WO2023025032A1

WO2023025032A1 - Data processing method and apparatus, storage medium, electronic apparatus and self-moving device

Info

Publication number: WO2023025032A1
Application number: PCT/CN2022/113335
Authority: WO
Inventors: 张晓骏
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-08-26
Filing date: 2022-08-18
Publication date: 2023-03-02

Abstract

A self-moving device, comprising: a housing (11); a distance measurement apparatus (13); a posture detector (16), which is used for detecting the posture of the distance measurement apparatus (13); a detection assembly, which reduces visual blind spots in a photographing process; and an environmental parameter acquisition module, which obtains environmental parameters collected by the self-moving device within a set time, wherein the environmental parameters are collected on the basis of at least one environment collection apparatus. Target environmental parameters matching different environment collection apparatuses are determined; and on the basis of the target environmental parameters, the device is controlled to run. In this way, the running of the self-moving device is controlled more quickly and accurately.

Description

Data processing method, device, storage medium, electronic device and mobile device

This disclosure claims the priority of the following patent application: a Chinese patent application filed with the China Patent Office on August 26, 2021, with application number 202122035875.3, and the title of the invention is "A self-moving device", filed on August 26, 2021 China Patent Office, the application number is 202122031865.2, the Chinese patent application titled "a gardening equipment", was submitted to the China Patent Office on August 26, 2021, the application number is 202110991292.X, the title of the invention is "data processing method, device, storage medium, electronic device, and self-moving device”; the entire contents of the above patent application are incorporated in this disclosure by reference.

technical field

The present application relates to the technical field of artificial intelligence, and in particular to a data processing method, a data processing device, a computer-readable storage medium, an electronic device, and a mobile device.

Background technique

With the development of technology, self-moving equipment is more and more widely used, such as sweepers, automatic lawn mowers, automatic watering machines, etc., which can move indoors or outdoors by themselves, which can greatly save manpower and improve work efficiency.

Existing self-moving equipment is usually provided with a ranging device to detect the distance between the self-mobile equipment and an obstacle or the boundary of the work area, so as to control the self-mobile equipment to reliably move within the work area. However, the topography of the working area is diverse. Taking an automatic lawn mower as an example, it usually works on an outdoor lawn with uneven or sloped surfaces, and the position of the distance measuring device will also change with the The movement of the mobile device fluctuates or tilts, and cannot be kept in a horizontal state, which eventually leads to inaccurate ranging of the distance measuring device, which is not conducive to the precise positioning or obstacle avoidance of the self-mobile device.

Therefore, it is necessary to improve the prior art to overcome the defects in the prior art.

Contents of the invention

The purpose of the utility model is to provide a self-moving device, which can automatically adjust the attitude of the distance measuring device, and the distance measurement is more accurate.

The purpose of this utility model is to realize through the following technical solutions: a self-moving device, comprising:

case;

Distance measuring means at least for detecting the distance between said casing and an obstacle located in front of the moving direction thereof;

an attitude detector for detecting the attitude of the ranging device; and

An adjustment device, including an adjustment assembly provided on the housing, the adjustment assembly has at least two degrees of freedom of movement on the horizontal plane; the adjustment assembly is connected to the attitude detector;

The distance measuring device is arranged on the adjustment assembly;

The input end of the first control module is connected to the output end of the attitude detector, and the output end of the first control module is connected to the adjustment assembly.

Further, in the above-mentioned self-moving device, the adjustment assembly includes a first driver, a first rotating shaft driven by the first driver to rotate, a second driver connected to the first rotating shaft, and a first rotating shaft driven by the first driver. A second rotating shaft rotated by the drive of the second driver; the axis of the second rotating shaft intersects the axis of the first rotating shaft;

The distance measuring device is connected to the second rotating shaft;

The first control module is connected with the first driver and the second driver.

Further, in the above-mentioned self-moving device, the adjustment assembly further includes a third driver and a third rotating shaft driven to rotate by the third driver, the axis of the third rotating shaft is perpendicular to the horizontal plane;

The third shaft is connected to the first driver; or the first shaft is connected to the second driver through the third shaft and the third driver, and the third driver is connected to the first shaft, The third rotating shaft is connected to the second driver, and the axis of the first rotating shaft intersects with the axis of the second rotating shaft in different planes.

Further, in the above-mentioned self-moving equipment, the adjustment device further includes a support platform; the adjustment assembly is used to drive the support platform to perform the movement of the degree of freedom;

Both the distance measuring device and the attitude detector are installed on the support platform.

Further, in the self-mobile device mentioned above, the first control module is installed on the support platform; or

The first control module is installed on the distance measuring device.

Further, in the above-mentioned self-moving device, the top of the casing is provided with a first relief hole; at least the detection part of the distance measuring device is distributed outside the top of the casing through the first relief hole. ;

The adjustment assembly is disposed in the inner cavity of the housing.

Further, the above-mentioned self-moving device also includes an outer cover arranged outside the top of the housing; a housing cavity is formed between the outer cover and the housing, and the distance measuring device and the attitude detector are located in the inside the containment chamber;

The side wall of the outer cover is provided with at least one second relief hole for the detection part of the distance measuring device to be exposed; or, the side wall of the outer cover is provided with a light for the detection part of the distance measuring device Transparency through.

Further, in the self-mobile device mentioned above, the distance measuring device is a laser radar distance measuring device.

Furthermore, in the above-mentioned self-moving device, an execution driver that executes the work of the self-moving device is further provided in the housing, and the execution driver and the adjustment assembly are distributed horizontally in a staggered manner.

Further, in the aforementioned self-moving device, a central control module is also provided in the housing; the self-moving device also includes a driving mechanism for driving the self-moving device to walk; the central control module and the driving mechanism . The first control module is connected.

Compared with the prior art, the utility model has the following beneficial effects: the self-moving equipment of the utility model is provided with an attitude sensor and an adjustment device, the distance measuring device is arranged on the adjustment assembly of the adjustment device, the input terminal of the first control module is connected with the The output end of the attitude detector is connected, and the output end of the first control module is connected with the adjustment component. When the mobile device moves on an uneven surface, the posture detector detects the posture of the distance measuring device. If it detects that the distance measuring device is not in a horizontal state, it transmits the detection signal to the first control module, and the first control module detects the distance according to the posture. The signal detected by the sensor is used to control the adjustment assembly to rotate, at least in two degrees of freedom on the horizontal plane, to adjust the attitude of the distance measuring device, so that the distance measuring device is in a horizontal state, and to ensure the detection accuracy of the distance measuring device , so that the mobile device can accurately locate or avoid obstacles, and it is convenient for the mobile device to perform work reliably in the work area.

