WO2023045639A1

WO2023045639A1 - Method for determining target object, mobile robot, storage medium, and electronic apparatus

Info

Publication number: WO2023045639A1
Application number: PCT/CN2022/113312
Authority: WO
Inventors: 俞浩
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-09-23
Filing date: 2022-08-18
Publication date: 2023-03-30
Also published as: CN113848902A

Abstract

A method for determining a target object, a mobile robot, a storage medium, and an electronic apparatus. The method comprises: controlling a laser panel of an area array depth sensor to emit multiple groups of first lasers to a target object located in a traveling direction of a mobile robot, the laser panel being disposed on a front side of the mobile robot, the front side being used to indicate a farthest forward part of the mobile robot in a traveling process, and any two groups of the first lasers among the multiple groups of first lasers having different light intensities (S202); by means of the laser panel, receiving multiple groups of second lasers reflected back by the target object from the multiple groups of first lasers (S204); and determining an obstacle type corresponding to the target object according to the multiple groups of first lasers and the multiple groups of second lasers (S206). The present invention solves the problem of low detection accuracy of conventional methods in a process of detecting an object in front of a floor sweeping robot.

Description

Target object determination method, mobile robot, storage medium and electronic device

This disclosure claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on September 23, 2021, with the application number 202111116319.7, and the title of the invention is "Method for Determining Target Object, Mobile Robot, Storage Medium, and Electronic Device" ; the entire content of the above patent application is incorporated by reference in this disclosure.

technical field

The present disclosure relates to the communication field, and in particular, relates to a method for determining a target object, a mobile robot, a storage medium, and an electronic device.

Background technique

With the development of society, more and more families begin to use sweeping robots. In the process of using sweeping robots, sweeping robots need to identify the front area and judge whether there are obstacles in the front area, so as to avoid them during the movement. obstacle.

Among the existing sweeping robots, the sweeping robots with active obstacle avoidance function rely on dot matrix sensors or line array depth sensors to realize obstacle recognition, but dot matrix or line array sensors need to perform many different operations on an object. Obstacle information can only be determined by scanning irradiation at different angles and combining the scanning results of different angles, which is computationally intensive and inaccurate. In addition, the sensing range of dot matrix or linear array sensors is relatively small, the judgment accuracy of the active obstacle avoidance function is limited, the user experience is poor, and small obstacles cannot be cleaned, resulting in an increased probability of the sweeping robot getting stuck and the rolling brush of the sweeping robot being entangled .

In view of related technologies, the traditional method has low detection accuracy in the process of detecting objects in front of the sweeping robot, and no effective solution has been proposed so far.

Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology.

Contents of the invention

The purpose of the present disclosure is to provide a method for determining a target object, a mobile robot, a storage medium, and an electronic device, so as to at least solve the problem of low detection accuracy in the process of detecting objects in front of the sweeping robot in traditional methods.

The purpose of this disclosure is to be achieved through the following technical solutions:

According to an aspect of an embodiment of the present disclosure, a method for determining a target object is provided, including: controlling the laser panel of the area array depth sensor to emit multiple groups of first laser light to the target object located in the direction of travel of the mobile robot, wherein the The laser panel is arranged on the front side of the mobile robot, and the front side is used to indicate the frontmost position of the mobile robot during travel, and any two groups of first lasers in the multiple groups of first lasers have different light beams Intensity; multiple sets of second lasers reflected from the target object by receiving the multiple sets of first lasers through the laser panel; determining the target according to the multiple sets of first lasers and the multiple sets of second lasers The obstacle type corresponding to the object.

Further, determining the obstacle type corresponding to the target object according to the plurality of groups of first lasers and the plurality of groups of second lasers includes: determining from the plurality of groups of first lasers and the plurality of groups of second lasers A first laser and a second laser with the same light intensity; wherein, the first laser carries coded information, and the second laser carries decoding information; according to the coded information of the first laser and the coded information of the second laser The decoding information of the two lasers determines the obstacle type corresponding to the target object.

Further, determining the obstacle type corresponding to the target object according to the coding information of the first laser and the decoding information of the second laser includes: according to the coding information in the first laser and the decoding information of the second laser Determine the time-of-flight of the first laser from the decoding information in the system; determine the three-dimensional information of the target object according to the time-of-flight, and determine the obstacle type corresponding to the target object according to the three-dimensional information, wherein the three-dimensional information includes At least one of the following: height information of the target object, length information of the target object, and width information of the target object.

