WO2023019922A1 - 导航方法及自行走装置 - Google Patents

导航方法及自行走装置 Download PDF

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Publication number
WO2023019922A1
WO2023019922A1 PCT/CN2022/080015 CN2022080015W WO2023019922A1 WO 2023019922 A1 WO2023019922 A1 WO 2023019922A1 CN 2022080015 W CN2022080015 W CN 2022080015W WO 2023019922 A1 WO2023019922 A1 WO 2023019922A1
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WO
WIPO (PCT)
Prior art keywords
supplemented
self
travel area
area
propelled device
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PCT/CN2022/080015
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English (en)
French (fr)
Inventor
宋健
朱海
王磊
Original Assignee
北京石头创新科技有限公司
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Application filed by 北京石头创新科技有限公司 filed Critical 北京石头创新科技有限公司
Priority to JP2024507959A priority Critical patent/JP2024529082A/ja
Priority to EP22857242.6A priority patent/EP4390313A1/en
Priority to AU2022330049A priority patent/AU2022330049A1/en
Publication of WO2023019922A1 publication Critical patent/WO2023019922A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6482—Performing a task within a working area or space, e.g. cleaning by dividing the whole area or space in sectors to be processed separately
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/40—Indoor domestic environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

Definitions

  • the present disclosure relates to the technical field of self-propelled devices, in particular, to a navigation method and a self-propelled device, in particular to a navigation method for a self-propelled device and a self-propelled device using the navigation method.
  • Some embodiments of the present disclosure provide a navigation method applied to a self-propelled device, including:
  • controlling the self-propelled device In response to the presence of an accessible position adjacent to the travel area to be supplemented, controlling the self-propelled device to reach the accessible position, and controlling the self-propelled device to attempt to enter the travel area to be supplemented to perform operations in the travel area to be supplemented .
  • the navigation method further includes: in response to no accessible location adjacent to the travel area to be supplemented, controlling the self-propelled device to give up entering the travel area to be supplemented.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes environmental data information acquired by the self-propelled device during the process of completing the current task ; In response to determining that the obstacle is a passable obstacle according to the acquired environmental data information, and the obstacle is located at the boundary position of the traveled area that the self-propelled device has reached in the current operation task, determine that the obstacle is located at the The side of the obstacle facing away from the already-traveled area is the to-be-supplemented travel area.
  • the environmental data information includes: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes data information of historical work tasks recorded by the self-propelled device, and the historical work tasks
  • the data information includes: historical map information and/or historical navigation information; in response to the data information of the historical job task, it is determined that the traveled area that the current job task has reached does not include one of the areas that the historical job task has reached or a plurality of partial areas, and determine the one or more partial areas as travel areas to be supplemented.
  • the determining whether there is an accessible location adjacent to the travel area to be supplemented includes: determining an adjoining portion of the traveled area that is adjacent to the travel area to be supplemented, and responding to The junction of the to-be-supplemented travel area has only passable obstacles, and the adjoining portion is determined as the accessible position.
  • controlling the self-propelled device to reach the reachable position, and controlling the self-propelled device to try to enter the travel area to be supplemented includes: ignoring all borders between the reachable position and the travel area to be supplemented The passable obstacle is controlled, and the self-propelled device is controlled to travel toward the to-be-supplemented travel area through the junction of the accessible position and the to-be-supplemented travel area.
  • the traversable obstacle includes a door sill and/or a carpet edge.
  • the accessible locations are selected in a predetermined order, and the self-propelled device is controlled to try to enter the travel area to be supplemented.
  • Some embodiments of the present disclosure provide a navigation device, which is applied to a self-propelled device, and the navigation device includes:
  • the to-be-supplemented travel area determination unit is used to determine the to-be-supplemented travel area after the self-propelled device completes the current task;
  • an accessible position determination unit for determining whether there is an accessible position adjacent to the travel area to be supplemented
  • control unit configured to control the self-propelled device to reach the reachable position in response to the presence of an accessible position adjacent to the travel area to be replenished, and control the self-propelled device to attempt to enter the travel area to be replenished for waiting Complementary work in the travel area.
  • control unit is further configured to control the self-propelled device to give up entering the travel area to be supplemented in response to no accessible location adjacent to the travel area to be supplemented.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes environmental data information acquired by the self-propelled device during the process of completing the current task ;
  • the to-be-supplemented travel area determination unit is configured to determine that the obstacle is a passable obstacle according to the acquired environmental data information, and the obstacle is located in the traveled area that the self-propelled device has reached in the current task.
  • the border position of the area is determined to be the travel area to be supplemented on the side of the obstacle facing away from the traveled area.
  • the environmental data information includes: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes data information of historical work tasks recorded by the self-propelled device, and the historical work tasks
  • the data information includes: historical map information and/or historical navigation information;
  • the to-be-supplemented travel area determination unit is configured to respond to determining that the traveled area that the current job task has reached does not include one or more partial areas in the area that the historical job task has reached according to the data information of the historical job task, The one or more partial areas are determined as travel areas to be supplemented.
  • the reachable position determination unit is configured to determine an adjoining portion of the traveled area adjacent to the to-be-supplemented travel area, in response to the border between the adjacent portion and the to-be-supplemented travel area having only The passable obstacle is determined as the accessible position with the adjacent part.
  • control unit is configured to ignore the passable obstacle at the junction of the accessible position and the travel area to be supplemented, and control the self-propelled device to pass through the accessible position and the The border of the area to be supplemented travels toward the area to be supplemented travel.
  • the traversable obstacle includes a door sill and/or a carpet edge.
  • control unit in response to the number of the accessible locations being multiple, is configured to select the accessible locations in a predetermined order, and control the self-propelled device to try to enter the travel area to be supplemented.
  • Some embodiments of the present disclosure provide a self-propelled device, including a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions , realizing the aforementioned method steps.
  • Some embodiments of the present disclosure provide a non-transitory computer-readable storage medium, which is characterized in that computer program instructions are stored, and when the computer program instructions are invoked and executed by a processor, the method steps described in the foregoing embodiments are implemented. .
  • the self-propelled device such as the navigation method of the sweeping robot, detects the area to be re-scanned through the environmental data information and/or the data information of the historical operation task, and confirms whether the area to be re-scanned is reachable, providing for subsequent cleaning operations According to, improve cleaning coverage.