In the field of forestry technology, especially in outdoor gardening equipment, in order to facilitate the gardening equipment to obtain environmental information, the current gardening equipment is often equipped with a detection device for detecting the surrounding environment information. However, the environmental detection of the existing gardening equipment The device usually has a large blind area, and it is difficult to comprehensively collect the environmental information around the fuselage, so the obtained environmental information is not comprehensive, which affects the intelligent level of gardening equipment.

Aiming at the deficiencies of the prior art, the purpose of this utility model is to provide a gardening equipment, comprising: a body and a detection assembly arranged on the top of the body, the detection assembly includes a visual detector, and the visual detector includes Fisheye lens;

The highest point of the fisheye lens in the vertical direction is higher than the highest point of the body in the vertical direction, and the angle between the central axis of the fisheye lens and the horizontal plane is greater than 0 degrees.

Preferably, the angle between the central axis of the fisheye lens and the horizontal plane is greater than or equal to 60 degrees and less than or equal to 90 degrees.

Preferably, a shading member is provided above the fisheye lens, and along the vertical direction, the first projection of the shading member on the body at least partially overlaps the second projection of the fisheye lens on the body.

Preferably, the first projection of the shading member covers the second projection.

Preferably, the shading member is parallel to the horizontal plane or the shading member is parallel to the installation plane of the fisheye lens.

Preferably, the shading member is circular.

Preferably, the light-shielding component is connected to the body through a bracket.

Preferably, the observable range of the fisheye lens is the range in which the fisheye lens can collect environmental information, and the angle between the highest observation line of sight in the vertical direction and the horizontal plane of the observable range is less than or equal to 75 degrees.

Preferably, the angle between the highest observed line of sight and the horizontal plane in the observable range of the fisheye lens in the vertical direction is greater than or equal to 0 degrees.

Preferably, the angle between the highest observed line of sight and the horizontal plane in the observable range of the fisheye lens in the vertical direction is greater than or equal to 0 degrees and less than or equal to 60 degrees.

Compared with the prior art, the beneficial effects of the utility model are:

The utility model provides a gardening equipment. By setting a fisheye lens on the top of the body of the gardening equipment, the highest point of the fisheye lens in the vertical direction is higher than the highest point of the body in the vertical direction. At the same time, the fisheye lens The angle between the central axis and the horizontal plane is greater than 0 degrees, so that the visual detector can detect 360-degree environmental information around the gardening equipment in its movable direction, so as to ensure that the information collected by the visual detector is more comprehensive and greatly reduces Eliminate the visual blind zone of gardening equipment.

With the development of technology, self-moving equipment is more and more widely used. Self-moving equipment, such as sweepers, automatic lawn mowers, automatic watering machines, etc., can be moved indoors or outdoors, which can greatly save manpower and improve work efficiency.

Existing autonomous mobile devices are usually equipped with various environment acquisition devices such as laser radar, and the external environment is identified through the environment acquisition devices. For example, the data collected by the environment collection device calculates the distance to obstacles and the boundaries of the work area, so as to locate the position of the self-mobile device, so that the self-mobile device can reliably move in the work area.

However, the topography of the working area is complex and diverse. Taking automatic lawn mowers as an example, they usually work on outdoor lawns. Environmental collection devices such as radar will also fluctuate and tilt with the terrain, and cannot maintain a specific state for collection, resulting in inaccurate distance measurement, which is not conducive to the precise positioning of automatic lawn mowers. In addition, during the working process of the environmental collection device, a large amount of data will be generated. If the data is not screened, the amount of data interaction will be too large, and the calculation speed will slow down, which is not conducive to the rapid and accurate issuance of instructions from mobile devices.

The object of the present invention is to provide a data processing method, a data processing device, a computer-readable storage medium, an electronic device and a self-moving device. The data processing method can control the operation of the self-moving device more quickly and accurately.

In order to achieve the above object of the invention, in the first aspect, the present invention proposes a data processing method, comprising the following steps:

Obtaining environmental parameters collected from the mobile device within a set time, wherein the environmental parameters are collected based on at least one environmental collection device;

Determining each target environment parameter matched with the different environment acquisition devices;

The self-mobile device is controlled to operate based on each of the target environment parameters.

Further, the determination of each target environment parameter matched with the different environment acquisition devices includes:

determining matching conditions corresponding to each of the environment collection devices;

The target environment parameters matched by each of the environment collection devices are determined according to the matching conditions.

Further, there are at least two environment collection devices corresponding to different matching conditions.

Further, the environment collection device includes a target detector, and the determination of matching conditions corresponding to each of the environment collection devices includes:

Determine the acquisition attitude matching condition corresponding to the target detector;

The environmental parameters collected by the target detector under the acquisition attitude matching condition are used as the target environmental parameters corresponding to the target detector.

Further, before using the environmental parameters collected by the target detector under the acquisition attitude matching condition as the target environmental parameters corresponding to the target detector, the method further includes:

Based on the position sensor, the acquisition attitude of the target detector is determined.

Further, said obtaining the environmental parameters collected from the mobile device within the set time includes:

Obtaining the reflected electromagnetic wave signal aimed at the target received by the target detector,

The position parameter of the target is determined based on the reflected electromagnetic wave signal, and the position parameter is used as the environment parameter.

In a second aspect, the present invention also proposes a data processing device, including:

An environmental parameter acquisition module, configured to acquire environmental parameters collected from the mobile device within a set time, wherein the environmental parameters are collected based on at least one environmental collection device;

A data processing module, configured to determine, according to the environmental parameters acquired by the environmental parameter acquisition module, target environmental parameters that match different environmental acquisition devices; and

A control module, configured to control the operation of the self-mobile device based on each of the target environment parameters.

In a third aspect, the present invention provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, wherein the above-mentioned data processing method is executed when the program is run.

In a fourth aspect, the present invention provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the above-mentioned data processing method through the computer program.

In the fifth aspect, the present invention proposes a mobile device, including:

An environment collection device, used to collect external environmental parameters;

a memory having a program stored therein; and

A controller is connected in communication with the environment collection device and the memory, and the program is loaded and executed by the controller to implement the data processing method as described above.