Further, determining the three-dimensional information of the target object according to the flight time includes: determining the three-dimensional coordinates of the target object according to the flight time; separating the coordinate information of the ground where the mobile robot is located from the three-dimensional coordinates ; Determine the three-dimensional information of the target object based on the coordinate information of the ground.

Further, determining the obstacle type corresponding to the target object according to the three-dimensional information includes: obtaining a preset correspondence between three-dimensional information and obstacle types; determining the three-dimensional information of the target object from the correspondence Corresponding obstacle type.

Further, after determining the obstacle type corresponding to the target object according to the plurality of groups of first lasers and the plurality of groups of second lasers, the method further includes: determining an avoidance strategy corresponding to the obstacle type; The avoidance strategy controls the traveling route of the mobile robot, so as to control the mobile robot to successfully avoid the target object.

According to another aspect of the embodiments of the present disclosure, there is also provided a mobile robot, including: an area array depth sensor, arranged on the front side of the mobile robot, for using a laser panel to detect a target located in the direction of travel of the mobile robot The object emits multiple groups of first lasers, wherein the laser panel is arranged on the front side of the mobile robot, and the front side is used to indicate the frontmost position of the mobile robot during travel, and the multiple groups of first lasers Any two groups of first lasers have different light intensities; the processor is arranged in the mobile robot and is connected with the area array depth sensor, or the processor is located in the area array depth sensor for receiving multiple sets of second lasers sent by the laser panel; determining the obstacle type corresponding to the target object according to the multiple sets of first lasers and the multiple sets of second lasers, wherein the multiple sets of second lasers are the The multiple groups of first laser light are received by the laser panel after being reflected from the target object.

Further, the processor is also used to determine the first laser and the second laser with the same light intensity from the multiple groups of the first laser and the multiple groups of the second laser; wherein, the first laser carries There is encoded information, and decoding information is carried in the second laser.

According to yet another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute any of the above-mentioned The method of determining the target object.

According to still another aspect of the embodiments of the present disclosure, there is provided an electronic device, including a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to perform any of the above The determination method of the target object described in .

Through the present disclosure, during the moving process of the mobile robot, the laser panel controlling the area array depth sensor emits multiple groups of first lasers to the target object in the direction of the mobile robot's travel, and receives multiple groups of first lasers from the target object through the laser panel The reflected multiple sets of second lasers are used to determine the obstacle type corresponding to the target object according to the multiple sets of first lasers and multiple sets of second lasers. By adopting the above technical solution, the problem of low detection accuracy in the process of detecting objects in front of the sweeping robot in the traditional method is solved. Furthermore, by controlling the area array depth sensor to detect the object, the detection accuracy is improved.

Description of drawings

The drawings described here are used to provide a further understanding of the present disclosure, and constitute a part of the present disclosure. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute improper limitations to the present disclosure. In the attached picture:

FIG. 1 is a block diagram of the hardware structure of a computer terminal of a method for determining a target object according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of a method for determining a target object according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram (1) of detecting obstacles according to a method for determining a target object according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram (2) of detecting obstacles according to a method for determining a target object according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram (3) of detecting obstacles according to a method for determining a target object according to an embodiment of the present disclosure;

Fig. 6 is a structural block diagram of a mobile robot according to an embodiment of the present disclosure;

Fig. 7 is a structural block diagram of an apparatus for determining a target object according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

The method embodiments provided by the embodiments of the present disclosure may be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, FIG. 1 is a block diagram of a hardware structure of a computer terminal according to a method for determining a target object according to an embodiment of the present disclosure. As shown in Figure 1, the computer terminal can include one or more (only one is shown in Figure 1) processor 102 (processor 102 can include but not limited to microprocessor (Microprocessor Unit, MPU for short) or programmable logic Devices (Programmable logic device, PLD for short) and other processing devices and memory 104 for storing data, optionally, the above-mentioned computer terminal may also include transmission equipment 106 and input and output equipment 108 for communication functions. Common in the art Those skilled in the art can understand that the structure shown in Figure 1 is only illustrative, and it does not limit the structure of the above-mentioned computer terminal.For example, the computer terminal can also include more or less components than shown in Figure 1, or have the same Functionally equivalent to that shown in Figure 1 or a different configuration with more functionality than shown in Figure 1.