  • Fig. 1 is a schematic structural diagram of a self-propelled device provided by some embodiments of the present disclosure
  • Fig. 2 is a flowchart of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure
  • Fig. 3 is a scene diagram of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure
  • Fig. 4 is a schematic diagram of a control device of a self-propelled device provided by some embodiments of the present disclosure
  • Fig. 5 is a schematic diagram of the electronic structure of the self-propelled device provided by some embodiments of the present disclosure.
  • Self-propelled devices such as sweeping robots
  • the sweeping robot software performs real-time positioning and mapping (Simultaneous Localization and Mapping, SLAM), depth estimation, and obstacle detection based on sensor data to obtain the location map and obstacles required for navigation. Information, so as to realize functions such as obstacle avoidance.
  • a depth sensor that can observe obstacles is placed on the front end of the sweeping machine to observe the environment, thereby achieving the purpose of avoiding collisions.
  • the following problems may occur: because the depth sensor cannot determine the obstacles in front of it, the obstacle detection based on a single observation of the depth sensor may regard thresholds, carpet edges, etc. as avoid obstacles. As a result, because the room behind the threshold and the carpet area are not cleaned, the cleaning efficiency will be greatly reduced.
  • the present disclosure provides a navigation method, which is applied to a self-propelled device, such as a sweeping robot, etc., and the navigation method at least includes the following steps:
  • controlling the self-propelled device In response to the presence of an accessible position adjacent to the travel area to be supplemented, controlling the self-propelled device to reach the accessible position, and controlling the self-propelled device to attempt to enter the travel area to be supplemented to perform operations in the travel area to be supplemented .
  • the self-propelled device detects the area to be re-scanned through environmental data information and/or data information of historical tasks, and confirms whether the area to be re-scanned is reachable , to provide a basis for subsequent cleaning operations, thereby improving the cleaning coverage.
  • the environmental data information includes, for example, at least one or any combination of structured light point cloud information, laser ranging information, and image information
  • the data information of the historical task includes: historical map information and/or historical navigation information.
  • Fig. 1 is a schematic structural diagram of a self-propelled device provided by some embodiments of the present disclosure.
  • a self-propelled device 100 such as a sweeping robot, includes a laser distance measuring device (Laser Distance Sensor, LDS) 10, and the image sensor 20 located on the side wall of the robot body 110, the image sensor 20 includes, for example, a structured light imaging component, and the image sensor 20 may also include a visible light imaging component.
  • the laser distance measuring device 10 is used to detect obstacles around the self-propelled device, and to detect the distance between obstacles and the self-propelled device 100 , specifically for detecting obstacles higher than the body of the self-propelled device 100 .
  • the image sensor 20 is used to acquire images of obstacles in the traveling direction of the self-propelled device 100 .
  • Fig. 2 is a flowchart of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure. Referring to Fig. 2, the navigation method includes the following steps:
  • step S220 after the current task is completed, the travel area to be supplemented is determined
  • the current job task mentioned here can be understood as self-propelled device 100 , for example, a cleaning robot that performs a cleaning task according to user instructions, and does not contact or collide with obstacles during the process.
  • the self-propelled device 100 such as a sweeping robot, adopts a collision-free mode when performing cleaning operations, that is, it bypasses obstacles detected by the sweeping robot, so as to avoid collisions between the sweeping robot and household and small obstacles, causing damage to furniture, etc. , or the sweeping robot is trapped or damaged, to ensure that it can clean up smoothly.
  • the self-propelled device 100 may regard the threshold and the edge of the carpet as obstacles and avoid it, resulting in that the room behind the threshold and the carpet area are not cleaned, while the room behind the threshold and the carpet area are not cleaned. It is obvious that it belongs to the area that needs to be cleaned, so it is necessary to determine these areas and record them as areas to be supplemented.
  • the to-be-supplemented travel area may be an uncleaned area that the cleaning robot avoids in order not to contact or collide with obstacles during the current task.
  • step S240 determine whether there is an accessible location adjacent to the travel area to be supplemented
  • the self-propelled device 100 such as a sweeping robot, needs to judge whether there is an accessible position adjacent to the travel area to be supplemented, that is, to determine whether there is an accessible location that enters the travel area to be supplemented. entrance or passage. If there is an accessible location adjacent to the travel area to be supplemented, the following step S260 can be performed; if there is no accessible location adjacent to the travel area to be supplemented, control the self-propelled device 100 to give up entering the The area to be supplemented will not be cleaned.
  • step S260 in response to the existence of an accessible position adjacent to the travel area to be supplemented, the self-propelled device is controlled to reach the accessible position, and the self-propelled device is controlled to try to enter the travel area to be supplemented for waiting. Complementary work in the travel area.
  • control the self-propelled device 100 to travel to the reachable position, and control the self-propelled device 100 to try to enter the travel area to be replenished.
  • control the self-propelled device 100 to give up entering the area to be supplemented, and not to clean the area to be supplemented.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information.
  • the data information includes environmental data information obtained by the self-propelled device during the completion of the current task; according to the environmental data information, it is determined that the obstacle is a passable obstacle, and the obstacle is located at the location of the self-propelled device.
  • the boundary position of the traveled area that has been reached in the current job task is determined to be the travel area to be supplemented on the side of the obstacle facing away from the traveled area.
  • the environmental data information includes: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
  • the structured light point cloud information is obtained by the structured light imaging component in the image sensor 20
  • the laser ranging information is obtained by the laser distance sensor (LDS) 10
  • the image information is obtained by the visible light imaging component in the image sensor 20.
  • the self-propelled device 100 can obtain information about obstacles based on the laser distance measuring device (Laser Distance Sensor, LDS) 10, the structured light imaging component and the visible light imaging component in the image sensor 20, such as the outline of the obstacle, the relationship between the obstacle and the self-propelled The distance between the devices 100, etc., these information also belong to the environmental data information.
  • LDS Laser Distance Sensor
  • the self-propelled device 100 can obtain obstacle information in the surrounding environment of the self-propelled device based on the laser distance measuring device (Laser Distance Sensor, LDS) 10, especially the information of obstacles higher than the body of the self-propelled device 100, for example It includes the distance information between each point on the obstacle and the self-propelled device 100 , so that the contour information of the obstacle and its positional relationship with the self-propelled device 100 can be obtained.
  • LDS Laser Distance Sensor
  • the self-propelled device 100 can obtain the structured light point cloud information of obstacles in the direction of the self-propelled device through the structured light imaging component in the image sensor 20, even if the obstacle is lower than the height of the self-propelled device 100 body, the structured light imaging component can also The obstacle is detected, and its structured light point cloud information is obtained, including, for example, the outline shape of the obstacle and the distance information from the self-propelled device 100 .