Compared with the prior art, the present invention has the following beneficial effects: the data processing method of the present invention, by determining the target environment parameters matched with different environment acquisition devices, and based on each of the target environment parameters, controls the self-moving Equipment operation, on the one hand, by determining the target environmental parameters matched by different environmental acquisition devices, different target environmental parameters can be matched for different environmental acquisition devices, which increases the flexibility of screening and improves the efficiency of screening. Further, it can Filter out a large amount of invalid and distorted data, reduce the amount of data interaction, and can issue control commands more quickly, thereby improving the response and execution speed of self-mobile devices; on the other hand, because the target environment parameters can be more accurate To reflect the surrounding environment, therefore, more accurate and reasonable control instructions can be issued through the target environment parameters, so that the autonomous mobile device can operate reliably.

Description of drawings

Fig. 1 is a structural representation of self-moving equipment in the utility model;

Fig. 2 is the structural representation of adjustment assembly in the utility model;

Fig. 3 is the structural representation of adjusting device in the utility model;

Fig. 4 is the enlarged view of part I in Fig. 1;

Fig. 5 is a block diagram of the electric part in the self-moving device in the utility model;

Fig. 6 is the structural representation in a specific embodiment of the utility model;

Fig. 7 is the structural representation in another specific embodiment of the utility model;

Fig. 8 is a kind of structural representation of cover, fisheye lens in the utility model;

Fig. 9 is another kind of structure schematic diagram of cover, fisheye lens in the utility model;

Fig. 10 is a schematic structural view of yet another specific embodiment of the utility model;

Fig. 11 is a specific application schematic diagram of the observation range of the fisheye lens of the present invention;

Figure 12 is a schematic diagram of imaging in a preferred embodiment of the present invention;

Fig. 13 is a flowchart of a data processing method in an embodiment of the present invention;

Fig. 14 is a flow chart of step S2 in an embodiment of the present invention;

Fig. 15 is a flowchart of step S20 in an embodiment of the present invention;

Fig. 16 is a flowchart of step S1 in an embodiment of the present invention;

Fig. 17 is a block diagram of a data processing device in an embodiment of the present invention;

Fig. 18 is a block diagram of an electronic device according to an embodiment of the present invention;

Fig. 19 is a schematic diagram of a mobile device according to an embodiment of the present invention.

Detailed ways

In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The terms "including" and "having" and any variations thereof in the present invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products or apparatuses.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments.

As shown in FIGS. 1 to 5 , a self-moving device corresponding to a preferred embodiment of the present invention includes a casing 11 , a distance measuring device 13 , an attitude detector 16 and an adjustment device 12 .

The type of self-moving equipment is not limited, for example, it can be a sweeper, an automatic lawn mower, an automatic watering machine, etc., which can automatically move on the ground and perform their own types of work, for example, a sweeper sweeps the surface to be cleaned, or sweeps and mops The integrated cleaning surface; the automatic lawn mower realizes the mowing work during the moving process; the automatic watering machine realizes the work of spraying the solution.

Taking FIG. 1 as an example showing that the self-moving device is a lawn mower, the self-moving device provided in this embodiment is specifically described, and other self-moving devices are also applicable.

The casing 11 of the self-moving device is used to provide a space for installing the distance measuring device 13 , the attitude detector 16 and the adjusting device 12 and other components.

The distance measuring device 13 is used for distance measurement, at least for detecting the distance between the housing 11 and the obstacle in front of its moving direction, so as to determine its own position from the mobile device, and then plan the movement trajectory. As a preferred embodiment, the distance measuring device 13 is installed on the housing 11 close to the front end of the mobile device, so as to detect the distance between the housing 11 and the obstacle in front.

The posture detector 16 is used to detect the posture of the distance measuring device 13, for example, it can detect whether the distance measuring device 13 is inclined, and parameters such as the angle of inclination with respect to the X axis and the Y axis, in this embodiment, when the mobile device is located at When it is on a horizontal support plane, it is in a horizontal state, the X-axis and Y-axis are both located on the horizontal plane, and the Z-axis is perpendicular to the horizontal plane. In a preferred embodiment, the attitude detector 16 is an inertial sensor (IMU), which is capable of detecting and measuring acceleration, tilt, shock, vibration, rotation, and multiple degrees of freedom (DoF) motion, among others. Certainly, attitude detector 16 can also be other types of attitude detectors,

The adjustment device 12 is fixedly installed in the inner cavity 110 of the housing 11. As shown in FIG. The casings 11 are connected, and the adjusting device 12 is installed on the mounting plate 112 . Of course, the mounting plate 112 may also be fixed in other ways, for example, fixed on the housing by other fixing ways such as screws or spot welding.

Preferably, the adjustment device 12 includes an adjustment assembly 121 connected to the mounting plate 112. The adjustment assembly 121 has at least two degrees of freedom in the horizontal plane to adjust the posture of the distance measuring device 13. As a preferred implementation In this manner, the adjustment assembly 121 can at least drive the distance measuring device 13 to rotate around the X axis and the Y axis.

Optionally, both the posture detector 16 and the distance measuring device 13 may be arranged on the adjustment component 121, and during the movement of the self-mobile device, the posture detector 16 and the distance measuring device 13 always move synchronously, so that the posture detector 16 senses The attitude change is consistent with the attitude change of the distance measuring device 13, and the measured result is more convenient and accurate.

The mobile device also includes a first control module, the input of the first control module is connected to the output of the posture detector 16, and is used to receive the data detected by the posture detector 16, and perform corresponding processing, the first control module The output terminal is connected to the adjustment component 121, which can send corresponding control instructions to the adjustment component 121 according to the processing result of the data sent by the attitude detector 16, so that the adjustment component 121 adjusts the distance measuring device 13 to a horizontal state or close to a horizontal state (that is, the angle with the horizontal plane is within the allowable range) for distance measurement.

Obviously, in the process of moving from the mobile device, due to the ups and downs of the ground, the distance measuring device 13 will also tilt accordingly. The posture detector detects the posture of the distance measuring device. If it detects that the distance measuring device is not in a horizontal state, its The detection signal is transmitted to the first control module, and the first control module controls the adjustment assembly to rotate according to the signal detected by the attitude detector, at least in two degrees of freedom on the horizontal plane, so as to adjust the attitude of the distance measuring device , so that the distance measuring device is in a horizontal state to ensure the accuracy of the detection of the distance measuring device, so that the mobile device can accurately locate or avoid obstacles, and it is convenient for the mobile device to perform work reliably in the working area.

