WO2017167246A1

WO2017167246A1 - Data processing method and device, and storage medium

Info

Publication number: WO2017167246A1
Application number: PCT/CN2017/078866
Authority: WO
Inventors: 陆见微; 安宁; 蒲立
Original assignee: 纳恩博（北京）科技有限公司
Priority date: 2016-03-31
Filing date: 2017-03-30
Publication date: 2017-10-05
Also published as: CN105843225A; CN105843225B

Abstract

A data processing method and device, and a storage medium. The method comprises: obtaining control data used for controlling motion of a first device, the control data being determined according to environment data of an environment where at least one second device is located (S101); and controlling the motion of the first device according to the control data (S102).

Description

Data processing method and device, storage medium

Cross-reference to related applications

The present invention is based on the Chinese Patent Application No. 201610201589.0, the entire disclosure of which is hereby incorporated by reference.

Technical field

The present invention relates to navigation technologies, and in particular, to a data processing method and device, and a storage medium.

Background technique

A robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace human work, such as production, construction, or dangerous work.

In the related art, the robot can perform motion based on a preset control program, and the environment map can be collected by the camera, and then the motion route is planned based on the environment map. However, the robot sensor (camera, ultrasonic, lidar) has only a limited sensing range. (angle, distance, obstacles, etc.). Due to the existence of visual blind spots, there are limitations in obstacle avoidance and road planning functions, and the obstacle avoidance effect is not good.

Summary of the invention

The embodiment of the invention provides a data processing method and device, and a storage medium, to solve the technical problem that the motion route planned by the robot in the related art is not accurate enough.

In a first aspect, an embodiment of the present invention provides a data processing method, which is applied to a first device. include:

Obtaining control data for controlling motion of the first device, the control data being determined based on environment data of an environment in which the at least one second device is located;

Controlling the motion of the first device based on the control data.

In the above solution, the controlling, by the control data, the motion of the first device, including:

Determining a first motion path of the first device based on the control data; and/or,

Corresponding prompt information is generated when an obstacle exists in the first preset distance of the first device.

In the above solution, the obtaining control data for controlling motion of the first device includes:

Acquiring the environmental data collected by the at least one second device, where the environmental data is the control data;

Determining, by the control data, the first motion path of the first device, including:

Determining a preset motion path from a location of the first device to a destination;

Determining whether the obstacle is included in the preset motion path based on the environmental data;

When the obstacle is included on the preset motion path, the first motion path is obtained by adjusting an area including the obstacle.

In the foregoing solution, the determining, by the control data, the first motion path of the first device includes:

Extracting the first motion path from the control data, wherein the first motion path is determined by the other device for the first device based on the environment data, and the other device is the at least one second device And / or web server.

Obtaining, by the other device, a control instruction generated by the environment data, where the other device is the at least one second device and/or a network server;

And in response to the control instruction, determining a range of the obstacle included in the preset motion path, and adjusting the preset motion path based on the range including the obstacle, thereby obtaining the first motion path.

In the above solution, after the determining the first motion path of the first device based on the control data, the method further includes:

Dividing the first motion path into at least one sub-path;

After the first device moves from the current sub-path to the next sub-path, the control data is re-acquired and a new motion path is planned for the first device based on the control data.

In the above solution, before the obtaining the control data for controlling the motion of the first device, the method further includes:

After the first device detects that there is an obstacle in the second preset distance based on the sensor, sending a data acquisition request to the other device, where the data acquisition request is used by the other device to be based on the data acquisition request. The first device provides the control data, and the other device is a network server and/or the at least one second device.

In the above solution, the obtaining control data for controlling motion of the first device includes: receiving, when the second device detects that an obstacle exists in a preset area of the first device, to the The control data sent by the first device.

In the above solution, the at least one second device comprises: a device that includes the first device in a field of view of the camera; and a device that is located on a preset motion path of the first device.

In a second aspect, an embodiment of the present invention provides a data processing method, which is applied to a third device, and includes:

Obtaining control data for controlling motion of the first device, the control data being based on The environmental data of the environment in which the at least one second device is located is determined;

Transmitting the control data to the first device for the first device to control motion of the first device based on the control data.

Obtaining the environmental data collected by the at least one second device, where the environmental data is the control data; or

Obtaining the environmental data collected by the at least one second device, and generating the control data for controlling the first device based on the environmental data.

In the above solution, the generating, by the environment data, the control data that controls the first device includes performing at least one of the following:

Obtaining a preset motion path from a location of the first device to a destination, determining, according to the environment data, whether an obstacle is included in the preset motion path; and when the preset motion path includes an obstacle, according to Include the range of the obstacle to adjust the preset motion path to obtain the first motion path, where the first motion path is the control data;

Obtaining a preset motion path from a location of the first device to a destination, determining, based on the environment data, whether an obstacle is included in the preset motion path, and generating an obstacle when the preset motion path includes an obstacle Adjusting to the preset motion path to avoid the control instruction of the obstacle, the control instruction is the control data;

Determining whether there is an obstacle in the first preset distance of the first device, and when there is an obstacle in the first preset distance, generating corresponding prompt information, where the prompt information is the control data.