  • the self-propelled device 100 can directly capture images of obstacles in the traveling direction of the self-propelled device through the visible light imaging component in the image sensor 20 .
  • the self-propelled device 100 performs cleaning in the collision-free mode based on the environmental data information, such as including its self-propelled device 100.
  • the way to judge whether the obstacle is a passable obstacle is as follows, when the obstacle can be detected by the laser distance measuring device (Laser Distance Sensor, LDS) 10 of the self-propelled device 100, that is to say, the height of the obstacle is higher than When the height of the body 110 of the self-propelled device 100 is determined, the obstacle is determined to be an impassable obstacle, because thresholds, carpet edges, etc. are generally not higher than the body 110 of the self-propelled device 100 .
  • LDS Laser Distance Sensor
  • the first threshold is, for example, less than the height of the body 110 of the self-propelled device 100 , and the first threshold is, for example, less than or equal to the height of the body 110 of the self-propelled device 100 from the ground.
  • Judging whether an obstacle is a passable obstacle can also be determined by the image information of the obstacle, for example, analyzing the image information of the obstacle, specifically, for example, using a convolutional neural network to process the image information of the obstacle To determine the type of the obstacle, if the determined obstacle is a threshold, or a carpet edge, etc., then determine that the obstacle is a passable obstacle.
  • the passable obstacle After judging whether the obstacle is a passable obstacle, if the obstacle is a passable obstacle, and the passable obstacle is located at the boundary position of the traveled area that the self-propelled device has reached in the current task, Then it is determined that the side of the obstacle facing away from the already traveled area is the to-be-supplemented travel area. In this way, the passable obstacle is located at the junction of the traveled area and the to-be-supplemented travel area, and the self-propelled device 100 may enter the to-be-supplemented travel area through the passable obstacle.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information; wherein the data information includes data information of historical tasks recorded by the self-propelled device,
  • the data information of the historical job task includes: historical map information and/or historical navigation information; according to the data information of the historical job task, it is determined that the traveled area that the current job task has reached does not include the area that the historical job task has reached One or more partial areas, then determine that the one or more partial areas are travel areas to be supplemented.
  • the self-propelled device when it performs each cleaning operation, it will store the data information of the job task.
  • the data information of the job task includes map information and navigation information of its travel area.
  • the map information reflects that the self-propelled device can realize cleaning.
  • the navigation information reflects the path of the self-propelled device to perform cleaning operations.
  • the cleaned area is the traveled area
  • the self-propelled device 100 judges whether the traveled area reached by the current task includes the area reached by the historical task One or more partial regions in . If the self-propelled device 100 determines that the traveled area reached by the current task does not include one or more partial areas in the areas reached by the historical task, then determine the one or more partial areas as the travel area to be supplemented.
  • the travel area to be supplemented is determined based on the environmental data information obtained by the self-propelled device during the completion of the current task, and the area to be supplemented is determined based on the data information of the historical task recorded by the self-propelled device. way of traveling the area.
  • the present disclosure does not specifically limit this, and the determination of the travel area to be supplemented may also be a combination of the above two methods for comprehensive judgment.
  • determining whether there is an accessible location adjacent to the travel area to be supplemented includes: determining an adjoining portion of the traveled area that is adjacent to the travel area to be supplemented, and responding to the adjacent There are only passable obstacles at the junction of the part and the travel area to be supplemented, and the adjoining part is determined as the accessible position.
  • the traveling area that has been cleaned by the self-propelled device 100 in the current operation is adjacent to the previously determined travel area to be supplemented, that is, whether there is a traffic area adjacent to the travel area to be supplemented in the travel area. adjoining department. If there is no adjoining part adjacent to the to-be-supplemented travel area in the traveled area, it is impossible for the self-propelled device 100 to enter the supplementary travel area from the traveled area. At this time, the self-propelled device 100 is controlled to give up entering the waiting area. The area to be traveled is supplemented and the area to be traveled is not cleaned.
  • the self-propelled device 100 cannot The area enters the supplementary travel area, at this time, the self-propelled device 100 is controlled to give up entering the to-be-supplementary travel area, and not to clean the to-be-supplementary travel area.
  • the self-propelled device 100 may try to enter the to-be-supplemented travel area from the adjoining portion In order to carry out supplementary cleaning tasks, the abutment can be used as an accessible location.
  • controlling the self-propelled device to reach the accessible position, and controlling the self-propelled device to try to enter the travel area to be supplemented includes:
  • Neglecting the passable obstacle at the junction of the accessible position and the travel area to be supplemented controlling the self-propelled device to move toward the to-be-supplemented travel area through the junction of the accessible position and the travel area to be supplemented Travel the area.
  • the self-propelled device 100 attempts to enter the travel area to be supplemented, the passable obstacle at the junction of the accessible position and the travel area to be supplemented is ignored, for example, the data collected by the self-propelled device 100 is ignored.
  • the data information of the corresponding passable obstacle such as the structured light point cloud information of the passable obstacle
  • the self-propelled device 100 can pass the intersection direction of the accessible position and the travel area to be supplemented in the collision-free mode Said area to be replenished travels.
  • the self-propelled device 100 is controlled to exit the collision avoidance mode, and directly travel toward the to-be-supplemented travel area through the junction of the accessible position and the to-be-supplemented travel area.
  • the self-propelled device 100 If the self-propelled device 100 successfully enters the area to be supplemented, then the self-propelled device 100 performs a supplementary cleaning operation in the area to be supplemented.
  • the area enters the supplementary travel area at this time, the self-propelled device 100 is controlled to give up entering the to-be-supplementary travel area, and not to clean the to-be-supplementary travel area.
  • the self-propelled device 100 considering that when the self-propelled device 100 tries to enter the travel area to be supplemented, at an accessible position, due to various factors, such as the travel speed of the self-propelled device 100, driving power, etc., the self-propelled device 100 It may be impossible to enter the area to be supplemented by one attempt. Therefore, for the same reachable position, the self-propelled device 100 may perform multiple attempts. In some embodiments, the success rate of the self-propelled device 100 entering the area to be supplemented can be improved by increasing the driving power of the self-propelled device 100 .
  • the number of accessible locations may be one or more, and the self-propelled device 100 may attempt to enter the travel area to be supplemented from any of the multiple accessible locations.
  • the self-propelled device 100 can sort the reachable positions according to the distance therefrom.
  • the accessible locations include M accessible locations, that is, the first accessible location, the second accessible location...the Mth accessible location. The first accessible position, the second accessible position...the Mth accessible position is further away from the self-propelled device 100 in turn, and the self-propelled device 100 can choose the first accessible position closest to it to try to enter the travel area to be supplemented.