As a preferred embodiment, as shown in FIG. 2 and FIG. 3 , the adjustment assembly 121 includes a first driver 1210 , a first rotating shaft 1211 driven to rotate by the first driver 1210 , and a second driver connected to the first rotating shaft 1211 1212 and a second rotating shaft 1213 driven by the second driver 1212 to rotate. The axis of the first rotating shaft 1211 intersects with the second rotating shaft 1213 . Preferably, the axis of the first rotating shaft 1211 is perpendicular to the axis of the second rotating shaft 1213 , for example, the axis of the first rotating shaft 1211 coincides with the X axis, and the axis of the second rotating shaft 1213 coincides with the Y axis.

Further, the first shaft 1211 is connected with the first frame body 1216, and the second driver 1212 is connected with the first frame body 1216. As shown in FIG. On the side of the first frame body 1216 . A second frame body 1217 is connected to the second rotating shaft 1213 , and the adjusting device 12 further includes a supporting platform 123 connected to the second frame body 1217 , which can rotate with the rotation of the second rotating shaft 1213 .

As shown in Figure 3, distance measuring device 13 and attitude sensor 16 are all installed on the support platform 123, and in a kind of preferred embodiment, distance measuring device 13 and attitude detector 16 are all directly connected on the support platform 123; In another preferred embodiment, the distance measuring device 13 is directly connected to the support platform 123 , and the attitude detector 16 is connected to the distance measuring device 13 .

In this way, both the distance measuring device 13 and the posture detector 16 are connected to the second rotating shaft 1213 , and can rotate under the driving of the first rotating shaft 1211 and the second rotating shaft 1213 , thereby adjusting the posture. The first control module is connected to the first driver 1210 and the second driver 1212 , for example, may be electrically connected through a cable, or connected through wireless communication.

The first driver 1210 and the second driver 1212 are preferably motors, whose motor shafts are connected to the first rotating shaft 1211 and the second rotating shaft 1213 respectively, and then drive the first rotating shaft 1211 and the second rotating shaft 1213 to rotate.

Further, as shown in FIG. 4 , the adjustment assembly 121 also includes a third driver 1214 and a third rotating shaft 1215 driven by the third driver 1214 to rotate. The third rotating shaft 1215 is perpendicular to the horizontal plane and connected to the first driver 1210, so that The distance measuring device 13 and the posture detector 16 can rotate around the Z axis under the drive of the third driver 1214 , with a higher degree of freedom. Specifically, a third frame body 1218 is connected to the third rotating shaft 1215 , and the first driver 1210 is connected to the third frame body 1218 .

The third driver 1214 is preferably a motor, and the third rotating shaft 1215 may be its motor shaft, or a rotating shaft connected to the motor shaft. The third driver 1214 may also be a device such as an electric turntable.

As a modified embodiment of the installation position of the third shaft and the third driver, the first shaft and the second driver are connected through the third shaft and the third driver, specifically, the third driver is connected to the first shaft, and the third shaft Connected to the second driver, the axis of the first rotating shaft and the axis of the second rotating shaft intersect in different planes. That is, the third rotating shaft is located between the first rotating shaft and the second rotating shaft.

As a preferred implementation manner, the adjusting device 12 can be directly selected as an electric pan/tilt.

The installation position of the first control module is not limited, for example, it may be installed on the supporting platform 123 , or on the distance measuring device 13 , or on the casing.

Preferably, attitude detector 16 is installed on the first control module as a component, like this, its data interaction with adjusting device 12 is all inside the first control module, and the data between distance measuring device 13 and the first control module The amount of interaction is small, and only occasional data interaction is required between the ranging device 13 and the attitude detector 16 of the first control module to check and correct its own position. And if the posture detector 16 is arranged on the control module in the distance measuring device 13, then the processor in the first control module is required to convert and calculate the data collected by the posture detector 16, and convert it to the position of the adjustment device 12, Finally, the adjustment device 12 is controlled, thereby increasing the data calculation amount of the processor, which is not conducive to quickly making attitude adjustments.

In order to facilitate the distance measuring device 13 to measure the distance, the top of the housing 11 is provided with a first relief hole 11, at least the detection part 130 of the distance measuring device 13 is distributed outside the top of the housing 11 through the first relief hole 11, The adjustment assembly 121 is arranged in the inner cavity 110 of the housing 11 . The detection section 130 is a section of the ranging device 13 for performing ranging work. For example, when the distance measuring device 13 is a laser radar distance measuring device, its detection part is its laser emitting and receiving part. Since this part is located outside the housing 11, it will not be blocked by the housing 11. The distance device can realize 360-degree omni-directional distance measurement.

Further, in order to protect the distance measuring device 13 exposed on the housing 11, as shown in FIG. A storage cavity 40 is formed between the shell 11 and the ranging device 13 and the attitude detector 16 are located in the storage cavity 40 . The arrangement of the outer cover 14 can effectively protect the distance measuring device 13 and the attitude detector 16 and prevent external foreign matter or rainwater from damaging the components inside the housing 11 . At the same time, in order to prevent the outer cover 14 from covering the distance measuring device 13, at least one second relief hole 141 for the detection part 130 of the distance measuring device 13 to be exposed is provided on its side wall, or the side wall of the outer cover 14 is provided with a hole for measuring The transparent area through which the light from the detection part 130 of the device passes is, for example, formed by glass or transparent plastic, so that the receiving cavity is a sealed cavity, which is not only waterproof, but also prevents the distance measuring device from running. In the process, other substances collide with the surface of the distance measuring device. Take the lawnmower as an example, for example, a tree branch collides with the surface of the distance measuring device. Apparently, compared with the second relief hole 141 , setting a solid transparent area is more conducive to protecting the distance measuring device 13 and the attitude detector 16 .

As a preferred embodiment, the ranging device 13 is capable of 360° scanning and ranging, and is preferably a laser radar ranging device. In this embodiment, the above-mentioned second relief hole 141 and the transparent area can be set to be complete The ring shape or intermittent ring shape surrounds the outer circumference of the detection part 130, so that the distance measuring device 13 can perform distance measurement at multiple angles.