In the above solution, the acquiring control data for controlling motion of the first device includes:

Determining whether the data acquisition request sent by the first device is received, and receiving the number Obtaining the control data when the request is obtained; or,

Determining whether there is an obstacle in the preset area of the first device, and obtaining the control data when the obstacle exists.

In the above solution, the at least one second device includes: a device that includes the first device in a field of view of the camera; and a device that is located on a preset motion path of the first device.

In a third aspect, an embodiment of the present invention provides a first device, including:

a first obtaining module, configured to obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

And a control module configured to control motion of the first device based on the control data.

In the above solution, the control module is configured to:

In a fourth aspect, an embodiment of the present invention provides a third device, including:

a second obtaining module, configured to obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

And a data sending module configured to send the control data to the first device, where the control number is used by the first device to control motion of the first device based on the control data.

In the above solution, the second obtaining module is configured to perform at least one of the following:

Obtaining a preset motion path from a location of the first device to a destination, and determining, according to the environment data, whether an obstacle is included in the preset motion path, where the preset motion path is When an obstacle is included, a control instruction is generated to adjust the preset motion path to avoid the obstacle, and the control instruction is the control data;

The beneficial effects of the embodiments of the present invention are as follows:

Obtaining control data for controlling motion of the first device, the control data being determined based on environmental data of an environment in which the at least one second device is located; controlling motion of the first device based on the control data. That is to say, the control of the first device can be implemented based on the environmental data of the at least one second device, not only the sensing range of the sensor of the first device, in which case the implementation of the first device is achieved. Better obstacle avoidance effect.

DRAWINGS

1 is a flowchart of a data processing method according to a first aspect of an embodiment of the present invention;

2 is a flowchart of planning a new motion path in a data processing method according to a first aspect of the present invention;

3 is a flowchart of a data processing method according to a second aspect of the embodiment of the present invention;

4 is a system block diagram of a data processing method applied to a balance vehicle according to Embodiment 1 of the present invention;

FIG. 5 is a flowchart of a data processing method applied to a balance vehicle according to Embodiment 1 of the present invention; FIG.

6 is a flowchart of a data processing method applied to a balance vehicle according to Embodiment 2 of the present invention;

7 is a structural diagram of a first device according to a third aspect of the embodiment of the present invention;

FIG. 8 is a structural diagram of a third device according to a fourth aspect of the present invention.

detailed description

The present invention provides a data processing method and device to solve the technical problem of poor obstacle avoidance effect of the motion route planned by the robot in the related art.

The technical solution in the embodiment of the present invention is to solve the above technical problem, firstly obtaining control data for controlling motion of a first device, where the control data is determined based on environment data of an environment in which at least one second device is located; The control data controls motion of the first device. That is to say, the control of the first device can be implemented based on the environmental data of the at least one second device, not only the sensing range of the sensor of the first device, in which case the implementation of the first device is achieved. Better obstacle avoidance effect.

For a better understanding of the above technical solutions, the technical solutions of the present invention will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the specific features of the embodiments and the embodiments of the present invention are the detailed description of the technical solutions of the present invention, and The technical features of the embodiments of the present invention and the embodiments may be combined with each other without conflict.

In a first aspect, an embodiment of the present invention provides a data processing method, which is applied to a first device. Referring to FIG. 1, the method includes:

Step S101: Obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

Step S102: Control motion of the first device based on the control data.

For example, the first device may be: a mobile phone, a tablet computer, a notebook computer, a balance car, a drone, etc., which is not limited in the embodiment of the present invention. The second device and the first device may be devices of the same type or devices of different types.

In step S101, the environmental data is, for example, various data of an environment of the second device collected by the second device by using a sensor (for example, a camera, an ultrasonic wave, a laser radar, or the like), for example, image data, angle data, distance data, Obstacle data and more.

After obtaining the environmental data, the second device may perform various processing on the environmental data. The control data obtained by the first device is different according to different processing modes. Three of the following are introduced, and of course, the specific implementation In the process, it is not limited to the following three cases.

First, the control data obtained by the first device is used to control the motion of the first device. Environmental data.

For example, the second device directly sends the environment data to the first device, or the second device sends the environment data to the first device through the network server, in which case the control data obtained by the first device is at least one second Environmental data collected by the device.