  • the self-propelled device 100 selects the second accessible position to try to enter the travel area to be supplemented, if at the second accessible position, If the self-propelled device 100 fails to enter the travel area to be supplemented after trying, then the self-propelled device 100 selects a third accessible position to try to enter the travel area to be supplemented.
  • the above-mentioned trial operation goes through the M reachable positions until the self-propelled device 100 successfully enters the traveling area to be supplemented.
  • the area to be re-scanned can be detected through the environmental data information and/or the data information of the historical task, and it can be confirmed whether the area to be re-scanned is reachable, which provides a basis for subsequent cleaning operations. According to, improve cleaning coverage.
  • FIG. 3 is a scene diagram of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure.
  • a self-propelled device 100 such as a sweeping robot, starts cleaning operations in a living room 310,
  • the self-propelled device 100 adopts the collision-free mode when performing cleaning operations.
  • the self-propelled device 100 detects the threshold 330, it uses the threshold 330 as an obstacle to perform obstacle avoidance operations, so that the self-propelled device 100 cannot enter the bedroom 320 through the threshold 330 in cleaning operations.
  • the living room 310 is the traveling area
  • the threshold 330 is a passable obstacle
  • the bedroom 320 is the area to be cleaned
  • the living room 310 is adjacent to the threshold 330.
  • Area 311 is the reachable area.
  • Embodiments of the present disclosure also provide a self-propelled device, such as a navigation device for a sweeping robot. Each unit executes the method steps described in the above embodiments. The same method steps have the same technical effect, and will not be described here.
  • Figure 4 is A schematic diagram of a navigation device for a self-propelled device provided in some embodiments of the present disclosure, as shown in FIG. 4 , the navigation device 400 specifically includes:
  • the travel area to be supplemented determining unit 420 used to determine the travel area to be supplemented after the current task is completed.
  • An accessible location determination unit 440 used to determine whether there is an accessible location adjacent to the traveling area to be supplemented;
  • the control unit 460 configured to control the self-propelled device to reach the accessible position in response to the existence of an accessible position adjacent to the travel area to be supplemented, and control the self-propelled device to try to enter the travel area to be supplemented to perform Work in the area to be supplemented.
  • control unit 460 is further configured to control the self-propelled device to give up entering the travel area to be supplemented in response to no accessible location adjacent to the travel area to be supplemented.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes environmental data information acquired by the self-propelled device during the process of completing the current task , the environment data information includes, for example: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
  • the to-be-supplemented travel area determination unit 440 is configured to determine that obstacles are passable obstacles according to the environmental data information, for example, including thresholds and/or carpet edges, and the obstacles are located at the current working task of the self-propelled device. The border position of the traveled area that has been reached in the middle is determined as the to-be-supplemented travel area on the side of the obstacle facing away from the traveled area.
  • the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes data information of historical work tasks recorded by the self-propelled device, and the historical work tasks
  • the data information includes: historical map information and/or historical navigation information.
  • the to-be-supplemented traveling area determination unit 440 is configured to determine in response to the data information of the historical task that the traveled area that the current task has traveled does not include one or more partial areas in the area that the historical task has reached. , determining the one or more partial areas as travel areas to be supplemented.
  • the reachable position determination unit 440 is configured to determine an adjoining portion of the traveled area adjacent to the to-be-supplemented travel area, and in response to only There is a passable obstacle, and the adjoining portion is determined as the accessible position.
  • control unit 460 is configured to ignore the passable obstacle at the junction of the reachable position and the travel area to be supplemented, and control the self-propelled device to pass through the reachable position and the travel area to be supplemented.
  • the border of the travel area to be supplemented travels toward the travel area to be supplemented.
  • the number of accessible locations is multiple, and the control unit 460 is configured to select the accessible locations in a predetermined order, and control the self-propelled device to try to enter the travel area to be supplemented.
  • the area to be re-scanned can be detected through the environmental data information and/or the data information of historical tasks, and it can be confirmed whether the area to be re-scanned is reachable , to provide a basis for subsequent cleaning operations and improve cleaning coverage.
  • An embodiment of the present disclosure provides a non-transitory computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are invoked and executed by a processor, implement any of the method steps described above.
  • An embodiment of the present disclosure provides a self-propelled device 100, such as a sweeping robot, including a processor and a memory, the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions , implementing the method steps in any one of the foregoing embodiments.
  • FIG. 5 is a schematic diagram of the electronic structure of the self-propelled device provided by some embodiments of the present disclosure.
  • the self-propelled device may include a processing device (such as a central processing unit, a graphics processor, etc.)
  • a processing device such as a central processing unit, a graphics processor, etc.
  • Various appropriate actions and processes are executed by reading a program in a memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503 .
  • RAM 503 random access memory
  • various programs and data necessary for the operation of the electronic robot are also stored.
  • the processing device 501, ROM 502, and RAM 503 are connected to each other through a bus 504.
  • An input/output (I/O) interface 505 is also connected to the bus 504 .
  • the following devices can be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration an output device 507 such as a computer; a storage device 508 including, for example, a hard disk; and a communication device 509.
  • the communication device 509 may allow the self-propelled device to communicate wirelessly or by wire with other devices to exchange data. While Figure 5 shows a self-propelled device having various devices, it should be understood that implementing or possessing all of the devices shown is not a requirement. More or fewer means may alternatively be implemented or provided.
  • each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.
  • each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
  • the system or device disclosed in the embodiment since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.

