WO2023078323A1 - 自移动设备、自移动设备的障碍物检测方法及存储介质 - Google Patents

自移动设备、自移动设备的障碍物检测方法及存储介质 Download PDF

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Publication number
WO2023078323A1
WO2023078323A1 PCT/CN2022/129440 CN2022129440W WO2023078323A1 WO 2023078323 A1 WO2023078323 A1 WO 2023078323A1 CN 2022129440 W CN2022129440 W CN 2022129440W WO 2023078323 A1 WO2023078323 A1 WO 2023078323A1
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WIPO (PCT)
Prior art keywords
obstacle
self
mobile device
ground
line laser
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PCT/CN2022/129440
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English (en)
French (fr)
Inventor
杨咚浩
周影
许灿
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追觅创新科技(苏州)有限公司
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Publication of WO2023078323A1 publication Critical patent/WO2023078323A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the application belongs to the technical field of automatic control, and in particular relates to a self-moving device, an obstacle detection method of the self-moving device, and a storage medium.
  • the obstacle avoidance method of self-mobile equipment includes: detecting whether there is an obstacle ahead in the direction of travel through a sensor, and if so, changing the direction of travel until there is no obstacle in front of the direction of travel and continuing to travel.
  • the self-mobile device cannot work on the ground area corresponding to the obstacle, resulting in a problem of poor working effect.
  • This application provides a self-moving device, an obstacle detection method of a self-moving device and a storage medium, which can solve the problem that the traditional self-moving device cannot judge whether the bottom surface of an obstacle with a relatively high distance between the bottom surface and the ground is passable. Mobile equipment cannot work under the bottom of passable obstacles, resulting in poor working results.
  • This application provides the following technical solutions:
  • a self-mobile device in a first aspect, includes:
  • the height data is used to indicate the position and height of the obstacle relative to the ground
  • the determining whether the obstacle is passable based on the height data includes:
  • the height data indicates that the obstacle is located above the ground and its height relative to the ground is greater than a first preset threshold, determining that the obstacle is passable
  • the height data indicates that the obstacle is located below the ground and its height relative to the ground is less than a second preset threshold, it is determined that the obstacle is passable.
  • the determining that the obstacle is passable includes:
  • the method further includes:
  • the obstacle is impassable.
  • the method further includes:
  • the method further includes:
  • the self-mobile device is controlled to change the traveling direction after moving a preset distance to the obstacle, so as to avoid the obstacle.
  • the method before determining the height data of the obstacle relative to the ground based on the sensing signal, the method further includes:
  • the installation position of the line laser sensor is located on the front side of the self-moving device; the judging whether there is the obstacle in the direction of travel includes:
  • the line laser emitted by the line laser sensor it is determined whether the change of the sensing signal obtained after sensing the line laser satisfies the preset condition, and the preset condition is based on the scanning of the line laser by the line laser sensor. It is determined by the sensing signal obtained when there is an obstacle;
  • the determining the height data of the obstacle relative to the ground based on the sensing signal includes:
  • the sensing signal obtained after the obstacle reflects the line laser determine the distance and relative position between the sudden change signal corresponding to the ground and the sudden change signal corresponding to the obstacle in the sensing signal;
  • the method further includes:
  • the obstacle In the case that the obstacle is passable, mark the location of the obstacle as a passable area on the working map of the self-mobile device, so that the self-mobile device can carry out the operation at the position where the obstacle is located. Work.
  • an obstacle detection method of a self-mobile device which is used in the self-mobile device provided in the first aspect, and the method includes:
  • a computer-readable storage medium where a program is stored in the storage medium, and when the program is executed by a processor, the program is used to implement the obstacle detection method for a mobile device provided in the second aspect.
  • the beneficial effects of the present application at least include: self-moving equipment, including: a housing; a line laser sensor located on the side of the housing, the line laser sent by the line laser sensor is at a preset angle with the horizontal plane; a controller connected to the line laser sensor, It is used to: obtain the sensing signal collected by the line laser sensor during the movement of the self-mobile device; when there is an obstacle in the direction of travel of the self-mobile device, determine the height data of the obstacle relative to the ground based on the sensing signal ;Based on the height data to determine whether the obstacle is passable; it can solve the problem that the self-mobile device directly bypasses the obstacle, which will cause the self-mobile device to be unable to work on the ground area corresponding to the passable obstacle, resulting in poor working results; Since it is judged whether the obstacle is passable based on the height data of the obstacle relative to the ground, it can be ensured that when the height data of the obstacle relative to the ground meets the conditions, the self-mobile device is controlled to enter the ground area
  • the accuracy of the line laser sensor is higher than other sensors, the accuracy of the height data of the obstacle relative to the ground determined by the sensing signal collected by the line laser sensor from the mobile device is high, so it can improve the ability to judge whether the obstacle is passable. Accuracy, further improving the work effect from mobile devices.
  • the line laser emitted by the line laser sensor is at a preset angle to the horizontal plane, it can ensure that the line laser sensor scans different positions of obstacles located on the side of the mobile device, ensuring comprehensive obstacle information.