Alternatively, the second device obtains the environmental data collected by the first device, and integrates the environmental data collected by the first device and the second device, thereby obtaining a wider range of environmental data, and then the environment having a wider perceived range. The data is sent to the first device, in which case the first device obtains the environmental data determined by the detection results of the sensors of the first device and the second device;

Or, after the second device sends the collected environmental data to the network server, the network server performs comprehensive analysis on the environment data of the at least one second device (which may also include the first device), thereby obtaining a more widely perceived environmental data. And then transmitting the more widely perceived environmental data to the first device, in which case the first device obtains the detection result determined by the sensor of the at least one second device (and possibly the first device) Environmental data.

Secondly, the second device determines the location of the obstacle associated with the first device by analyzing the environmental data, and then generates corresponding control data based on the location of the obstacle, wherein the location of the obstacle can be determined. A variety of different control data, two of which are described below, of course, in the specific implementation process, not limited to the following two cases.

Determining a first motion path of the first device based on the environmental data, and determining control data based on the first motion path.

For example, the second device may acquire a preset motion path from the location of the first device to the destination, and determine, based on the environment data, whether an obstacle is included in the preset motion path; When the obstacle is included in the path, the preset motion path is adjusted according to the range including the obstacle to obtain the first motion path.

For example, the first device is planned to go from A to B, where the first device is based on the departure point A. The following preset motion path is planned to the destination B: A→C→D→B, wherein the location of the first device can be any position on the preset motion path (eg, location A, location B, etc.) The second device determines, by the environmental data, that there is an obstacle between the position A and the position C, and the second device can adjust the route between the A→C to obtain the first motion path, for example, from the position A to the position. D does not pass the position C, but passes through the position E, the following first motion path can be obtained: A→E→D→B; or alternatively, the line between the position A and the position C is directly adjusted, for example: There are three lines between position A and position C, namely: c1, c2, c3, which are moved from position A to position C through line c1 in the preset motion path, so that from position A to The line between the positions C is adjusted from c1 to c2 or c3, etc., of course, the preset motion path can be adjusted by other means, and the embodiment of the present invention is not listed in detail and is not limited.

Or alternatively, after obtaining the location and destination of the first device, the second device directly designs a first motion path for avoiding the obstacle in the first device design.

For example, the first device plans to go from A to B, and the second device goes from A to B in the following three ways: (1) A→C→D→B, (2)A→E→D→ B, (3) A → E → G → B, and the second device determines that there is an obstacle between the position A and the position C through the environmental data, so the mode (1) is not adopted, and the second device determines the mode (2) The time taken is shorter than the time consumption of the mode (3), so the motion path corresponding to the mode (2) is taken as the first motion path. Of course, the second device can also determine the first motion path based on other principles, for example: The length of the path, whether it passes through a specific place, or the like, is not limited in the embodiment of the present invention.

Of course, in addition to the above two methods, the second device may also design a first motion path for the first device in other manners, which is not listed in detail and is not limited in the embodiment of the present invention.

After the second device obtains the first motion path, the control data including the first motion path may be directly sent to the second device. Alternatively, the second device may directly generate a control instruction for adjusting the preset motion path. Then the control command is control data, for the control number The embodiment of the present invention is not limited as to what kind of data.

2, when an obstacle exists in the first preset distance of the first device, corresponding prompt information is generated, and the prompt information is corresponding control data.

For example, different first preset distances may be set according to actual needs, and the first preset distance is, for example, 1 meter (m), 2 m, and the like. The prompt information is used to notify the first device that there is an obstacle in the first preset distance, so that after receiving the prompt information, the first device may adjust the motion path of the first device to avoid the obstacle. The prompt information may only include the prompt content, for example, there is an obstacle in the southeast 1 meter, an obstacle in the front 2 meters, and the like; the prompt information may also include a prompting manner, for example: the LED light flashes, the sound prompt , text prompts, and more.

If the prompt information only includes the prompt content, the first device may input the prompt content by using a preset prompt manner after receiving the prompt information; and if the prompt information includes the prompt manner, the first device is After receiving the prompt information, the corresponding prompt content is output based on the prompt manner included in the prompt information.

Third, the second device sends the environment data to the network server, and the network server obtains a wider range of environmental data based on the environmental data collected by the at least one second electronic device (which may also include the first device), and then Based on the wider range of environmental data, the location of the obstacle associated with the first device is determined, and finally, the corresponding control data is generated based on the location of the obstacle.

For example, the network server may plan a first motion path for the first device based on the location of the obstacle, or generate corresponding prompt information when the obstacle exists in the first preset distance of the first device, and the like, where the network server is based on The manner in which the corresponding control data is generated by the location of the obstacle is similar to the manner in which the second device generates corresponding control data based on the location of the obstacle, and thus is not described herein again.