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Abstract

涉及自行走装置技术领域，公开了一种导航方法及自行走装置，导航方法应用于自行走装置，包括：在完成当前作业任务后，确定待补充行进区域(S220)；确定是否存在邻接于待补充行进区域的可达位置(S240)；以及响应于存在邻接于待补充行进区域的可达位置，控制自行走装置到达可达位置，并控制自行走装置尝试进入待补充行进区域以进行待补充行进区域的作业(S260)。

Description

导航方法及自行走装置
相关申请的交叉引用
本申请要求于2021年8月20日递交的中国专利申请第202110963412.5号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及自行走装置技术领域，具体而言，涉及一种导航方法及自行走装置，特别涉及一种用于自行走装置的导航方法及采用该种导航方法的自行走装置。
背景技术
随着技术的发展，出现了各种各样的智能化的自行走装置，比如扫地机器人、拖地机器人、吸尘器、除草机等。这些机器人能够自动识别清扫路线，并根据清扫路线选择清扫模式，不仅解放了劳动力，还节约了人力成本。
发明内容
本公开一些实施例提供一种导航方法，应用于自行走装置，包括：
在完成当前作业任务后，确定待补充行进区域；
确定是否存在邻接于所述待补充行进区域的可达位置；以及
响应于存在邻接于所述待补充行进区域的可达位置，控制自行走装置到达所述可达位置，并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
在一些实施例中，所述导航方法还包括：响应于不存在邻接于所述待补充行进区域的可达位置，控制所述自行走装置放弃进入所述待补充行进区域。
在一些实施例中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息；响应于根据所获取到的环境数据信息确定障碍物为可通行障碍物，且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置，确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。
在一些实施例中，所述环境数据信息包括：结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。
在一些实施例中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括所述自行走装置记录的历史作业任务的数据信息，所述历史作业任务的数据信息包括：历史地图信息和/或历史导航信息；响应于根据所述历史作业任务的数据信息，确定当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域，确定所述一个或多个部分区域为待补充行进区域。
在一些实施例中，所述确定是否存在邻接于所述待补充行进区域的可达位置包括：确定已行进区域的与所述待补充行进区域相邻接的邻接部，响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物，确定与所述邻接部为所述可达位置。
在一些实施例中，控制自行走装置到达所述可达位置，并控制自行走装置尝试进入所述待补充行进区域包括：忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物，控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
在一些实施例中，所述可通行障碍物包括门槛和/或地毯边缘。
在一些实施例中，响应于所述可达位置的数量为多个，按照预定顺序选择可达位置，控制自行走装置尝试进入所述待补充行进区域。
本公开一些实施例提供一种导航装置，应用于自行走装置，所述导航装置包括：
待补充行进区域确定单元，用于在自行走装置完成当前作业任务后，确定待补充行进区域；
可达位置确定单元，用于确定是否存在邻接于所述待补充行进区域的可达位置；以及
控制单元，用于响应于存在邻接于所述待补充行进区域的可达位置，控制自行走装置到达所述可达位置，并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
在一些实施例中，所述控制单元还用于响应于不存在邻接于所述待补充行进区域的可达位置，控制所述自行走装置放弃进入所述待补充行进区域。
在一些实施例中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息；
所述待补充行进区域确定单元配置为响应于根据所获取的环境数据信息确定障碍物为可通行障碍物，且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置，确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。
在一些实施例中，所述环境数据信息包括：结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。
在一些实施例中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括所述自行走装置记录的历史作业任务的数据信息，所述历史作业任务的数据信息包括：历史地图信息和/或历史导航信息；
所述待补充行进区域确定单元配置为响应于根据所述历史作业任务的数据信息确定当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域，确定所述一个或多个部分区域为待补充行进区域。
在一些实施例中，所述可达位置确定单元配置为确定已行进区域的与所述待补充行进 区域相邻接的邻接部，响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物，确定与所述邻接部为所述可达位置。
在一些实施例中，所述控制单元配置为忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物，控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
在一些实施例中，所述可通行障碍物包括门槛和/或地毯边缘。
在一些实施例中，响应于所述可达位置的数量为多个，所述控制单元配置为按照预定顺序选择可达位置，控制自行走装置尝试进入所述待补充行进区域。
本公开一些实施例提供一种自行走装置，包括处理器和存储器，其特征在于，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现前述的方法步骤。
本公开一些实施例提供一种非瞬时性计算机可读存储介质，其特征在于，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如前述实施例所述的方法步骤。
本公开实施例的上述方案与相关技术相比，至少具有以下有益效果：
自行走装置，例如扫地机器人等的导航方法，通过环境数据信息和/或历史作业任务的数据信息检测出待补扫区域，并确认是该待补扫区域是否可达，为之后的清扫操作提供依据，提高清扫覆盖率。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为本公开一些实施例提供的自行走装置的结构示意图；
图2为本公开一些实施例提供的应用于自行走装置的导航方法的流程图；
图3为本公开一些实施例提供的应用于自行走装置的导航方法的场景图；
图4为本公开一些实施例提供的自行走装置的控制装置的示意图；
图5为本公开一些实施例提供的自行走装置的电子结构示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范 围。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。
自行走装置，例如扫地机器人，可以采用差速底盘，其环境感知可以通过摄像头、深度成像设备、激光测距装置(Laser Distance Sensor，LDS)、里程计、惯性测量单元(Inertial Measurement Unit，IMU)等一种或者多种传感器进行。对于非随机碰撞的扫地机器人，扫地机器人软件基于传感器数据，进行实时定位与建图(Simultaneous Localization and Mapping,SLAM)、深度估计、障碍物检测等操作，从而获得导航所需要的位置地图、障碍物信息，从而实现避障等功能。
在扫地机器人执行清扫作业时，特别是在避障功能不足的情况下，扫地机器人与家居、小障碍物有概率发生碰撞。此时，扫地机器人碰撞易对家具造成损伤，同时，碰撞带来的计划外运动也容易使扫地机器人受困或受损，影响清扫进行。本公开提出一种解决方法，在扫地机器前端，放置一款可以观测障碍物的深度传感器，如双线结构光，对环境进行观测，从而达到免碰撞的目的。