The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for determining the target object in the embodiment of the present disclosure, and the processor 102 runs the computer program stored in the memory 104, thereby Executing various functional applications and data processing is to realize the above-mentioned method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory that is remotely located relative to the processor 102, and these remote memories may be connected to a computer terminal through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via the network. The specific example of the above-mentioned network may include a wireless network provided by the communication provider of the computer terminal. In one example, the transmission device 106 includes a network interface controller (NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet. In an example, the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet in a wireless manner.

In this embodiment, a method for determining a target object operating on the above-mentioned target object is provided. FIG. 2 is a flowchart of a method for determining a target object according to an embodiment of the present disclosure. As shown in FIG. 2 , the process includes the following steps:

Step S202, controlling the laser panel of the area array depth sensor to emit multiple groups of first lasers to the target object located in the traveling direction of the mobile robot, wherein the laser panel is arranged on the front side of the mobile robot, and the front side is used for Any two sets of first lasers in the plurality of sets of first lasers have different light intensities to indicate that the mobile robot is at the forefront during the traveling process;

It should be noted that the area array depth sensor in the embodiment of the present application includes: an area array Time of Flight (TOF for short) sensor.

It should be noted that the dot matrix laser sensor can only measure one point at a time, and the line array laser sensor can only measure the values of all points on a line at a time, and the dot matrix or line array sensor needs to scan an object many times at different angles Obstacle information can only be determined by irradiating and combining scanning results from different angles, which is computationally intensive and inaccurate. However, the area array depth laser sensor in the embodiment of the present application can measure all points on a surface at one time, and the calculation amount is small and accurate.

Step S204, receiving multiple sets of second laser beams reflected from the target object by the multiple sets of first laser beams through the laser panel;

It can be understood that the laser panel of the area array depth sensor can realize the laser emitting function and the laser receiving function, mainly including: laser transmitter, laser receiver; in the process of moving the mobile robot, control the laser emission in the area array depth sensor The device emits multiple sets of lasers to the front area of the mobile robot. If there is a target object in the front area, after the multiple sets of lasers touch the target object, the multiple sets of laser light will be reflected by the target object to form multiple sets of reflected light. Multiple sets of reflected light are received by the laser receiver of the area array depth sensor. In order to better distinguish the laser emitted by the laser transmitter from the reflected light received by the laser receiver, the multiple groups of laser light emitted by the laser transmitter are defined as multiple groups of first laser light, and the multiple groups of reflected light received by the laser receiver are defined as It is a plurality of groups of second lasers.

Step S206, determining an obstacle type corresponding to the target object according to the multiple sets of first lasers and the multiple sets of second lasers.

Through the above steps, in the process of moving the mobile robot, the laser panel controlling the area array depth sensor emits multiple sets of first lasers to the target object in the direction of the mobile robot, and receives multiple sets of first lasers from the target object through the laser panel The reflected multiple sets of second lasers are used to determine the obstacle type corresponding to the target object according to the multiple sets of first lasers and multiple sets of second lasers. By adopting the above technical solution, the problem of low detection accuracy in the process of detecting objects in front of the sweeping robot in the traditional method is solved. Furthermore, by controlling the area array depth sensor to detect the object, the detection accuracy is improved.

In the embodiment of the present disclosure, the installation position of the laser panel of the area array depth sensor is preferably at the forefront of the mobile robot during travel, and it can also be installed at other positions of the mobile robot, for example, the laser panel is installed on the upper surface of the mobile robot , in order to be able to detect objects in front of the mobile robot.

It should be noted that determining the obstacle type corresponding to the target object according to the multiple sets of first lasers and the multiple sets of second lasers is achieved in the following manner: from the multiple sets of first lasers and the multiple sets of The first laser and the second laser with the same light intensity are determined in the second laser; wherein, the first laser carries coding information, and the second laser carries decoding information, according to the coding of the first laser information and the decoded information of the second laser to determine the obstacle type corresponding to the target object.