  • the line laser sensor can detect that the sensing range is larger than that of the point laser sensor, it can solve the current problem of using point laser sensors to judge height changes. , so that the sensor cannot detect obstacles below the ground very well, resulting in the problem of falling from the mobile device. Since the line laser sensor can detect height changes in an area, it can improve the detection of obstacles located below the ground. Detection accuracy to prevent falls from mobile devices.
  • the signal emission range of the line laser sensor includes above, in front of and below the mobile device, it can ensure that the line laser sensor scans different positions of obstacles located on the side of the mobile device, ensuring the comprehensiveness of obstacle information.
  • the obstacle is determined to be passable when the height data indicates that the obstacle is located above the ground and its height relative to the ground is greater than the first preset threshold, it can solve the problem that the traditional self-mobile device detects that there is an obstacle in the direction of travel. Directly change the direction of travel in the case of an object, resulting in the self-mobile device being unable to work under obstacles that are located above the ground and are relatively high relative to the ground, and the work efficiency is low.
  • the height of the obstacle determines whether the obstacle is passable, which can ensure that the self-mobile device is controlled to enter the ground area corresponding to the obstacle to work when the obstacle is passable, so the working effect of the self-mobile device can be improved.
  • the obstacle is determined to be passable when the height data indicates that the obstacle is located below the ground and the height relative to the ground is less than the second preset threshold, it can solve the problem that the traditional self-mobile device detects that there is an obstacle in the direction of travel. Directly change the direction of travel in the case of an object, resulting in the self-mobile device being unable to work above the obstacle that is located below the ground and relatively low in height relative to the ground, and the work efficiency is low.
  • the height of the obstacle determines whether the obstacle is passable, which can ensure that the self-mobile device is controlled to enter the ground area corresponding to the obstacle to work when the obstacle is passable, so the working effect of the self-mobile device can be improved.
  • the obstacle is above the ground and the height relative to the ground is greater than the first preset threshold, it is further confirmed whether there are other obstacles below the obstacle. If there are other obstacles below the obstacle, continue to Judging whether the obstacle is passable can solve the judgment caused by judging whether the obstacle is passable only based on the height of the obstacle relative to the ground, because other obstacles under the obstacle may affect the self-mobile device to pass under the obstacle Inaccurate, which in turn leads to the problem of low work efficiency of self-moving equipment; since there are other obstacles under the obstacle, the information of other obstacles can be used to comprehensively judge whether the obstacle is passable, so the accuracy of the judgment can be improved, and the Productivity from mobile devices.
  • the obstacle Impassable when the obstacle is above the ground and there are other obstacles below the obstacle, if the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold, the obstacle Impassable, it can be solved that when the height of the obstacle relative to the ground is greater than the first preset threshold, but the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold, the obstacle will be determined The problem of inaccurate judgment caused by passability; when the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold, it is determined that the obstacle is impassable, so the accuracy of judgment can be improved. Improve productivity from mobile devices.
  • the obstacle Objects are impassable, which can solve the problem of inaccurate judgment caused by determining obstacles as passable when other obstacles are insurmountable. Since obstacles are determined to be impassable when other obstacles are insurmountable, so The accuracy of judgment can be improved, and the work efficiency of mobile devices can be improved.
  • controlling the self-mobile device to move a preset distance to the obstacle and then changing the direction of travel can make the self-mobile device enter the edge of the obstacle to work, further improving the work efficiency of the self-mobile device.
  • the line laser sensor can be installed on the left and/or right side of the casing, the line laser sensor can continuously collect sensing signals from at least one side of the mobile device during the process of moving the mobile device, which can solve the problem of traditional Since the self-moving device cannot detect obstacles on both sides of the direction of travel, the efficiency of the self-moving device to detect obstacles is low; since the self-moving device moves along the direction of travel, the line laser sensor can collect at least one side of the direction of travel The sensing signal is used for the controller to determine whether the obstacle is passable according to the sensing signal, so the collection efficiency can be improved.
  • the obstacle detection sensor since the obstacle detection sensor is used to detect obstacles in the direction of travel of the mobile device, it can solve the problem of being unable to determine the obstacles in the direction of travel of the mobile device when the online laser sensor is located on the left and/or right side of the mobile device. causes the problem that the self-mobile device cannot detect obstacles in the direction of travel during the travel process. Since the obstacle detection sensor can detect obstacles in the direction of travel of the self-mobile device, and when the obstacle detection sensor detects an obstacle, the controller Control the self-mobile device to approach obstacles to determine whether the obstacle is passable, so it can solve the problem that the self-mobile device cannot detect obstacles in the direction of travel when the online laser sensor is located on the left and/or right side of the self-mobile device. problem, can improve the work effect from mobile devices.
  • FIG. 1 is a schematic structural diagram of a mobile device provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a working scene of a self-mobile device provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a working scene of a self-mobile device provided by an embodiment of the present application
  • Fig. 4 is a schematic diagram of an obstacle detection method provided by a mobile device according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of an obstacle detection method provided by a mobile device according to an embodiment of the present application.
  • Fig. 6 is a block diagram of an obstacle detection device of a mobile device provided by an embodiment of the present application.