对于所述深度传感器避障方式，在免碰撞模式下，可能会出现以下问题：由于深度传感器无法确定面前障碍物，基于深度传感器单次观测的障碍物检测，可能将门槛、地毯边缘等视为障碍物而进行避让。由此导致由于门槛后方房间、地毯区域没有清扫，清扫效率将大幅度下降。
本公开提供一种导航方法，应用于自行走装置，例如扫地机器人等，所述导航方法至少包括以下步骤：
在完成当前作业任务后，确定待补充行进区域；
确定是否存在邻接于所述待补充行进区域的可达位置；以及
响应于存在邻接于所述待补充行进区域的可达位置，控制自行走装置到达所述可达位置，并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
采用本公开中的导航方法，自行走装置，例如扫地机器人等的导航方法，通过环境数据信息和/或历史作业任务的数据信息检测出待补扫区域，并确认该待补扫区域是否可达，为之后的清扫操作提供依据，从而提高清扫覆盖率。其中环境数据信息例如包括结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合，所述历史作业任务的数据信息包括：历史地图信息和/或历史导航信息。
下面结合附图详细说明本公开的可选实施例。
图1为本公开一些实施例提供的自行走装置的结构示意图，如图1所示，自行走装置100，例如扫地机器人，包括位于扫地机器人本体110顶部上的激光测距装置(Laser Distance  Sensor，LDS)10，以及位于机器人本体110侧壁上的图像传感器20，图像传感器20例如包括结构光成像组件，另外图像传感器20还可以包括可见光成像组件。激光测距装置10用于探测自行走装置周围的障碍物，并探测障碍物与自行走装置100之间的距离，具体用于探测高度高于自行走装置100本体的障碍物。图像传感器20用于获取自行走装置100行进方向上的障碍物的图像。
图2为本公开一些实施例提供的应用于自行走装置的导航方法的流程图，参见图2所示，该导航方法包括一下步骤：
在步骤S220中，在完成当前作业任务后，确定待补充行进区域；
这里所述的当前作业任务，可以理解为自行走装置100，例如为扫地机器人根据用户指令执行一次清洁任务，并在此过程中不与障碍物接触或碰撞。具体地，自行走装置100，例如为扫地机器人，执行清洁作业时采用免碰撞模式，即绕开扫地机器人探测到的障碍物，以避免扫地机器人与家居、小障碍物发生碰撞而导致家具等损伤，或扫地机器人受困或受损，保证自身能够顺利进行清扫作业。此时，由于识别精度和准确度有限，自行走装置100有可能将门槛、地毯边缘等视为障碍物而进行避让，导致门槛后方房间、地毯区域等没有清扫，而门槛后方房间、地毯区域等显然属于需要清扫的区域，由此需要确定出该些区域，记为待补充行进区域。该待补充行进区域可以是扫地机器人在当前作业任务中为了不与障碍物接触或碰撞而避让掉的未被清扫的区域。
在步骤S240中，确定是否存在邻接于所述待补充行进区域的可达位置；
具体地，在确定了待补充行进区域之后，自行走装置100，例如为扫地机器人需要判断是否存在邻接于所述待补充行进区域的可达位置，即判断是否存在进入所述待补充行进区域的入口或通道。若存在邻接于所述待补充行进区域的可达位置，则可以执行如下步骤S260；若不存在邻接于所述待补充行进区域的可达位置，则控制所述自行走装置100放弃进入所述待补充行进区域，不对待补充行进区域进行清洁。
在步骤S260中，响应于存在邻接于所述待补充行进区域的可达位置，控制自行走装置到达所述可达位置，并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
具体地，控制自行走装置100行进至可达位置，并控制自行走装置100尝试进入待补充行进区域，若经过尝试，自行走装置100进入了待补充行进区域，则自行走装置100执行待补充行进区域内的清洁作业，若经过尝试，自行走装置100依然不能进入待补充行进区域，则控制所述自行走装置100放弃进入所述待补充行进区域，不对待补充行进区域进行清洁。
在一些实施例中，在步骤S220中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域。所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息；根据环境数据信息确定障碍物为可通行障碍物，且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置，则确定位于所述障碍 物背向所述已行进区域的一侧为所述待补充行进区域。
具体地，所述环境数据信息包括：结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。结构光点云信息由图像传感器20中的结构光成像组件获取，激光测距信息由激光测距装置(Laser Distance Sensor，LDS)10获取，图像信息由图像传感器20中的可见光成像组件获取。
自行走装置100可以基于激光测距装置(Laser Distance Sensor，LDS)10、图像传感器20中的结构光成像组件和可见光成像组件获取关于障碍物的信息，例如障碍物的轮廓，障碍物与自行走装置100之间的距离等，该些信息亦属于所述环境数据信息。具体地，自行走装置100可以基于激光测距装置(Laser Distance Sensor，LDS)10获取自行走装置周围环境中的障碍物信息，尤其是高度高于自行走装置100本体的障碍物的信息，例如包括障碍物上的各个点与自行走装置100之间的距离信息，如此可以获得障碍物的轮廓信息以及其与自行走装置100之间的位置关系。自行走装置100可以通过图像传感器20中的结构光成像组件获取自行走装置行进方向上障碍物的结构光点云信息，即使障碍物低于自行走装置100本体的高度，结构光成像组件亦可以探测到该障碍物，并获取其结构光点云信息，例如包括障碍物的轮廓形态以及与自行走装置100之间的距离信息。自行走装置100可以通过图像传感器20中的可见光成像组件直接拍摄到自行走装置行进方向上障碍物的图像。
自行走装置100用免碰撞模式执行清洁作业的过程中，通过激光测距装置(Laser Distance Sensor，LDS)10、图像传感器20中的结构光成像组件和可见光成像组件获取关于障碍物的信息，并绕开障碍物执行清洁作业，避免自行走装置100与障碍物发生碰撞。当自行走装置100完成免碰撞模式的清洁作业后，其已清洁完成的区域即为已行进区域，随后，自行走装置100基于环境数据信息，例如包括其自行走装置100用免碰撞模式执行清洁作业的过程中获取的关于障碍物的结构光点云信息、激光测距信息及图像信息等，来判断障碍物是否为可通行障碍物，以及障碍物是否位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置处。
具体地，判断障碍物是否为可通行障碍物的方式如下，当障碍物可由自行走装置100的激光测距装置(Laser Distance Sensor，LDS)10探测到，也就是说，障碍物的高度高于自行走装置100的本体110的高度时，判定该障碍物为不可通行障碍物，这是因为门槛，地毯边缘等一般不会高于自行走装置100的本体110。当障碍物不可由自行走装置100的激光测距装置(Laser Distance Sensor，LDS)10探测到，但可以由自行走装置100的结构光成像组件或可见光成像组件探测到，且障碍物的高度低于第一阈值时，判定该障碍物为可通行障碍物，第一阈值例如小于自行走装置100的本体110的高度，第一阈值例如小于等于自行走装置100的本体110的离地高度。判断障碍物是否为可通行障碍物还可以由障碍物的图像信息来确定，例如，对障碍物的图像信息进行分析，具体地，例如采用卷积神经网络对所述障碍物的图像信息进行处理以确定所述障碍物的类别，若确定处障碍物为门 槛，或地毯边缘等，则确定该障碍物为可通行障碍物。
如上列举了几种确定障碍物是否为可通行障碍物的几种方式，但本公开中的实施例并不局限于此，例如还可以综合考虑分析障碍物的构光点云信息、激光测距信息及图像信息来进行判断。
在判断出障碍物是否是可通行障碍物后，若障碍物为可通行障碍物，且该可通行障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置，则确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。如此，可通行障碍物位于已行进区域和待补充行进区域的交界处，自行走装置100有可能通过可通行障碍物进入到待补充行进区域。