It should be noted that, in the embodiment of the present application, the area array depth sensor emits multiple sets of first laser light forward on one surface, for example, emits multiple sets of first laser light within 1 second, and the brightness (light intensity) of each set of laser light is different. Since the light intensity of the laser light does not change during the reflection process of the laser light, the first laser light and the second laser light with the same light intensity can be determined from multiple groups of first laser light and multiple sets of second laser light, and in the area array When the depth sensor emits the first laser, the first laser carries coded information. The coded information is pre-set for the area array depth sensor. The coded information contains parameter information. After the first laser is reflected by the target object, the coded information The parameter information inside the information will change. For a better understanding, the changed coded information is defined as the decoded information here, and then the obstacle of the target object can be determined according to the coded information of the first laser and the decoded information of the second laser. type. In an optional embodiment. It should be noted that the area array TOF depth sensor includes sensors using infrared receivers or infrared receivers + RGB receivers, which use technologies including direct measurement of time of flight and indirect measurement of time of flight.

In order to better understand the above-mentioned determination of the obstacle type corresponding to the target object based on the encoding information of the first laser and the decoding information of the second laser, in an optional embodiment, it can be achieved in the following manner: according to the first laser Determine the flight time of the first laser from the encoded information in the second laser and the decoding information in the second laser; determine the three-dimensional information of the target object according to the flight time, and determine the obstacle corresponding to the target object according to the three-dimensional information The object type, wherein the three-dimensional information includes at least one of the following: height information of the target object, length information of the target object, and width information of the target object.

That is to say, the area array depth sensor can determine the time-of-flight of the first laser according to the encoded information in the first laser and the decoded information in the second laser. Specifically, the area array depth sensor can determine the flight time of the first laser according to the parameter information in the decoded information and the parameter information in the encoded information, and determine the three-dimensional information of the target object according to the flight time of the first laser, and then according to the three-dimensional The information determines the obstacle type corresponding to the target object. By adopting the above technical solution, the area array depth sensor can quickly determine the flight time of the first laser, and determine the three-dimensional information of the target object according to the flight time of the first laser.

Further, the above-mentioned three-dimensional information of the target object is determined according to the flight time, optionally, the three-dimensional coordinates of the target object need to be determined according to the flight time; the coordinate information of the ground where the mobile robot is located is separated from the three-dimensional coordinates ; Determine the three-dimensional information of the target object based on the coordinate information of the ground.

That is to say, the space where the mobile robot is located can be regarded as a three-dimensional space coordinate system, and then the area array depth sensor can determine the three-dimensional coordinates of the target object in the space coordinate system according to the flight time of the first laser, such as the target object The three-dimensional coordinates of the target object are (X, Y, Z). After determining the three-dimensional coordinates of the target object, the area array depth sensor separates the coordinate information of the ground where the mobile robot is located from the three-dimensional coordinates of the target object, and uses the coordinate information of the ground as Datum, to determine the three-dimensional information of the target object. By adopting the above technical solution, the three-dimensional information of the target object can be determined more accurately.

In an optional embodiment, determining the obstacle type corresponding to the target object according to the three-dimensional information may be achieved in the following manner: obtaining a preset correspondence between three-dimensional information and obstacle types; Determine the obstacle type corresponding to the three-dimensional information of the target object.

It should be noted that each three-dimensional information can determine the type of an obstacle. Specifically, there can be a three-dimensional information-obstacle type table, which has different three-dimensional information corresponding to the obstacle type, array depth After the sensor acquires the three-dimensional information of the target object, it will obtain the three-dimensional information-obstacle type table, and determine the obstacle type corresponding to the three-dimensional information of the target object from the table. Specifically, according to different three-dimensional information, it can be determined The types of obstacles include: table and chair legs, walls and steps. By adopting the above technical solution, the area array depth sensor can quickly determine the obstacle type of the target object according to the three-dimensional information of the target object.

It can be understood that after the area array depth sensor determines the type of obstacle corresponding to the target object, it will select the corresponding avoidance strategy according to the type of obstacle. For chair legs, choose to bypass. Then, the route of the mobile robot is controlled according to the avoidance strategy, and the mobile robot is controlled to successfully avoid the target object. In this manner, the mobile robot can quickly avoid the target object, reducing the probability of the mobile robot getting stuck and the rolling brush of the mobile robot being entangled.

For a better understanding, the following is a specific description: the area array depth sensor emits multiple groups of lasers in one surface forward, for example, multiple groups of lasers are emitted within 1s, and the brightness (light intensity) of each group of lasers is different. Each brightness ( Light intensity) corresponds to a time point, so that multiple groups of lasers within 1s carry coded information, which can represent the flight time of the laser, and the laser reflected from the object has corresponding decoding information, for those with the same brightness ( Light intensity) of the laser, the time it takes for the laser to reflect back and forth can be calculated. Further, the distance from the light source to the object can be calculated according to the light flight time, and the three-dimensional information of the object can be obtained by combining the distances from each point of the object to the light source.