In the specific implementation process, due to the detection of each device (the first device or the second device) The range is limited, so the detection of the sensors of each device has a detection dead angle. In the above scheme, if the detection results of the sensors of multiple devices are integrated, the detection of dead angles can be compensated for each other, thereby further detecting the environment. Wide, and thus achieve more precise control of the first device.

In the step S101, the first device can obtain the control data at various times. The following two types are introduced. Of course, in the specific implementation process, the following two situations are not limited.

First, before the obtaining the control data for controlling the motion of the first device, the method further includes: after the sensor of the first device detects that there is an obstacle in the second preset distance, Sending a data acquisition request to the other device, for the other device to provide the control data to the first device based on the data acquisition request, the other device being a network server and/or the at least one second device.

For example, the second preset distance is, for example, 1 m, 2 m, 3 m, etc., which may be the same as the first preset distance or may be different from the first preset distance. During the movement, the first device finds that there is an obstacle in the second preset distance and it needs to bypass the obstacle, and because there is an obstacle in the second preset distance, the obstacle may cause a field of view in the first device. Blind zone, so it cannot confirm which direction (for example, left or right) should be bypassed. In this case, it can send a data acquisition request to the surrounding second device, and the second device receives the data acquisition. After the request, the environment data may be directly collected and sent to the first device; the first motion path may be planned for the first device based on the environment data, and the first motion path is sent to the first device or the like.

In this solution, since the control data is acquired based on the environmental data of the environment in which the second device is located, when the field of view of the first device is not blocked, the data processing load and the data transmission load of each device can be reduced.

Second, the obtaining control data for controlling motion of the first device includes: receiving, when the second device detects that an obstacle exists in a preset area of the first device, The control data sent by the first device.

For example, after detecting the first device, the second device may detect the environment data of the second device by using the sensor, and then determine, by using the environment data, whether there is an obstacle in the preset area of the first device, if there is an obstacle, The control data can be sent to the first device to enable the first device to control in time based on the control data.

In the step S101, the second device may be a plurality of devices, and two of them are introduced below. Of course, in the specific implementation process, the following two situations are not limited. In addition, in the case of no conflict, the following two situations Can be used in combination.

First, the at least one second device comprises: a device including the first device in a field of view of the camera.

For example, when the second device detects that the first device is in its field of view by the camera, the environment data can be collected and acquired; if the second device establishes a data connection with the first device in advance, the second device directly contacts the environment. The data related control data is sent to the first device; the second device may also send the environment to the network server, and the network server sends control data related to the environmental data to the first device.

Through the above solution, the technical effect of providing guidance for the motion of the first device based on the environmental data collected by the second device around the first device when the first device is moved from the first position to the second position is achieved.

Second, the at least one second device comprises: a device located on a preset motion path of the first device.

For example, if the preset motion path of the first device is A→C→D→B, the at least one second device is a device located between A→C, C→D, D→B, wherein at least A second device may separately collect environmental data of the environment in which it is located, and then determine whether the path in which the path is located is in a congested state through the environmental data. If the information is in a congested state, the information in the congested state may be notified to the first device, the first device. After receiving the information in the state of congestion, The preset motion path may be adjusted based on the information, for example, if the second device located between C→D informs the first device that the route is in a congested state, the first device may modify the preset motion path to The following first motion path A→E→D→B can be modified to other forms of the first motion path, which is not limited in this embodiment of the present invention. In addition, if the second device knows the preset motion path of the first device in advance, the second device may directly modify the preset motion path of the first device to the first motion path based on the collected environment data. The second device can also send the collected environmental data to the network server, and the network server comprehensively analyzes the environmental data reported by each second device to design a better first motion path for the first device.

Based on the foregoing solution, when the first device moves the second position from the first position, the environment information collected by any second device on the planned preset motion path may be used to provide guidance for the motion of the first device. Technical effects.

In the step S102, when the motion of the first device is controlled based on the control data, a plurality of manners may be adopted, and two of them are introduced below. Of course, in the specific implementation process, the following two situations are not limited.

First, the controlling the motion of the first device based on the control data comprises: determining a first motion path of the first device based on the control data.

In the specific implementation process, the manner of determining the first motion path of the first device is different according to the difference of the control data. Two of them are introduced below. Of course, in the specific implementation process, the following two situations are not limited.

1 controlling data is environmental data collected by at least one device, in which case determining the first motion path of the first device based on the control data comprises: determining a location of the first device to a destination a preset motion path of the ground; determining, based on the environmental data, whether an obstacle is included in the preset motion path; and when the obstacle is included in the preset motion path, adjusting an area including the obstacle Obtaining the first motion path.

Alternatively, the location and destination of the first device are determined, and a first motion path around the obstacle is planned for the first device based on the location and the destination.

The manner in which the first device plans the first motion path based on the environment data is the same as that of the second device, and therefore is not described herein again.