在一些实施例中，在步骤S220中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域；其中，所述数据信息包括所述自行走装置记录的历史作业任务的数据信息，所述历史作业任务的数据信息包括：历史地图信息和/或历史导航信息；根据所述历史作业任务的数据信息，确定当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域，则确定所述一个或多个部分区域为待补充行进区域。
具体地，自行走装置在执行每次清洁操作时，均会存储器作业任务的数据信息，该作业任务的数据信息包括其行进区域的地图信息以及导航信息，地图信息体现了自行走装置可以实现清洁的区域，导航信息体现了自行走装置执行清洁造作的路径。
当自行走装置100完成免碰撞模式的清洁作业后，其已清洁完成的区域即为已行进区域，自行走装置100判断当前作业任务所到达过的已行进区域是否包含历史作业任务到达过的区域中的一个或多个部分区域。若自行走装置100确定当前作业任务所到达过的已行进区域不包含历史作业任务到达过的区域中的一个或多个部分区域，则确定该一个或多个部分区域为待补充行进区域。
前述实施例中，列举了基于完成当前作业任务过程中由所述自行走装置获取到的环境数据信息确定待补充行进区域，以及基于所述自行走装置记录的历史作业任务的数据信息确定待补充行进区域的方式。本公开对此并不作具体限定，确定待补充行进区域还可以是上述两种方式的结合来综合判断。
在一些实施例中，在步骤240中,确定是否存在邻接于所述待补充行进区域的可达位置包括：确定已行进区域的与所述待补充行进区域相邻接的邻接部，响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物，确定与所述邻接部为所述可达位置。
具体地，首先判断自行走装置100当前作业已经完成清洁的已行进区域与之前确定的所述待补充行进区域是否相邻接，即已行进区域是否存在与所述待补充行进区域相邻接的邻接部。若已行进区域不存在与所述待补充行进区域相邻接的邻接部，则自行走装置100不可能由已行进区域进入补充行进区域，此时控制所述自行走装置100放弃进入所述待补充行进区域，不对待补充行进区域进行清洁。
若已行进区域存在与所述待补充行进区域相邻接的邻接部，则进一步确定所述邻接部与所述待补充行进区域的交界处仅具有可通行障碍物。若所述邻接部与所述待补充行进区域的交界处不存在可通行障碍物，或者存在可通行障碍物的同时，还存在不可通行障碍物，此时，自行走装置100不可以由已行进区域进入补充行进区域，此时控制所述自行走装置100放弃进入所述待补充行进区域，不对待补充行进区域进行清洁。若所述邻接部与所述待补充行进区域的交界处仅存在可通行障碍物，而不存在不可通行障碍物，此时自行走装置100可以尝试自所述邻接部进入所述待补充行进区域中来执行补充清洁作业，所述邻接部可以作为可达位置。
在一些实施例中，在步骤S260中，控制自行走装置到达所述可达位置，并控制自行走装置尝试进入所述待补充行进区域包括：
忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物，控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
具体地，控制自行走装置100尝试进入所述待补充行进区域时，忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物，例如忽略掉自行走装置100采集的对应的可通行障碍物的数据信息，例如为可通行障碍物的结构光点云信息，自行走装置100可以在免碰撞模式下经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。在一些实施例中，控制自行走装置100退出免碰撞模式，直接经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
若自行走装置100成功进入待补充行进区域，则自行走装置100在补充行进区域执行补充清洁作业，若自行走装置100未能进入待补充行进区域，则确定自行走装置100不可以由已行进区域进入补充行进区域，此时控制所述自行走装置100放弃进入所述待补充行进区域，不对待补充行进区域进行清洁。
在一些实施例中，考虑到自行走装置100尝试进入所述待补充行进区域时，在一可达位置，由于多种因素，例如自行走装置100的行进速度，驱动功率等，自行走装置100可能通过一次尝试并不能进入待补充行进区域，因此，对于同一可达位置，自行走装置100可以执行多次尝试操作。在一些实施例中，可以通过增加自行走装置100的驱动功率来提高自行走装置100进入待补充行进区域的成功率。
在一些实施例中，可达位置的数量可以为一个或更多个，自行走装置100可以自多个可达位置中的任一处尝试进入待补充行进区域。在一些实施例中，自行走装置100可以依据与其相距的距离对各可达位置进行排序。例如，可达位置包括M个可达位置，即第一可达位置、第二可达位置……第M可达位置。第一可达位置、第二可达位置……第M可达位置依次远离自行走装置100，自行走装置100可以选择与其距离最近第一可达位置来尝试进入待补充行进区域。若在该第一可达位置，自行走装置100经过尝试不能进入待补充行进区域，则自行走装置100选择第二可达位置来尝试进入待补充行进区域，若在该第二可达位置，自行走装置100经过尝试不能进入待补充行进区域，则自行走装置100选择 第三可达位置来尝试进入待补充行进区域。上述尝试操作历遍M个可达位置，直至自行走装置100成功进入待补充行进区域。
采用本公开实施例所述的导航方法，可以通过环境数据信息和/或历史作业任务的数据信息检测出待补扫区域，并确认是该待补扫区域是否可达，为之后的清扫操作提供依据，提高清扫覆盖率。
在一些实施例中，图3为本公开一些实施例提供的应用于自行走装置的导航方法的场景图，如图3中，自行走装置100，例如扫地机器人，在客厅310中开始清洁作业，自行走装置100采用执行清洁作业时采用免碰撞模式，当自行走装置100探测到门槛330时，将门槛330作为障碍物来进行避障作业，由此自行走装置100不能经过门槛330进入卧室320中进行清洁作业。自行走装置100完成客厅310中的清洁作业后，对于本次清洁作业，客厅310即为已行进区域，门槛330属于可通行障碍物，而卧室320即为待清洁区域，客厅310邻接门槛330的区域311即为可达区域。
本公开实施例还提供一种自行走装置，例如扫地机器人的导航装置，各单元执行如上实施例所述的方法步骤，相同的方法步骤具有相同的技术效果，在此不做赘述，图4为本公开一些实施例提供的自行走装置的导航装置的示意图，如图4所示，导航装置400，具体包括：
待补充行进区域确定单元420：用于在完成当前作业任务后，确定待补充行进区域。
可达位置确定单元440：用于确定是否存在邻接于所述待补充行进区域的可达位置；
控制单元460：用于响应于存在邻接于所述待补充行进区域的可达位置，控制自行走装置到达所述可达位置，并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
在一些实施例中，所述控制单元460还用于响应于不存在邻接于所述待补充行进区域的可达位置，控制所述自行走装置放弃进入所述待补充行进区域。
在一些实施例中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息，所述环境数据信息例如包括：结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。所述待补充行进区域确定单元440配置为响应于根据环境数据信息确定障碍物为可通行障碍物，例如包括门槛和/或地毯边缘，且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置，确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。
在一些实施例中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括所述自行走装置记录的历史作业任务的数据信息，所述历史作业任务的数据信息包括：历史地图信息和/或历史导航信息。所述待补充行进区域确定单元440配置为响应于根据所述历史作业任务的数据信息确定当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域，确定所述一个或多个部 分区域为待补充行进区域。
在一些实施例中，所述可达位置确定单元440配置为确定已行进区域的与所述待补充行进区域相邻接的邻接部，响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物，确定与所述邻接部为所述可达位置。
在一些实施例中，所述控制单元460配置为忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物，控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