As shown in Figure 1, the self-moving device also includes an actuator 15 located in its housing 11, and the actuator 15 is used to perform the work of the self-mobile device. Taking a lawnmower as an example, it includes a cutting tool 150 for mowing grass. The driver 15 is a motor that drives the cutter 150 to mow grass. In this embodiment, the positions of the actuator 15 and the adjustment assembly 121 are set to be distributed in a horizontal direction, so that there is no overlap between the two in the vertical direction, thereby reducing the height or thickness of the entire self-moving device, which is convenient for its miniaturization.

The self-moving device is driven to walk by its driving mechanism. The driving mechanism usually includes several wheels and a driving motor for driving the wheels. As shown in FIG. The module 17 is connected with the driving mechanism and the first control module, for example, it may be electrically connected through a cable, or connected through wireless communication. The central control module 17 can perform overall control on the self-moving device, for example, calculate the current position of the self-mobile device according to the data of the distance measuring device 13, and then generate a control instruction to control the action of the driving mechanism, so that the self-moving device moves along the required path.

The self-moving equipment of the present invention is provided with an attitude sensor and an adjustment device, and the adjustment device can adjust the distance measuring device according to the attitude information of the distance measuring device detected by the attitude detector, so that it is always kept in a horizontal state or an approximately horizontal state (such as horizontal or The distance measurement results are more accurate, which can effectively improve the positioning accuracy of the self-mobile device, which is conducive to its reliable execution of work in the work area. In some embodiments of the present invention, the distance measuring device may be a distance measuring device that actively emits light or emits specific rays, such as a laser distance measuring sensor LDS. For this type of distance measuring device, the aforementioned horizontal state usually refers to the range measuring device The luminous beam or ray beam is parallel to the support surface of the running gear of the mobile device. In other embodiments of the present invention, the distance measuring device may be a distance measuring device that does not actively emit light, such as a visual distance measuring device, etc. For this type of distance measuring device, the horizontal state generally refers to The axis is parallel to the support surface of the running gear of the mobile device.

As shown in Figure 6, the utility model relates to a gardening equipment, including: a body 212 and a detection component 213 arranged on the top of the body 212, the detection component 213 includes a visual detector 2131, which is used to collect images around the gardening equipment; The detector 2131 includes a fisheye lens 2132, wherein the highest point of the fisheye lens 2132 in the vertical direction is higher than the highest point of the body 212 in the vertical direction, and the angle between the central axis O1 of the fisheye lens 2132 and the horizontal plane is greater than 0 degree. Wherein, the top of the body 212 refers to the upper part of the body 212 in the vertical direction, the outer surface of the top is upward or inclined upward, and the top is not limited to the highest point or the highest top surface of the body 212; meanwhile, see Fig. 6, the direction of the central axis O1 of the fisheye lens 2132 is parallel to the lens length direction of the fisheye lens 2132, and the angle C between the central axis O1 and the horizontal plane is greater than 0 degrees, that is, the front of the fisheye lens 2132 is upward or inclined upward. Specifically, the top of the body 212 includes the highest top surface and an inclined top surface 2121 with a certain inclination angle, and the fisheye lens is arranged on the highest top surface or on the inclined top surface 2121 . Gardening equipment (such as a lawn mower) needs to obtain information about the surrounding environment of the equipment when it is working, so as to realize the automation of the gardening equipment. This solution uses the fisheye lens 2132, and its highest point in the vertical direction is higher than the highest point of the body 212. vertex, so that the fisheye lens 2132 can obtain the 360-degree environmental information of the gardening equipment in its movable direction, and the collected information is more comprehensive. Compared with the existing gardening equipment, this solution greatly reduces the cost of the gardening equipment. Visual blind spots.

Preferably, the included angle between the central axis O1 of the fisheye lens 2132 and the horizontal plane is greater than or equal to 60 degrees and less than or equal to 90 degrees. Gardening equipment (such as a lawn mower) moves on the ground, and the relatively effective environmental information for it is often concentrated at a low position around the fuselage 212. When the angle between the central axis O1 of the fisheye lens 2132 and the horizontal plane is If it is too small, that is, the fisheye lens 2132 has a large inclination, and part of the environmental information obtained by it has a high height and poor information validity. In order to facilitate the detection component 213 to obtain these effective environmental information, the central axis of the fisheye lens 2132 The angle between O1 and the horizontal plane is greater than or equal to 60 degrees and less than or equal to 90 degrees, so that the environmental information around the fuselage 212 captured by the fisheye lens 2132 is highly suitable, that is, the fisheye lens 2132 can obtain more effective environmental information.

Further, as shown in FIGS. 6 to 12 , a shading member 2112 is arranged above the fisheye lens 2132 , and along the vertical direction, the first projection of the shading member 2112 on the body 212 at least partially overlaps the fisheye lens 2132 on the body 212 the second projection of . The gardening equipment is usually used in an outdoor environment. If the fisheye lens 2132 is set up frontally or inclined upward, it will cause strong light, which will cause overexposure to affect the imaging. The overexposure can be avoided by blocking the light shielding component 2112; at the same time, the fisheye lens The sky picture collected by 2132 is usually invalid information, and the invalid information in the imaging can also be reduced by the shading component 2112. As shown in FIG. The portion not blocked by the light blocking member 2112 is imaged to form an effective area A. Preferably, the first projection of the shading component 2112 on the body 212 covers the second projection of the fisheye lens 2132 on the body 212, so that the shading component 2112 can more effectively block direct strong light.

Further, as shown in FIG. 10, the shading member 2112 is parallel to the horizontal plane H, or as shown in FIG. The plane is the inclined top surface 2121 . Furthermore, the shading member 2112 is arranged directly above the fisheye lens 2132, and the shading member 2112 is circular, so that the visual detector 2131 forms an image forming a ring-shaped effective area as shown in FIG. 12 . The light-shielding component 2112 is set to block the strong direct light, so as to prevent the strong light from directly shining into the lens, resulting in overexposure. The image information acquired by the visual detector 2131 also needs to be processed by the controller in the gardening equipment to be converted into digital information; wherein, in an outdoor working environment, the sky is often directly above the gardening equipment, and the information in the sky The feature is small, that is, the sky is invalid information. In order to reduce the visual detector 2131 to capture too much invalid information, thereby reducing the burden on the controller to process the image, so that the controller can process the effective area A with more information features, and improve the detection efficiency. .