Apparently, the embodiments described above are only some of the embodiments of the present disclosure, not all of them. In order to better understand the method for determining the above-mentioned target object, the above-mentioned process will be described below in conjunction with the embodiments, but it is not used to limit the technical solutions of the embodiments of the present disclosure, specifically:

In an optional embodiment, a method for identifying obstacles using an area array TOF depth sensor is proposed. Specifically, the laser emitter of the area array depth sensor is installed facing forward, and the laser receiver of the area array depth sensor is installed on the laser The emitter is adjacent to the side, and the two form an area array TOF depth sensor. The active light emitted by the laser transmitter is received by the laser receiver after being reflected by the object. The area array TOF depth sensor calculates the time of flight of the emitted laser light, and obtains it into the field of view of the area array TOF depth sensor according to the time of flight and the calibration parameters of the laser receiver. The three-dimensional coordinates of the object. According to the three-dimensional point information (equivalent to the three-dimensional information in the above-mentioned embodiment), the ground information belonging to the plane where the sweeping robot (equivalent to the mobile robot in the above-mentioned embodiment) is first separated, based on this ground information, plus the three-dimensional point Width, length, height, classify objects within the perception range, and judge whether they are obstacles.

Fig. 3 is a schematic diagram (1) of detecting obstacles according to a method for determining a target object according to an embodiment of the present disclosure, and Fig. 4 is a schematic diagram (2) of detecting obstacles according to a method of determining a target object according to an embodiment of the present disclosure ), Figure 5 is a schematic diagram (3) of detecting obstacles according to a method for determining a target object according to an embodiment of the present disclosure. As shown in Figure 3-5, the cylinder is a device using an area array TOF sensor (equivalent to the above implementation The mobile robot in the example), the middle of the cylinder and the cuboid is the measurement perception range of TOF, and the cuboid is the obstacle in front of the device:

As shown in Figure 3, according to the width, length, and height attributes of the object perceived by the measurement, the object can be classified as a table and chair leg;

As shown in Figure 4, according to the width, length and height attributes of the object perceived by the measurement, the object can be classified as a wall;

As shown in Figure 5, according to the width, length, and height attributes of the measured object, the object can be classified into steps; according to different classifications, the device can adopt different obstacle avoidance or obstacle surmounting strategies.

It should be noted that the area array TOF depth sensor includes sensors using infrared receivers or infrared receivers + RGB receivers, which use technologies including direct measurement of time of flight and indirect measurement of time of flight.

In addition, the above-mentioned technical solutions of the embodiments of the present disclosure can identify various obstacles by using the area array TOF depth sensor to identify obstacles. When the mobile robot recognizes obstacles such as power lines, it can prevent entanglement and collision. When the table and chair legs are identified, a closer distance can be used to avoid the table and chair legs while ensuring passability. When objects that can be crossed such as upper steps, carpets, and sliding door slide rails within the obstacle-crossing capability are identified, it is prevented from missing scanning.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as a read-only memory (Read-Only Memory, abbreviated as ROM), random access memory (Random Access Memory, abbreviated as RAM), magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, or network device) etc.) to implement the methods described in the various embodiments of the present application.

The present disclosure also provides a mobile robot. FIG. 6 is a structural block diagram of a mobile robot according to an embodiment of the present disclosure, including:

The area array depth sensor 62 is arranged on the front side of the mobile robot, and is used to use a laser panel to emit multiple groups of first lasers to target objects located in the direction of travel of the mobile robot, wherein the laser panel is arranged on the mobile robot. The front side of the robot, the front side is used to indicate the frontmost part of the mobile robot during travel, and any two groups of first lasers in the multiple groups of first lasers have different light intensities;

The processor 64 is arranged in the mobile robot and connected to the area array depth sensor, or the processor is located in the area array depth sensor, and is used to receive multiple groups of second laser light sent by the laser panel; Determine the obstacle type corresponding to the target object according to the multiple sets of first lasers and the multiple sets of second lasers, wherein the multiple sets of second lasers are the multiple sets of first lasers from the target object After reflection back, the laser panel receives it.