在一些实施例中，所述可达位置的数量为多个，所述控制单元460配置为按照预定顺序选择可达位置，控制自行走装置尝试进入所述待补充行进区域。
采用本公开实施例所述的导航装置对自行走装置进行导航控制，可以通过环境数据信息和/或历史作业任务的数据信息检测出待补扫区域，并确认是该待补扫区域是否可达，为之后的清扫操作提供依据，提高清扫覆盖率。
本公开实施例提供一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如上任一所述的方法步骤。
本公开实施例提供一种自行走装置100，例如扫地机器人，包括处理器和存储器，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现前述任一实施例的方法步骤。
图5为本公开一些实施例提供的自行走装置的电子结构示意图，如图5所示，自行走装置可以包括处理装置(例如中央处理器、图形处理器等)501，其可以根据存储在只读存储器(ROM)502中的程序或者从存储装置508加载到随机访问存储器(RAM)503中的程序而执行各种适当的动作和处理。在RAM 503中，还存储有电子机器人操作所需的各种程序和数据。处理装置501、ROM 502以及RAM 503通过总线504彼此相连。输入/输出(I/O)接口505也连接至总线504。
通常，以下装置可以连接至I/O接口505：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置506；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置507；包括例如硬盘等的存储装置508；以及通信装置509。通信装置509可以允许自行走装置与其他装置进行无线或有线通信以交换数据。虽然图5示出了具有各种装置的自行走装置，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。 也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统或装置而言，由于其与实施例公开的方法相对应，所以描述比较简单，相关之处参见方法部分说明即可。
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (20)

  1. 一种导航方法，应用于自行走装置，所述导航方法包括：
    在完成当前作业任务后，确定待补充行进区域；
    确定是否存在邻接于所述待补充行进区域的可达位置；以及
    响应于存在邻接于所述待补充行进区域的可达位置，控制自行走装置到达所述可达位置，并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
  2. 根据权利要求1所述的导航方法，其中还包括：响应于不存在邻接于所述待补充行进区域的可达位置，控制所述自行走装置放弃进入所述待补充行进区域。
  3. 根据权利要求1所述的导航方法，其中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息；
    响应于根据所获取到的环境数据信息确定障碍物为可通行障碍物，且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置，确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。
  4. 根据权利要求3所述的导航方法，其中，
    所述环境数据信息包括：结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。
  5. 根据权利要求1所述的导航方法，其中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括所述自行走装置记录的历史作业任务的数据信息，所述历史作业任务的数据信息包括：历史地图信息和/或历史导航信息；
    响应于根据所述历史作业任务的数据信息，确定当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域，确定所述一个或多个部分区域为待补充行进区域。
  6. 根据权利要求3或5所述的导航方法，其中，所述确定是否存在邻接于所述待补充行进区域的可达位置包括：
    确定已行进区域的与所述待补充行进区域相邻接的邻接部，响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物，确定与所述邻接部为所述可达位置。
  7. 根据权利要求6所述的导航方法，其中，控制自行走装置到达所述可达位置，并控制自行走装置尝试进入所述待补充行进区域包括：
    忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物，控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
  8. 根据权利要求3所述的导航方法，其中，所述可通行障碍物包括门槛和/或地毯边缘。
  9. 根据权利要求1所述的导航方法，其中，响应于所述可达位置的数量为多个，按照预定顺序选择可达位置，控制自行走装置尝试进入所述待补充行进区域。
  10. 一种导航装置，应用于自行走装置，所述导航装置包括：
    待补充行进区域确定单元，用于在自行走装置完成当前作业任务后，确定待补充行进区域；
    可达位置确定单元，用于确定是否存在邻接于所述待补充行进区域的可达位置；以及
    控制单元，用于响应于存在邻接于所述待补充行进区域的可达位置，控制自行走装置到达所述可达位置，并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
  11. 根据权利要求10所述的导航装置，其中，所述控制单元还用于响应于不存在邻接于所述待补充行进区域的可达位置，控制所述自行走装置放弃进入所述待补充行进区域。
  12. 根据权利要求10所述的导航装置，其中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息；
    所述待补充行进区域确定单元配置为响应于根据所获取的环境数据信息确定障碍物为可通行障碍物，且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置，确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。
  13. 根据权利要求12所述的导航装置，其中，所述环境数据信息包括：结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。
  14. 根据权利要求10所述的导航装置，其中，所述确定待补充行进区域包括：基于数据信息确定待补充行进区域，其中，所述数据信息包括所述自行走装置记录的历史作业任务的数据信息，所述历史作业任务的数据信息包括：历史地图信息和/或历史导航信息；
    所述待补充行进区域确定单元配置为响应于根据所述历史作业任务的数据信息确定 当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域，确定所述一个或多个部分区域为待补充行进区域。
  15. 根据权利要求12或14所述的导航装置，其中，所述可达位置确定单元配置为确定已行进区域的与所述待补充行进区域相邻接的邻接部，响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物，确定与所述邻接部为所述可达位置。
  16. 根据权利要求15所述的导航装置，其中，所述控制单元配置为忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物，控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
  17. 根据权利要求12所述的导航装置，其中，所述可通行障碍物包括门槛和/或地毯边缘。
  18. 根据权利要求10所述的导航装置，其中，响应于所述可达位置的数量为多个，所述控制单元配置为按照预定顺序选择可达位置，控制自行走装置尝试进入所述待补充行进区域。
  19. 一种自行走装置，包括处理器和存储器，其特征在于，所述存储器存储有能够被所述处理器执行的计算机程序指令，所述处理器执行所述计算机程序指令时，实现如权利要求1-9任一所述的方法步骤。
  20. 一种非瞬时性计算机可读存储介质，其特征在于，存储有计算机程序指令，所述计算机程序指令在被处理器调用和执行时实现如权利要求1-9任一所述的方法步骤。
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