Specifically, a cover structure is shown in detail with reference to FIG. 8. The shading member 2112 is connected to the body 212 through a bracket 2111. The shading member 2112 is arranged at one end of the bracket 2111. The shading member 2112 is combined with the bracket 2111 to form a cover 11 structure, and the bracket The other end of 2111 is connected to the body 212, and the bracket 2111 is erected on the periphery of the fisheye lens 2132, so that the shading member 2112 is located above the fisheye lens 2132 to block part of the strong direct light. Optionally, another covering structure is shown in detail with reference to FIG. 9 . The support 2111 is an inverted truncated cone structure, the bottom surface of the support with a small radius is connected to the top of the body 212, and the shading member 2112 is arranged on the upper column with a large support radius. On the other hand, the observable range α of the fisheye lens 2132 is reduced, thereby covering more parts of the picture imaged by the visual detector 2131, so as to filter more invalid areas and reduce the burden of image processing on the controller.

Further, as shown in FIG. 11 , the shading member 2112 blocks part of the position of the fisheye lens 2132 to form the observable range α of the fisheye lens 2132, and the observable range α of the fisheye lens 2132 is the environment that the fisheye lens 2132 can collect. The range of information, the angle between the highest observation line of sight in the vertical direction of the observable range α and the horizontal plane is less than or equal to 75 degrees; further, the highest observation line of sight and the horizontal plane of the observable range α of the fisheye lens 2132 in the vertical direction The included angle is greater than or equal to 0 degrees.

Preferably, the angle between the highest observed line of sight and the horizontal plane in the vertical direction of the observable range α of the fisheye lens 2132 is greater than or equal to 0 degrees and less than or equal to 60 degrees. The visual detector 2131 collects relatively fixed information in the environment. If the fixed information is too low, it will be more affected by human beings, easy to change, and can avoid shrubs, grass, fences, etc.; There will be more natural factors (wind and the like), and the impact of light will be greater. There is identifiable effective information concentrated in the range corresponding to the acquired external environment in the observation range α section, so that the information recognized by the visual detector 2131 is relatively stable.

This solution enables the visual detector to detect 360-degree environmental information around the horticultural equipment in its movable direction, so as to ensure that the information collected by the visual detector is more comprehensive, and greatly reduces the visual blind spots of the horticultural equipment. At the same time, this embodiment is also suitable for locating the position of the bottom surface processing device in the long and narrow aisle, by capturing the surrounding environmental information features, calculating the distance between the gardening equipment and the effective features, and then calculating the relative position of the gardening equipment on the map, so as to realize The positioning of the gardening equipment in the narrow aisle.

A data processing method corresponding to a preferred embodiment of the present invention, as shown in FIG. 13 , includes the following steps:

S1. Obtain the environmental parameters collected from the mobile device within a set time, wherein the environmental parameters are collected based on at least one environmental collection device;

S2. Determining each target environment parameter matched with the different environment acquisition devices;

S3. Control the self-mobile device to run based on each target environment parameter.

In step S1, the self-mobile device collects external environmental parameters through an environmental acquisition device installed on it. The environmental acquisition device can be, for example, a laser radar, a millimeter-wave radar, an inertial sensor (IMU), an angle sensor, a gyroscope, and a nine-axis sensor. and camera etc.

The control system of the self-mobile device controls the operation of the self-mobile device according to the environmental parameters collected by different environmental acquisition devices, and the posture of the self-mobile device will change due to terrain and other reasons during the movement process, resulting in the presence of A large amount of invalid or distorted data, therefore, in order to filter out a large amount of invalid data and obtain more accurate valid data, the control system determines the target environmental parameters that match different environmental acquisition devices, and controls all In this way, its data processing speed is faster, and the data used to control the operation of the mobile device is more accurate, which can better control the operation of the mobile device.

Taking the laser radar as an example of the environmental collection device, since the laser radar is also in a tilted state when the self-mobile device is in a tilted attitude, the data collected by it is highly distorted at this time, so the laser radar is in a horizontal state or close to a horizontal state The data collected from time to time is used as the target environment parameter, based on the target environment parameter, the position of the self-mobile device can be determined more accurately, and then the movement of the self-mobile device can be controlled.

Further, referring to FIG. 14, step S2 includes the following steps:

S20. Determine the matching condition corresponding to each of the environment collection devices;

S21. Determine each target environment parameter matched by each of the environment collection devices according to each of the matching conditions.

In steps S20 and S21, the control system first determines the corresponding matching conditions according to the type of the environmental collection device, and then determines the environmental parameters corresponding to the matching conditions as the target environmental parameters. The matching conditions are pre-stored in the control system, and the control system according to The obtained environment parameters can be called directly and its matching conditions can be determined.

Taking the environment acquisition device as a target detector such as lidar as an example, because it needs to measure distance or take pictures to identify external objects or perform other functions, its matching condition is its acquisition attitude, which is collected when the acquisition attitude matching condition is met. Environmental parameters can more accurately reflect the external environment. For example, the lidar needs to meet the matching conditions of its acquisition attitude when it is at or close to the level (the angle between it and the horizontal plane is within the allowable range). For other target detectors, the required acquisition attitude may also be different. For example, when it forms a certain angle with the horizontal plane or is vertical, it acquires attitude matching conditions.

Therefore, referring to FIG. 15, when the environment collection device includes a target detector, the step S20 corresponds to the following steps:

S200. Determine the acquisition attitude matching condition corresponding to the target detector;

S201. Using the environmental parameters collected by the target detector under the acquisition attitude matching condition as the target environmental parameters corresponding to the target detector.

Specifically, according to the type of target detector, determine the corresponding acquisition attitude matching conditions. When the lidar is horizontal or close to the horizontal, the acquisition attitude matching conditions are determined. Other types of target detectors also have corresponding acquisition attitude matching conditions. conditions, and then use the environmental parameters collected by the target detector under the acquisition attitude matching conditions as the target environmental parameters corresponding to the target detector, which can effectively filter out a large amount of invalid or distorted data, thereby quickly obtaining More accurate data to control operations from mobile devices.

Of course, the matching condition is not limited to the collection posture. For other types of environmental collection devices, it may also be other conditions such as running speed. As a preferred embodiment, at least two of the environmental collection devices correspond to different matching conditions. .