Through the present disclosure, during the moving process of the mobile robot, the control area array depth sensor 62 uses the laser panel to emit multiple sets of first lasers to the target objects in the direction of the mobile robot, and then the processor 64 receives multiple sets of second laser beams sent by the laser panel. The laser is used to determine the obstacle type corresponding to the target object according to multiple sets of first lasers and multiple sets of second lasers. By adopting the above technical solution, the problem of low detection accuracy in the process of detecting objects in front of the sweeping robot in the traditional method is solved. Furthermore, by controlling the area array depth sensor to detect the object, the detection accuracy is improved.

It should be noted that the processor 64 is also used to determine the first laser light and the second laser light with the same light intensity from the multiple sets of first laser light and the multiple sets of second laser light; The second laser carries encoding information, and the second laser carries decoding information, and the obstacle type corresponding to the target object is determined according to the encoding information of the first laser and the decoding information of the second laser.

In an optional embodiment, the processor 64 is further configured to determine the time-of-flight of the first laser according to the encoded information in the first laser and the decoded information in the second laser; according to the time-of-flight determining the three-dimensional information of the target object, and determining the obstacle type corresponding to the target object according to the three-dimensional information, wherein the three-dimensional information includes at least one of the following: height information of the target object, length information of the target object, Width information of the target object.

Further, the processor 64 is also used to determine the three-dimensional coordinates of the target object according to the time-of-flight; separate the coordinate information of the ground where the mobile robot is located from the three-dimensional coordinates; take the coordinate information of the ground as a reference , to determine the three-dimensional information of the target object.

In an optional embodiment, the processor 64 is further configured to acquire a preset correspondence between three-dimensional information and obstacle types; and determine an obstacle type corresponding to the three-dimensional information of the target object from the correspondence.

Further, the processor 64 is also configured to determine an avoidance strategy corresponding to the obstacle type; and control the traveling route of the mobile robot according to the avoidance strategy, so as to control the mobile robot to successfully avoid the target object.

In this embodiment, a detection device for a target object is also provided, and the detection device for a target object is used to realize the above-mentioned embodiments and preferred implementation modes, and what has already been described will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

Fig. 7 is a structural block diagram of a device for determining a target object according to an embodiment of the present disclosure, as shown in Fig. 7 :

The sending module 72 is used to control the laser panel of the area array depth sensor to emit multiple groups of first lasers to the target object located in the direction of travel of the mobile robot, wherein the laser panel is arranged on the front side of the mobile robot, and the The front side is used to indicate the frontmost part of the mobile robot during travel, and any two groups of first lasers in the plurality of groups of first lasers have different light intensities;

The receiving module 74 is configured to receive multiple sets of second laser light reflected from the target object by the multiple sets of first laser beams through the laser panel;

The determination module 76 is configured to determine the obstacle type corresponding to the target object according to the multiple sets of first laser light and the multiple sets of second laser light.

Through the above modules, in the process of moving the mobile robot, the laser panel controlling the area array depth sensor emits multiple sets of first lasers to the target object in the direction of the mobile robot, and receives multiple sets of first lasers from the target object through the laser panel The reflected multiple sets of second lasers are used to determine the obstacle type corresponding to the target object according to the multiple sets of first lasers and multiple sets of second lasers. By adopting the above technical solution, the problem of low detection accuracy in the process of detecting objects in front of the sweeping robot in the traditional method is solved. Furthermore, by controlling the area array depth sensor to detect the object, the detection accuracy is improved.

It should be noted that the above-mentioned modules can be realized by software or hardware. For the latter, it can be realized by the following methods, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules can be combined in any combination The forms of are located in different processors.

Embodiments of the present disclosure also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps in any one of the above method embodiments when running.

Optionally, in this embodiment, the above-mentioned storage medium may be configured to store a computer program for performing the following steps:

S1, controlling the laser panel of the area array depth sensor to emit multiple groups of first lasers to the target object located in the direction of travel of the mobile robot, wherein the laser panel is arranged on the front side of the mobile robot, and the front side is used for Indicating that the mobile robot is at the forefront during the traveling process, and any two groups of first lasers in the plurality of groups of first lasers have different light intensities;

S2, receiving multiple sets of second laser light reflected from the target object by the multiple sets of first laser light through the laser panel;

S3. Determine an obstacle type corresponding to the target object according to the multiple sets of first laser light and the multiple sets of second laser light.

Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: various media capable of storing computer programs such as USB flash drive, read-only memory ROM, random access memory RAM, mobile hard disk, magnetic disk or optical disk.

Embodiments of the present disclosure also provide an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

Optionally, the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.

Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details are not repeated in this embodiment.

Embodiments of the present disclosure also provide a robot, including a main body, a motion component, and a controller, where the controller is configured to execute the steps in any one of the above method embodiments.

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned disclosure can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network composed of multiple computing devices Alternatively, they may be implemented in program code executable by a computing device so that they may be stored in a storage device to be executed by a computing device, and in some cases in an order different from that shown here The steps shown or described are carried out, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps among them are fabricated into a single integrated circuit module for implementation. As such, the present disclosure is not limited to any specific combination of hardware and software.

The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

A method for determining a target object, comprising:

The laser panel controlling the area array depth sensor emits multiple groups of first lasers to the target object located in the traveling direction of the mobile robot, wherein the laser panel is arranged on the front side of the mobile robot, and the front side is used to indicate the At the forefront of the mobile robot during its travel, any two groups of first lasers in the plurality of groups of first lasers have different light intensities;

receiving multiple sets of second laser light reflected from the target object by the multiple sets of first laser beams through the laser panel;

The obstacle type corresponding to the target object is determined according to the multiple sets of first lasers and the multiple sets of second lasers.
The method for determining a target object according to claim 1, wherein determining the obstacle type corresponding to the target object according to the plurality of groups of first lasers and the plurality of groups of second lasers includes:

Determining a first laser and a second laser with the same light intensity from the multiple groups of the first laser and the multiple groups of the second laser; wherein, the first laser carries coded information, and the second laser contains coded information carry decoding information;

The obstacle type corresponding to the target object is determined according to the encoding information of the first laser and the decoding information of the second laser.
The method for determining a target object according to claim 2, wherein determining the obstacle type corresponding to the target object according to the encoding information of the first laser and the decoding information of the second laser comprises:

determining a time-of-flight of the first laser based on encoded information in the first laser and decoded information in the second laser;

Determine the three-dimensional information of the target object according to the flight time, and determine the obstacle type corresponding to the target object according to the three-dimensional information, wherein the three-dimensional information includes at least one of the following: height information of the target object, the The length information of the target object and the width information of the target object.
The method for determining a target object according to claim 3, wherein determining the three-dimensional information of the target object according to the time-of-flight comprises:

determining the three-dimensional coordinates of the target object according to the time-of-flight;

separating the coordinate information of the ground where the mobile robot is located from the three-dimensional coordinates;

The three-dimensional information of the target object is determined based on the coordinate information of the ground.
The method for determining a target object according to claim 3, wherein determining the obstacle type corresponding to the target object according to the three-dimensional information includes:

Obtain the correspondence between preset three-dimensional information and obstacle types;

The obstacle type corresponding to the three-dimensional information of the target object is determined from the corresponding relationship.
The method for determining a target object according to claim 1, wherein, after determining the obstacle type corresponding to the target object according to the plurality of groups of first lasers and the plurality of groups of second lasers, the method further comprises:

determining an avoidance strategy corresponding to the obstacle type;

The traveling route of the mobile robot is controlled according to the avoidance strategy, so as to control the mobile robot to successfully avoid the target object.
A mobile robot, including:

The area array depth sensor is arranged on the front side of the mobile robot, and is used to use a laser panel to emit multiple groups of first lasers to target objects located in the direction of travel of the mobile robot, wherein the laser panel is arranged on the mobile robot The front side of the front side is used to indicate the frontmost part of the mobile robot during travel, and any two groups of first lasers in the plurality of groups of first lasers have different light intensities;

The processor is arranged in the mobile robot and is connected to the area array depth sensor, or the processor is located in the area array depth sensor, and is used to receive multiple groups of second laser light sent by the laser panel; according to The multiple sets of first lasers and the multiple sets of second lasers determine the type of obstacle corresponding to the target object, wherein the multiple sets of second lasers are the multiple sets of first lasers reflected from the target object Back after the laser panel is received.
The mobile robot according to claim 7, wherein the processor is further configured to determine the first laser light and the second laser light having the same light intensity from the multiple sets of first laser light and the multiple sets of second laser light; Wherein, the first laser light carries coding information, and the second laser light carries decoding information.
A computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 6 when running.
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 method described in any one of claims 1 to 6 through the computer program .