculation for the position coordinates of the smart mobile device is:

Wherein, (x, y) is the position coordinate of the intelligent mobile device, (x ', y') is the position information of the target object, D is the distance between the sensor center point and the intelligent mobile device center point, θ is the included angle between the line connecting the sensor center point and the intelligent mobile device center point and the x-axis target direction (preferably positive direction) of the target coordinate system, and α is the orientation of the intelligent mobile device.

Therefore, by implementing the optional embodiment, the position information of the target object can be accurately calculated according to a formula, the accuracy and the reliability of the obtained position information of the target object are ensured, the accuracy and the reliability of the working map of the intelligent mobile device are further ensured, and the navigation movement fluency and the working efficiency of the intelligent mobile device are further improved.

In yet another optional embodiment, the method for generating a working map of an intelligent mobile device may further include the following operations:

determining a virtual position of the target object in a navigation map of the intelligent mobile device according to the position information of the target object;

Generating first identification information corresponding to a target object according to global information of the target object, and detecting whether an added object exists in the virtual position;

When the added object exists in the virtual position, judging whether the first representing information is matched with second identification information corresponding to the added object or not, and obtaining a matching result;

When the matching result indicates that the first identification information corresponding to the target object is not matched with the identification information corresponding to the added object, replacing the added object by the target object;

When the matching result shows that the first identification information corresponding to the target object is matched with the identification information corresponding to the added object, the added object is reserved at the virtual position in the navigation map of the intelligent mobile device, and the identification times for identifying the added object are recorded according to the second identification information;

And when the recognition times are larger than a preset recognition times threshold (such as 5 times), marking the added object as a fixed object.

Therefore, by implementing the optional embodiment, whether the unique identifier of the added object matched with the unique identifier of the target object exists in the virtual position in the navigation map of the intelligent mobile device can be judged according to the position information and the global information of the target object, and when the unique identifier of the added object is not matched, the target object is replaced by the target object, so that the accuracy and the reliability of the target object in the working map of the intelligent mobile device are ensured; further, when matching is judged, the added object is reserved at the virtual position in the navigation map of the intelligent mobile device, the recognition times of the added object are recorded and recognized according to the unique identification corresponding to the added object, when the recognition times are larger than a preset recognition times threshold (such as5 times), the added object is marked as a fixed object, the efficiency of the intelligent mobile device for recognizing the target object and the efficiency of constructing the working map are improved, and the navigation movement fluency and the working efficiency of the intelligent mobile device are further improved.

Example III

Referring to fig. 4, fig. 4 is a schematic structural diagram of a device for generating a working map of an intelligent mobile device according to an embodiment of the present invention. The apparatus described in fig. 4 may include any one of a smart Mobile device, a smart server for managing the smart Mobile device, or a smart platform, where the smart Mobile device may be understood as a smart cleaning robot, and may also be understood as other smart Mobile devices with a working map planning function, and the smart server includes a local server or a cloud server, where the smart Mobile device based on the smart Mobile device may establish a communication connection with a user device, where the user device includes, but is not limited to, at least one of a smart phone (Android Mobile phone, IOS Mobile phone, etc.), a smart phone number watch, a tablet computer, a palm computer, a vehicle computer, a desktop computer, a netbook, a Personal digital assistant (Personal DIGITAL ASSISTANT, PDA), a smart navigator, a Mobile internet appliance (Mobile INTERNET DEVICES, MID), and other smart home devices (such as a smart refrigerator device, a smart speaker, a smart television, a smart range hood device, etc.), and the embodiment of the present invention is not limited. It should be noted that an intelligent cleaning robot is preferable as the intelligent mobile device. As shown in fig. 4, the apparatus for generating a working map of an intelligent mobile device may include:

A determining module 301, configured to determine a type of a sensor when it is detected that a certain sensor on the smart mobile device is triggered, and determine a type of a target object that triggers the sensor according to the type of the sensor;

an acquisition module 302, configured to acquire data of a target object identified by a sensor;

the determining module 301 is further configured to determine global information of the target object according to data of the target object, where the global information includes a type of the target object;

The generating module 303 is configured to generate a working map of the intelligent mobile device according to the global information and the navigation map of the intelligent mobile device.

Therefore, the device for generating the working map of the intelligent mobile device described in fig. 4 can determine the type of the target object according to the type of the triggered sensor on the intelligent mobile device, and determine the information of the target object according to the data identified by the sensor, so as to generate the working map of the intelligent mobile device by combining the navigation map, thereby providing the working map which is closer to the real scene, improving the construction accuracy of the working map of the intelligent mobile device, and greatly improving the fluency and working efficiency of the navigation movement of the intelligent mobile device.