2 The control data is control data containing the first motion path, in which case the first motion path is extracted directly from the control data.

The control data is a control instruction generated by the other device based on the environment data, wherein the other device is the at least one second device and/or the network server; the first motion path may be determined by: Determining, by the control instruction, a range of obstacles included in the preset motion path, and adjusting the preset motion path based on the range of the obstacles to be obtained, thereby obtaining the first motion path.

For example, after the second device (or the network server) plans the first motion path for the first device based on the preset motion path and the environment data of the first device, the first motion path is not directly sent to the first device. The control command for adjusting the preset motion path is sent to the first device, and the first device adjusts the preset motion path based on the control command, thereby obtaining the first motion path. For example, if the preset motion path is A→C→D→B, the control command generated by the first device is: after passing the position C, the first device obtains the position A to the position B after receiving the control command. The following two methods: (2) A→E→D→B(3)A→E→G→B, then the first device determines that the mode (2) takes less time than the mode (3), so based on the control The command determines that the first motion path is A→E→D→B. Of course, the first device can also determine the first motion path based on other principles, which is not listed in detail in the embodiments of the present invention, and is not limited.

In the second embodiment, the controlling the motion of the first device based on the control data includes: generating corresponding prompt information when an obstacle exists in the first preset distance of the first device.

Similarly, the manner in which the corresponding prompt information is generated is different based on the control data. Two of them are described below. Of course, in the specific implementation process, the following two situations are not limited.

1 The control data is the environmental data collected by the at least one second device. In this case, the prompt information may be generated by determining, by the control data, whether there is an obstacle within the first preset distance of the first device, if there is an obstacle. The object generates corresponding prompt information.

2 The control data is control data including prompt information. In this case, the prompt information may be directly extracted from the control data.

As an embodiment, if the first motion path of the first device is determined based on step S102, after determining the first motion path of the first device based on the control data, refer to FIG. 2, the method Also includes:

Step S201: dividing the first motion path into at least one sub-path;

Step S202: After the first device moves from the current sub-path to the next sub-path, re-acquire the control data and plan a new motion path for the first device based on the control data.

In step S201, the first motion path may be divided into at least one sub-path based on a plurality of principles, for example, according to the distance average division, according to the identification objects (eg, traffic lights, intersections, etc.) included in the first motion path, etc. Wait.

In step S202, after the first device moves from the current sub-path to the next sub-path, its location changes due to its position, for example, a new obstacle appears; and, due to the movement of the current sub-path The next sub-path will exist for a period of time, and the line condition on the first motion path will also change. The original line (for example: E→D) is in an idle state, so the planned route is A→E→D. →B, assuming that the current sub-path is A, the next sub-path E, after the first device moves to the position D, continues to obtain the environmental data of the environment where the at least one second device is located, and finds that the E→D is in the congestion based on the new environmental data. State, here In this case, it may be necessary to change the motion path. For example, the motion path between the position E and the position B is modified from E→D→B to E→G→B. Of course, other motion paths can also be planned. It is not listed in detail and is not limited.

Based on the above solution, when the first device is in the motion state, the latest motion path is continuously designed for the first device, so as to achieve more precise control of the first device.

In a second aspect, based on the same inventive concept, an embodiment of the present invention provides a data processing method, which is applied to a third device. Referring to FIG. 3, the method includes:

Step S301: Obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

Step S302: Send the control data to the first device, so that the first device controls the motion of the first device based on the control data.

For example, the third device to which the solution is applied may be a second device or a network server, which is not limited in the embodiment of the present invention.

In step S301, if the solution is applied to the second device, the second device first obtains environment data through sensor acquisition, and then processes the environment data to obtain corresponding control data, and how the second device specifically obtains corresponding control through the environment data. The data, as already mentioned in the previous section, will not be described again.

If the solution is applied to the network server, the second device first collects and obtains the environment data, and then sends the environment data to the network server, and the network server processes the environment data to obtain corresponding control data, and the network server sends the control data. To the first device.

In the above solution, the obtaining control data for controlling motion of the first device includes performing at least one of the following:

Obtaining the environmental data collected by the at least one second device, where the environmental data is the control data;

Obtaining environmental data collected by the at least one second device, generating based on the environmental data The control data that controls the first device.

In the above solution, the generating, by the environment data, the control data that controls the first device includes at least one of the following:

Determining whether the data acquisition request sent by the first device is received, and acquiring the control data when receiving the data acquisition request; or

In order to enable those skilled in the art to further understand the data processing method introduced in the embodiments of the present invention, the application of the data processing method in the specific implementation process will be introduced below.

The following will be applied to the balance car by this method, and it will be introduced.

Example one

In this example, the method will be applied to the balance car as an example. As shown in FIG. 4, the system applied includes the balance car A, the balance car B and the cloud server, and the balance car A and balance. The car B is connected to the cloud server, and there is a data connection between the balance car A and the balance car B.