As a preferred embodiment, the acquisition attitude of the target detector is determined by a position sensor, and its attitude is detected by the position sensor. The position sensor may be, for example, an inertial sensor (IMU). Therefore, before step S201, the following step is further included: based on the position sensor, determining the acquisition attitude of the target detector.

The control system judges the acquisition attitude of the target detector when it collects environmental parameters according to the attitude data detected by the position sensor, and uses the environmental parameters collected when it is in the acquisition attitude matching condition as the target environmental parameters to control the operation of the self-mobile device.

As shown in Figure 16, as a preferred implementation, step S1. Obtaining the environmental parameters collected from the mobile device within the set time includes the following steps:

S10. Obtain the reflected electromagnetic wave signal directed at the target received by the target detector;

S11. Determine a location parameter of the target based on the reflected electromagnetic wave signal, and use the location parameter as the environment parameter.

Specifically, taking the target detector as a laser radar or millimeter wave radar as an example, it emits electromagnetic waves to the outside world, and external objects can reflect the electromagnetic wave signal, which is received by the laser radar or millimeter wave radar, and can be detected in the working area of the mobile device. A target that reflects an electromagnetic wave signal with a specific characteristic is set inside, for example, a beacon with a specific structure made of a metal plate is used as a target, and the target detector can identify whether the received electromagnetic wave signal is an electromagnetic wave signal reflected by the target, and its interior The coordinate position of the target is stored. Therefore, the position parameter of the target can be determined according to the reflected electromagnetic wave signal. The position parameter can be used as an environmental parameter. Calculate the position from the mobile device, so as to better plan the path and set the movement trajectory.

The data processing method of the present invention controls the operation of the self-moving device by determining the target environment parameters matched with different environment collection devices and controlling the operation of the self-moving device based on the target environment parameters. On the one hand, it can screen and filter out a large number of invalid and Distorted data reduces the amount of data interaction, and can issue control commands more quickly, thereby improving the response and execution speed of self-mobile devices; on the other hand, because the target environment parameters can more accurately reflect the surrounding environment, therefore, Through the target environment parameters, more accurate and reasonable control instructions can be issued, so that the autonomous mobile device can operate reliably.

The present invention also proposes a data processing device. FIG. 17 shows a block diagram of a data processing device in a preferred embodiment. The processing module 370 and the control module 371 communicated with the data processing module 370 .

Wherein, the environmental parameter acquiring module 37 is used for acquiring the environmental parameter collected from the mobile device within the set time, and the environmental parameter is collected based on at least one environmental acquisition device; the data processing module 370 is used for acquiring The environmental parameters determine the target environmental parameters that match with different environmental acquisition devices; the control module 371 is used to control the operation of the self-mobile device based on the target environmental parameters.

For relevant details, reference may be made to the foregoing method embodiments. It should be noted that the data processing device provided in the above-mentioned embodiments is only illustrated by the division of the above-mentioned functional modules. The internal structure of the system is divided into different functional modules to complete all or part of the functions described above. The data processing device is preferably arranged inside the self-mobile device.

The present invention also proposes a computer-readable storage medium, in which a program is stored, and the program executes the above-mentioned data processing method when running, for example, it can be loaded by a processor to execute the above-mentioned data processing method. Approach.

The present invention also proposes an electronic device. FIG. 18 is a block diagram of an electronic device according to a preferred embodiment of the present application. other devices independently of each other. The electronic device includes at least a processor 34 and a memory 340 .

The processor 34 may include one or more processing cores, such as a 4-core processor, a 6-core processor, and the like. Processor 34 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish. Processor 34 also can comprise main processor and coprocessor, and main processor is the processor that is used for processing the data in wake-up state, also claims CPU (Central Processing Unit, central processing unit); Coprocessor is to use Low-power processor for processing data in standby state. In some embodiments, the processor 34 may also include an AI (Artificial Intelligence, artificial intelligence) processor, which is used to process computing operations related to machine learning.

The memory 340 may include one or more of a computer-readable storage medium, a high-speed random access memory, and a non-volatile memory, and the non-volatile memory may be, for example, a magnetic disk storage device, a flash memory storage device, and the like. A computer program is stored in the memory 340, and the processor 34 is configured to execute the data processing method described above through the computer program.

In some embodiments, the electronic device may optionally further include: a peripheral device interface and at least one peripheral device. The processor 34, the memory 340 and the peripheral device interface may be connected through a bus or a signal line. Each peripheral device can be connected with the peripheral device interface through a bus, a signal line or a circuit board. Schematically, peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.

The present invention also proposes a self-moving device. FIG. 19 is a schematic structural diagram of the self-moving device provided by an embodiment of the present invention. As shown in FIG. The device 35 communicates with the environment collection device 33.

The environment collection device 33 is used to collect external environment parameters and send the environment parameters to the controller 35 . Optionally, the environment collection device 33 may be a target detector such as a laser radar.

The controller 35 is used to control the self-moving device, such as: controlling the starting, moving and stopping of the self-moving device, controlling the starting and stopping of various components in the self-moving device (such as an environment collection device), and the like.

In this embodiment, the controller 35 is connected to the memory in communication; the memory stores a program, and the program is loaded and executed by the controller 35 to implement the data processing method described above.

Obviously, the self-moving device may also include other components, such as the moving device 36, which is used to drive the self-moving device to move, which may include a motor and wheels driven by the motor to drive the self-moving device to move. The mobile device 36 is connected to the controller 35 in communication, and can run under the control of the controller 35 and drive the overall movement of the self-mobile device.

Claims

A self-mobile device, characterized in that it includes:

case;

Distance measuring means at least for detecting the distance between said casing and an obstacle located in front of the moving direction thereof;

an attitude detector for detecting the attitude of the ranging device; and

An adjustment device, including an adjustment assembly provided on the housing, the adjustment assembly has at least two degrees of freedom of rotation on the horizontal plane; the adjustment assembly is connected to the attitude detector;

The distance measuring device is arranged on the adjustment assembly;

The input end of the first control module is connected to the output end of the attitude detector, and the output end of the first control module is connected to the adjustment assembly.
The self-moving device according to claim 1, wherein the adjustment assembly comprises a first driver, a first rotating shaft driven by the first driver to rotate, and a second driver connected to the first rotating shaft , and a second rotating shaft driven by the second driver to rotate; the axis of the second rotating shaft intersects the axis of the first rotating shaft;

The distance measuring device is connected to the second rotating shaft;