In an alternative embodiment, as shown in fig. 5, the acquiring module 302 may include:

A generating sub-module 304, configured to generate an stress acting control parameter of the intelligent mobile device according to the type of the target object;

The control sub-module 305 is configured to control the intelligent mobile device to perform an action according to the action control parameter, and identify the outline of the target object according to the type of the target object by using an identification sensor installed on the intelligent mobile device, so as to obtain outline information of the target object, where the identification sensor includes a line laser sensor;

A first determining sub-module 306, configured to determine pose information of the intelligent mobile device in a pre-constructed target coordinate system, where the target coordinate system is determined based on a central position of the intelligent mobile device, and the pose information includes position coordinates of the intelligent mobile device and/or an orientation of the intelligent mobile device;

a second determining sub-module 307, configured to determine position information of the target object according to pose information of the intelligent mobile device;

The determining module 301 determines, according to the data of the target object, that the specific implementation manner of the global information of the target object is:

And determining global information of the target object according to the contour information of the target object and the position information of the target object, wherein the global information also comprises the contour information and/or the position information.

Therefore, the generating device for implementing the working map of the intelligent mobile device described in fig. 5 can generate the stress operation control parameter of the intelligent mobile device according to the type of the target object, further control the intelligent mobile device to execute the stress operation according to the stress operation control parameter, and according to the type of the target object, identify the outline of the target object through the identification sensor installed on the intelligent mobile device, obtain the outline information of the target object, ensure the accuracy of the intelligent mobile device in executing the stress operation, further ensure the accuracy and the reliability of the outline information of the target object identified by the identification sensor on the intelligent mobile device, determine the pose information of the intelligent mobile device in the pre-constructed target coordinate system, determine the position information of the target object according to the pose information of the intelligent mobile device, ensure the accuracy and the reliability of the determined position information of the target object, determine the global information of the target object according to the outline information of the target object and the position information of the target object, generate the working map of the intelligent mobile device according to the global information and the navigation map of the intelligent mobile device, further refine the global information of the target object, ensure the accuracy and the working map of the intelligent mobile device.

In another alternative embodiment, as shown in fig. 5, the control submodule 305 may include:

the control unit 308 is used for controlling the intelligent mobile device to move a preset distance to a preset direction and rotate a preset angle according to the stress acting control parameter;

a generating unit 309, configured to generate an edge control parameter of the intelligent mobile device according to pose information of the intelligent mobile device and a type of the target object;

the control unit 308 is further configured to control the intelligent mobile device to move along the edge of the target object according to the edge control parameter, and identify the contour of the target object by using an identification sensor installed on the intelligent mobile device during the movement until the contour of the target object is identified, so as to obtain contour information of the target object, where the identification sensor includes a line laser sensor.

Therefore, the generating device for the working map of the intelligent mobile device described in fig. 5 can control the intelligent mobile device to move a preset distance to a preset direction and rotate a preset angle according to the stress acting control parameter, generate the edgewise control parameter of the intelligent mobile device according to the pose information of the intelligent mobile device and the type of the target object, control the intelligent mobile device to move along the edge of the target object according to the edgewise control parameter, and identify the outline of the target object through the identification sensor installed on the intelligent mobile device in the moving process until the outline of the target object is identified, so that the outline information of the target object is obtained, the identification accuracy and reliability of the outline information of the target object are ensured, the reliability of the working map of the intelligent mobile device is further ensured, and the navigation moving smoothness and the working efficiency of the intelligent mobile device are further improved.

In yet another alternative embodiment, as shown in fig. 5, the second determining submodule 307 may include:

An obtaining unit 310, configured to obtain mounting position information of a sensor on an intelligent mobile device, where the mounting position information includes a distance between a sensor center point and the intelligent mobile device center point and/or an included angle between a connection line corresponding to the sensor and an x-axis target direction of a target coordinate system, and the connection line corresponding to the sensor is a connection line between the sensor center point and the intelligent mobile device center point;

The calculating unit 311 is configured to perform pose relative transformation calculation on the position coordinates of the intelligent mobile device according to the installation position information and the pose information, so as to obtain the position information of the target object.

Therefore, the device for generating the working map of the intelligent mobile device described in fig. 5 can acquire the installation position information of the sensor on the intelligent mobile device, and perform pose relative transformation calculation on the position coordinates of the intelligent mobile device according to the installation position information and the pose information of the intelligent mobile device to obtain the position information of the target object, so that the accuracy and the reliability of the obtained position information of the target object are ensured, the accuracy and the reliability of the working map of the intelligent mobile device are further ensured, and the navigation movement fluency and the working efficiency of the intelligent mobile device are further improved.