Referring to FIG. 5, a data processing method applied to a balance vehicle includes the following steps:

Step S501: When the balance vehicle A needs to move to the left, the balance vehicle A detects that the obstacle is encountered in the front, and the sensing range of the balance vehicle A is the area a in FIG. 5;

Step S502: The balance vehicle A initiates a data acquisition request to the cloud server, and hopes to obtain assistance of other balance vehicles;

Step S503: the cloud server asks each balance car whether its vision vehicle A is included in the field of view;

Step S504: The balance vehicle B feeds back to the cloud server that the balance vehicle A is included in the field of view, and the collected environment data is sent to the cloud server, wherein the sensing range of the balance vehicle B is the b area in FIG. 5;

Step S505: The cloud server determines that the balance vehicle A encounters an obstacle if it turns to the right by balancing the environmental data reported by the vehicle B. Therefore, the balance vehicle A generates a prompt message to inform the left turn to bypass the obstacle.

In the above example, the first device is the balance car A, and the third device is the cloud server.

Example two

In this example, the method will be applied to a balance car as an example, and the system to which the method is applied includes a balance car A and a balance car B.

Referring to FIG. 6, a data processing method applied to a balance vehicle includes the following steps:

Step S601: When the balance car A needs to move to the left, the obstacle is detected by the balance car A camera;

Step S602: The balance vehicle A plans a preset motion path based on the front obstacle;

Step S603: the balance car A asks the surrounding balance vehicles whether or not the balance car A is included in the field of view;

Step S604: the balance car B informs the balance car A that there is a balance car A in its field of view;

Step S605: the balance car A sends the preset motion path to the balance car B;

Step S606: The balance vehicle B collects and obtains environmental data, and determines, based on the environmental data, whether an obstacle is included in the preset motion path;

Step S607: If the balance vehicle B determines that the obstacle is included in the preset motion path, the preset motion path is adjusted to be the first motion path based on the obstacle and sent to the balance vehicle A; or, the corresponding prompt information is sent to the balance vehicle A.

In the above embodiment, the first device is the balance car A, and the third device is the balance car B.

In a third aspect, based on the same inventive concept, an embodiment of the present invention provides a first device. Referring to FIG. 7, the method includes:

The first obtaining module 70 is configured to obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

The control module 71 is configured to control the motion of the first device based on the control data.

In the above solution, the control module 71 is configured to:

In the above solution, the first obtaining module 70 is configured to: acquire environment data collected by the at least one second device, where the environment data is the control data;

The control module 71 includes: a determining unit configured to determine a preset motion path from a location of the first device to a destination; and a determining unit configured to determine based on the environment data Whether the obstacle is included in the preset motion path; and the adjusting unit is configured to adjust the area including the obstacle to obtain the first motion path when the obstacle is included in the preset motion path.

In the above solution, the control module 71 is configured to: extract the first motion path from the control data, where the first motion path is determined by the other device for the first device based on the environment data. The other device is the at least one second device and/or a network server,

The first obtaining module 70 is configured to: acquire a control instruction generated by another device based on the environment data, where the other device is the at least one second device and/or a network server; the control module, The method is configured to: determine, in response to the control instruction, a range including an obstacle on the preset motion path, and adjust the preset motion path based on the range including the obstacle, thereby obtaining the first motion path.

In the above solution, the first device further includes:

a dividing module configured to divide the first motion path into at least one sub-path;

And a planning module, configured to re-acquire the control data and plan a new motion path for the first device based on the control data after the first device moves from the current sub-path to the next sub-path.

In the above solution, the first device further includes:

a request sending module, configured to send a data acquisition request to the other device after the sensor of the first device detects that there is an obstacle in the second preset distance, where the other device is based on the data obtaining request The first device provides the control data, and the other device is a network server and/or the at least one second device.

In the above solution, the first obtaining module 70 is further configured to: receive the control that is sent by the second device to the first device when detecting that an obstacle exists in a preset area of the first device data.

For example, the hardware structure of the first device that is further provided by the embodiment of the present invention may include:

a memory for storing executable instructions;

a processor, configured to execute executable instructions stored in the memory, the executable instructions comprising: obtaining control data for controlling motion of the first device, the control data being based on an environment in which the at least one second device is located The environmental data is determined; controlling the motion of the first device based on the control data.

Of course, the actual application of the first device can also implement other components, such as a sensor for distance detection, a camera for image acquisition, etc., and the embodiment of the present invention does not exclude the first device from implementing other components according to actual needs.

The first device introduced in the third aspect of the present invention is the device used in the data processing method introduced in the first aspect of the present invention, and the data processing method introduced in the first aspect of the embodiment of the present invention is A person skilled in the art can understand the specific structure and deformation of the first device, and therefore, the details of the device used in the implementation of the data processing method are all within the scope of the embodiments of the present invention.