The first control module is connected with the first driver and the second driver.
The self-moving device according to claim 2, wherein the adjustment assembly further comprises a third driver and a third rotating shaft driven to rotate by the third driver, the axis of the third rotating shaft is in line with the horizontal plane vertical;

The third shaft is connected to the first driver; or the first shaft is connected to the second driver through the third shaft and the third driver, and the third driver is connected to the first shaft, The third rotating shaft is connected to the second driver, and the axis of the first rotating shaft intersects with the axis of the second rotating shaft in different planes.
The self-moving device according to any one of claims 1 to 3, wherein the adjustment device further includes a support platform; the adjustment assembly is used to drive the support platform to perform rotational movement of the degree of freedom;

Both the distance measuring device and the attitude detector are installed on the support platform.
The self-mobile device of claim 4, wherein the first control module is mounted on the support platform; or

The first control module is installed on the distance measuring device.
The self-moving device according to any one of claims 1 to 3, characterized in that, the top of the housing is provided with a first relief hole; at least the detection part of the distance measuring device passes through the first relief hole. Position holes are distributed outside the top of the housing;

The adjustment assembly is disposed in the inner cavity of the housing.
The self-moving device according to claim 6, characterized in that, the self-moving device further comprises an outer cover arranged outside the top of the housing; a housing cavity is formed between the outer cover and the housing, and the Both the ranging device and the attitude detector are located in the receiving chamber;

The side wall of the outer cover is provided with at least one second relief hole (41) for the detection part of the distance measuring device to be exposed; or, the side wall of the outer cover is provided with a detection part of the distance measuring device. The transparent area through which part of the light passes.
The self-moving device according to claim 7, wherein the distance measuring device is a laser radar distance measuring device.
The self-moving device according to claim 6, characterized in that, an actuating driver for performing work of the self-moving device is further provided in the housing, and the actuating driver and the adjusting assembly are distributed horizontally in a staggered manner.
The self-moving device according to any one of claims 1 to 3, wherein a central control module is also arranged in the housing;

The autonomous mobile device also includes a drive mechanism for driving the self-mobile device to walk; the central control module is connected with the drive mechanism and the first control module.
A gardening equipment, characterized in that it includes: a body and a detection component arranged on the top of the body, the detection component includes a visual detector, and the visual detector includes a fisheye lens;

The highest point of the fisheye lens in the vertical direction is higher than the highest point of the body in the vertical direction, and the angle between the central axis of the fisheye lens and the horizontal plane is greater than 0 degrees.
The gardening equipment according to claim 11, wherein the angle between the central axis of the fisheye lens and the horizontal plane is greater than or equal to 60 degrees and less than or equal to 90 degrees.
The gardening equipment according to claim 12, wherein a shading member is arranged above the fisheye lens, and along the vertical direction, the first projection of the shading member on the body at least partially overlaps with the fish The second projection of the eye lens on the body.
13. Gardening implement according to claim 13, characterized in that the first projection of the shading member covers the second projection.
The gardening equipment according to claim 13, wherein the shading member is parallel to the horizontal plane or the shading member is parallel to the installation plane of the fisheye lens.
The gardening equipment according to claim 13, wherein the shading member is circular.
The gardening equipment according to any one of claims 13-16, wherein the shading member is connected to the body through a bracket.
The gardening equipment according to claim 13, wherein the observable range of the fisheye lens is the range in which the fisheye lens can collect environmental information, and the highest observation range of the observable range in the vertical direction is The angle between the line of sight and the horizontal plane is less than or equal to 75 degrees.
The gardening equipment according to claim 18, characterized in that, the angle between the highest observation line of sight and the horizontal plane in the observable range of the fisheye lens in the vertical direction is greater than or equal to 0 degree.
The gardening equipment according to claim 19, characterized in that, the angle between the highest observed line of sight of the observable range of the fisheye lens in the vertical direction and the horizontal plane is greater than or equal to 0 degrees and less than or equal to 60 degrees.
A data processing method is characterized in that, comprising the steps of:

Obtaining environmental parameters collected from the mobile device within a set time, wherein the environmental parameters are collected based on at least one environmental collection device;

Determining each target environment parameter matched with the different environment acquisition devices;

The self-mobile device is controlled to operate based on each of the target environment parameters.
The data processing method according to claim 21, wherein said determining each target environment parameter matched with a different said environment collection device comprises:

determining matching conditions corresponding to each of the environment collection devices;

The target environment parameters matched by each of the environment collection devices are determined according to the matching conditions.
The data processing method according to claim 22, characterized in that at least two of the environment collection devices correspond to different matching conditions.
The data processing method according to claim 22, wherein the environment collection device includes a target detector, and the determining the matching condition corresponding to each of the environment collection devices includes:

Determine the acquisition attitude matching condition corresponding to the target detector;

The environmental parameters collected by the target detector under the acquisition attitude matching condition are used as the target environmental parameters corresponding to the target detector.
The data processing method according to claim 24, characterized in that, before using the environmental parameters collected by the target detector under the acquisition attitude matching condition as the target environmental parameters corresponding to the target detector, Also includes:

Based on the position sensor, the acquisition attitude of the target detector is determined.
The data processing method according to any one of claims 23 to 25, wherein said obtaining the environmental parameters collected from the mobile device within the set time includes:

Obtaining the reflected electromagnetic wave signal aimed at the target received by the target detector,

The position parameter of the target is determined based on the reflected electromagnetic wave signal, and the position parameter is used as the environment parameter.
A data processing device, characterized in that it comprises:

An environmental parameter acquisition module, configured to acquire environmental parameters collected from the mobile device within a set time, wherein the environmental parameters are collected based on at least one environmental collection device;

A data processing module, configured to determine, according to the environmental parameters acquired by the environmental parameter acquisition module, target environmental parameters that match different environmental acquisition devices; and

A control module, configured to control the operation of the self-mobile device based on each of the target environment parameters.
A computer-readable storage medium, characterized in that a program is stored in the computer-readable storage medium, wherein the data processing method according to any one of claims 21 to 26 is executed when the program is run.
An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the data described in any one of claims 1 to 6 through the computer program Approach.
A self-mobile device, characterized in that it includes:

An environment collection device, used to collect external environmental parameters;

a memory having a program stored therein; and

A controller is connected in communication with the environment collection device and the memory, and the program is loaded and executed by the controller to realize the data processing method according to any one of claims 21 to 26.