In yet another alternative embodiment, as shown in fig. 5, the formula for performing pose-to-pose relative transformation calculation on the position coordinates of the smart mobile device is:

Therefore, the generating device for implementing the working map of the intelligent mobile device described in fig. 5 can accurately calculate the position information of the target object according to the formula, thereby ensuring the accuracy and reliability of the obtained position information of the target object, further ensuring the accuracy and reliability of the working map of the intelligent mobile device, and further improving the navigation movement fluency and working efficiency of the intelligent mobile device.

In yet another alternative embodiment, as shown in FIG. 5, the above-described sensors include a geophone and/or an ultrasonic sensor and/or a line laser sensor;

the determining module 301 determines, according to the type of the sensor, the type of the target object triggering the sensor in the following specific ways:

Therefore, the generating device for implementing the working map of the intelligent mobile device described in fig. 5 can determine the type of the target object triggering the sensor according to the type of the sensor, so that the data of the target object to be determined later can be more targeted, the efficiency and the accuracy of determining the data of the target object are improved, and meanwhile, the characteristics of the target objects corresponding to the types of different target objects are different, so that the accuracy and the reliability of determining the data of the target object are further ensured.

In yet another alternative embodiment, as shown in fig. 5, the object corresponding to the first object type is an object below the movement plane of the smart mobile device, and the object corresponding to the first object type includes a cliff barrier;

The object corresponding to the second object type is a second object which is above the motion plane of the intelligent mobile equipment and has a height smaller than or equal to a first preset height threshold value, and the object corresponding to the second object type comprises a carpet;

the object corresponding to the third object type is a third object which is above the movement plane of the intelligent mobile device, has a height smaller than a preset second height threshold value and larger than a first preset height threshold value;

the first height threshold is less than the second height threshold.

Therefore, the generating device for implementing the working map of the intelligent mobile device described in fig. 5 can accurately identify the height information of the target object, so that the data of the target object to be determined later can be more targeted, the efficiency and accuracy of determining the data of the target object are improved, and meanwhile, the characteristics of the target objects corresponding to the types of different target objects are different, so that the accuracy and reliability of determining the data of the target object are further ensured.

Example IV

Referring to fig. 6, fig. 6 is a schematic structural diagram of a generating device for an operating map of an intelligent mobile device according to an embodiment of the present invention. As shown in fig. 6, the apparatus for generating a working map of an intelligent mobile device may include:

a memory 401 storing executable program codes;

A processor 402 coupled with the memory 401;

The processor 402 invokes executable program codes stored in the memory 401 to execute the steps in the method for generating an operating map of an intelligent mobile device described in the first or second embodiment of the present invention.

Example five

The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing the steps in the method for generating the working map of the intelligent mobile device described in the first embodiment or the second embodiment of the invention when the computer instructions are called.

Example six

Embodiments of the present invention disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps of the method of intelligently controlling circulation of a recyclable container described in embodiment one or embodiment two.

The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.

Finally, it should be noted that: the method and the device for generating the working map of the intelligent mobile device disclosed by the embodiment of the invention are disclosed as the preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but are not limited to the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A method for generating a working map of an intelligent mobile device, the method comprising:

2. The method for generating a working map of an intelligent mobile device according to claim 1, wherein the acquiring the data of the target object identified by the sensor comprises:

3. The method for generating a working map of an intelligent mobile device according to claim 2, wherein the controlling the intelligent mobile device to perform the response according to the response control parameter, and identifying the outline of the target object by an identification sensor mounted on the intelligent mobile device according to the type of the target object, to obtain the outline information of the target object, comprises:

4. A method of generating a working map of an intelligent mobile device according to claim 2 or 3, wherein determining the location information of the target object according to the pose information of the intelligent mobile device comprises:

5. The method for generating a working map of an intelligent mobile device according to claim 4, wherein the formula for performing pose relative transformation calculation on the position coordinates of the intelligent mobile device is:

6. The method for generating a working map of an intelligent mobile device according to any one of claims 1 to 5, wherein the sensor comprises a ground detection sensor and/or an ultrasonic sensor and/or a line laser sensor;

7. The method for generating a working map of an intelligent mobile device according to claim 6, wherein the object corresponding to the first object type is a first object below a movement plane of the intelligent mobile device, and the object corresponding to the first object type includes a cliff barrier;

the first height threshold is less than the second height threshold.

8. An apparatus for generating a working map of an intelligent mobile device, the apparatus comprising:

9. An apparatus for generating a working map of an intelligent mobile device, the apparatus comprising:

A memory storing executable program code;

A processor coupled to the memory;

The processor invokes the executable program code stored in the memory to perform the method of generating a working map of a smart mobile device as claimed in any one of claims 1 to 7.

10. A computer storage medium storing computer instructions which, when invoked, are adapted to perform the method of generating a working map of a smart mobile device as claimed in any one of claims 1 to 7.