In a fourth aspect, based on the same inventive concept, an embodiment of the present invention provides a third device. Referring to FIG. 8, the method includes:

a second obtaining module 80, configured to obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

The data sending module 81 is configured to send the control data to the first device, so that the first device controls the motion of the first device based on the control data.

In the above solution, the second obtaining module 80 is configured to:

In the above solution, the second obtaining module 80 is configured to perform one of the following:

In the above solution, the second obtaining module 80 is configured to:

Determining whether the data acquisition request sent by the first device is received, and acquiring the control data when receiving the data acquisition request;

The third device of the fourth embodiment of the present invention is a data processing method according to the second aspect of the embodiments of the present invention, which is used for implementing the data processing method introduced in the second aspect of the embodiment of the present invention. A person skilled in the art can understand the specific structure and deformation of the third device, and therefore, the details of the device used in the data processing method are not described herein. All belong to the scope of the embodiments of the present invention.

For example, the hardware structure of the third device provided by the embodiment of the present invention may include:

a memory for storing executable instructions;

a processor, configured to execute executable instructions stored in the memory, the executable instructions comprising: obtaining control data for controlling motion of the first device, the control data being based on an environment in which the at least one second device is located The environmental data is determined; the control data is sent to the first device, and the control number is used by the first device to control the motion of the first device based on the control data.

Of course, other components may be implemented in the third device, such as a sensor for distance detection, a camera for image acquisition, and the like. The embodiment of the present invention does not exclude the implementation of other components in the third device according to actual needs.

In a fifth aspect, based on the same inventive concept, an embodiment of the present invention provides a storage medium, including executable instructions, for performing a data processing method provided by an embodiment of the present invention, such as FIG. 1, FIG. 2, FIG. 3, FIG. The data processing method shown in any of the figures of FIG.

One or more embodiments of the present invention have at least the following beneficial effects:

Obtaining control data for controlling motion of the first device, the control data being determined based on environmental data of an environment in which the at least one second device is located; controlling motion of the first device based on the control data. That is to say, the control of the first device can be implemented based on the environmental data of the at least one second device, not only the sensing range of the sensor of the first device, in which case the implementation of the first device is achieved. More accurate control of the technical effects.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can be employed in one Or in the form of a computer program product embodied on a computer usable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. A device that implements the functions specified in one or more processes and/or block diagrams of one or more blocks of the flowchart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. A device implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of a flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the invention. The spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

Industrial applicability

The invention discloses a data processing method and device, and a storage medium, so as to solve the technical problem that the obstacle avoiding effect of the robot in the related art is poor. The method includes: obtaining control data for controlling motion of the first device, the control data being determined based on environment data of an environment in which the at least one second device is located; performing motion of the first device based on the control data control. That is to say, the control of the first device can be implemented based on the environmental data of the at least one second device, not only the sensing range of the sensor of the first device, in which case the implementation of the first device is achieved. Better obstacle avoidance effect.

Claims

A data processing method is applied to a first device, including:

Obtaining control data for controlling motion of the first device, the control data being determined based on environment data of an environment in which the at least one second device is located;

Controlling the motion of the first device based on the control data.
The method of claim 1 wherein said controlling said movement of said first device based on said control data comprises:

Determining a first motion path of the first device based on the control data; and/or,

Corresponding prompt information is generated when an obstacle exists in the first preset distance of the first device.
The method of claim 2 wherein said obtaining control data for controlling motion of said first device comprises:

Acquiring the environmental data collected by the at least one second device, where the environmental data is the control data;

Determining, by the control data, the first motion path of the first device, including:

Determining a preset motion path from a location of the first device to a destination;

Determining whether the obstacle is included in the preset motion path based on the environmental data;

When the obstacle is included on the preset motion path, the first motion path is obtained by adjusting an area including the obstacle.
The method of claim 2, wherein the determining the first motion path of the first device based on the control data comprises:

Extracting the first motion path from the control data, wherein the first motion path is determined by the other device for the first device based on the environment data, and the other device is the at least one second device And / or web server.
The method of claim 2 wherein said obtaining a motion for the first device Control data for control, including:

Obtaining, by the other device, a control instruction generated by the environment data, where the other device is the at least one second device and/or a network server;

Determining, by the control data, the first motion path of the first device, including:

And responding to the control instruction, determining a range of the obstacle included in the preset motion path, and adjusting the preset motion path based on the range including the obstacle to obtain the first motion path.
The method of claim 2, wherein after the determining the first motion path of the first device based on the control data, the method further comprises:

Dividing the first motion path into at least one sub-path;

After the first device moves from the current sub-path to the next sub-path, the control data is re-acquired, and a new motion path is planned for the first device based on the control data.
The method of claim 1, wherein before the obtaining control data for controlling motion of the first device, the method further comprises:

After the first device detects that there is an obstacle in the second preset distance based on the sensor, sending a data acquisition request to the other device, where the data acquisition request is used by the other device to be based on the data acquisition request. The first device provides the control data, and the other device is a network server and/or the at least one second device.
The method of claim 1 wherein said obtaining control data for controlling motion of said first device comprises:

Receiving, by the second device, the control data sent to the first device when detecting that an obstacle exists in a preset area of the first device.
The method of any of claims 1-8, wherein the at least one second device comprises at least one of: a device comprising the first device in a field of view of a camera; a pre-position at the first device Set the device on the motion path.
A data processing method is applied to a third device, including:

Obtaining control data for controlling motion of the first device, the control data being determined based on environment data of an environment in which the at least one second device is located;

Transmitting the control data to a first device, the control data being used by the first device to control motion of the first device based on the control data.
The method of claim 10, wherein said obtaining control data for controlling motion of the first device comprises:

Obtaining the environmental data collected by the at least one second device, where the environmental data is the control data; or

Obtaining the environmental data collected by the at least one second device, and generating the control data for controlling the first device based on the environmental data.
The method of claim 11, wherein the generating the control data for controlling the first device based on the environmental data comprises performing at least one of the following:

Obtaining a preset motion path from a location of the first device to a destination, determining, according to the environment data, whether an obstacle is included in the preset motion path; and when the preset motion path includes an obstacle, according to Include the range of the obstacle to adjust the preset motion path to obtain the first motion path, where the first motion path is the control data;

Obtaining a preset motion path from a location of the first device to a destination, determining, based on the environment data, whether an obstacle is included in the preset motion path, and generating an obstacle when the preset motion path includes an obstacle Adjusting to the preset motion path to avoid the control instruction of the obstacle, the control instruction is the control data;

Determining whether there is an obstacle in the first preset distance of the first device, and when there is an obstacle in the first preset distance, generating corresponding prompt information, where the prompt information is the control data.
The method of any of claims 10-12, wherein said obtaining is for a first setting Control data for control of the prepared motion, including:

Determining whether the data acquisition request sent by the first device is received, and acquiring the control data when receiving the data acquisition request; or

Determining whether there is an obstacle in the preset area of the first device, and obtaining the control data when the obstacle exists.
The method of any one of claims 10-12, wherein the at least one second device comprises at least one of: a device including the first device within a field of view of the camera; a preset at the first device Equipment on the moving path.
A first device comprising:

a first obtaining module, configured to obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

And a control module configured to control motion of the first device based on the control data.
The first device of claim 15, wherein the control module is configured to:

Determining a first motion path of the first device based on the control data; and/or

Corresponding prompt information is generated when an obstacle exists in the first preset distance of the first device.
A third device comprising:

a second obtaining module, configured to obtain control data for controlling motion of the first device, where the control data is determined based on environment data of an environment in which the at least one second device is located;

And a data sending module configured to send the control data to the first device, where the control number is used by the first device to control motion of the first device based on the control data.
The third device of claim 17, wherein the second obtaining module is configured to perform at least one of the following:

Obtaining a preset motion path from a location of the first device to a destination, determining, based on the environment data, whether an obstacle is included in the preset motion path; and on the preset motion path When the obstacle is included, the preset motion path is adjusted according to a range including the obstacle to obtain the first motion path, where the first motion path is the control data;

Obtaining a preset motion path from a location of the first device to a destination, determining, based on the environment data, whether an obstacle is included in the preset motion path, and generating an obstacle when the preset motion path includes an obstacle Adjusting to the preset motion path to avoid the control instruction of the obstacle, the control instruction is the control data;

Determining whether there is an obstacle in the first preset distance of the first device, and when there is an obstacle in the first preset distance, generating corresponding prompt information, where the prompt information is the control data.
A first device comprising:

a memory for storing executable instructions;

a processor, configured to execute executable instructions stored in the memory, the executable instructions comprising:

Obtaining control data for controlling motion of the first device, the control data being determined based on environmental data of an environment in which the at least one second device is located; controlling motion of the first device based on the control data.
A third device comprising:

a memory for storing executable instructions;

a processor, configured to execute executable instructions stored in the memory, the executable instructions comprising:

Obtaining control data for controlling motion of the first device, the control data being determined based on environment data of an environment in which the at least one second device is located; transmitting the control data to the first device, the control number being used for The first device controls motion of the first device based on the control data.
A storage medium storing executable instructions in the storage medium The instructions are for performing the data processing method of any one of claims 1 to 9.
A storage medium storing executable instructions for executing the data processing method according to any one of claims 10 to 14.