  • Fig. 7 is a block diagram of an electronic device provided by an embodiment of the present application.
  • orientation words used such as “upper, lower, top, bottom” are generally used for the directions shown in the drawings, or for the parts themselves in the vertical, vertical Or in the direction of gravity; similarly, for the convenience of understanding and description, “inner and outer” refer to the inner and outer relative to the outline of each component itself, but the above orientation words are not used to limit the present application.
  • Line laser sensor It is a sensor that includes a laser generating component, a cylindrical objective lens, and a photosensitive component; when in use, the line laser sensor uses a cylindrical objective lens to expand the laser beam generated by the laser generating component into a strip, and the laser beam is generated on the target object. Diffuse reflection, the reflected light is imaged on the photosensitive component, and the position and shape of the target can be measured by checking the position and shape of the image.
  • Microcontroller Unit also known as Single Chip Microcomputer (Single Chip Microcomputer) or single-chip microcomputer, is to appropriately reduce the frequency and specifications of the Central Processing Unit (Central Process Unit, CPU), and to reduce the memory (memory) , Counter (Timer), USB, and other peripheral interfaces are integrated on a single chip to form a chip-level computer.
  • CPU Central Processing Unit
  • memory memory
  • Counter Timer
  • USB Universal Serial Bus
  • Fig. 1 is a schematic structural diagram of an autonomous mobile device provided by an embodiment of the present application.
  • self-moving equipment includes but is not limited to: equipment with automatic movement functions such as sweeping machines, floor washing machines, and integrated sweeping and dragging machines. This embodiment does not limit the type of self-moving equipment. It can be known from FIG. 1 that the self-moving device at least includes a housing 110, a line laser sensor 120 and a controller (not shown in the figure).
  • the casing 110 is the casing of the mobile device.
  • the shape of the casing 110 can be a regular geometric body, such as a circle, a square, or other shapes according to the actual application scene. This embodiment does not limit the shape of the casing 110. Make a limit.
  • the casing 110 mainly plays a role of protection and support.
  • the casing 110 can be integrally formed, or can be a detachable structure, and this embodiment does not limit the implementation of the casing 110 .
  • the structure of the housing 110 is generally flat, such as a disc shape, and the shape of the housing 110 is not limited in this embodiment.
  • the line laser sensor 120 is located on the side of the casing 110 and is used for emitting line laser and collecting sensing signals.
  • the line laser sensor 120 may be a single-line laser radar, or may also be a multi-line laser radar, and this embodiment does not limit the type of the line laser sensor 120.
  • the line laser emitted by the line laser sensor 120 forms a preset angle with the horizontal plane, and the preset angle is not equal to zero.
  • the line laser is not parallel to the horizontal plane, so that only one line of the obstacle will not be scanned, so that the obstacle can be scanned more comprehensively.
  • the line laser is perpendicular to the horizontal plane, that is, the preset angle is 90 degrees.
  • the line laser emission range of the line laser sensor 120 includes above, in front of and/or below the mobile device.
  • the emission range of the line laser includes above, in front of and below the mobile device.
  • the line laser sensor 120 may be located at the front side, the rear side, the left side and/or the right side of the casing 110 , and this embodiment does not limit the specific installation position of the line laser sensor 120 .
  • the left side of the housing 110 refers to the left side of the traveling direction of the mobile device
  • the right side of the housing 110 refers to the right side of the traveling direction of the mobile device.
  • the installation position of the line laser sensor 120 is located at the front side of the mobile device, and is used to detect obstacles in the direction of travel, which can ensure that the mobile device can find obstacles in the direction of travel in time during the moving process.
  • the line laser sensor 120 is located at the front side of the housing 110 .
  • the installation position of the line laser sensor 120 is located on the left side and/or the right side of the housing 110 . In this way, it is possible to detect obstacles on at least one side of the traveling direction, thereby improving the detection efficiency of obstacles.
  • the line laser emitted by the line laser sensor 120 is at a preset angle to the horizontal plane, it can be ensured that the line laser sensor 120 scans different positions of obstacles located on the side of the self-mobile device during the movement of the self-mobile device to ensure that the obstacle Comprehensiveness of information.
  • the left side of the housing 110 includes the right left side, the left front side and/or the left rear side of the housing 110; the right side of the housing 110 includes the right side, the right front side and/or the right rear side of the housing 110 side.
  • line laser sensors 120 In order to enable the self-mobile device to scan obstacles on the traveling direction and on the right side of the traveling direction at the same time, there are two line laser sensors 120, one of which is located on the right side of the housing 110, and is used to emit a line laser to the right of the self-moving device and collect the self-moving device.
  • the sensing signal on the right side of the mobile device, and the other is located at the front side of the housing 110 for emitting a line laser to the front side of the mobile device to collect the sensing signal from the front side of the mobile device.
  • the controller is connected to the line laser sensor 120 .
  • the controller may be a micro-control unit installed inside the mobile device, or any component with a control function, and this embodiment does not limit the type of the controller.
  • the controller is used to obtain the sensing signal collected by the line laser sensor 120 during the movement of the self-mobile device; Height data between ground and ground; determine whether obstacles are passable based on the height data.
  • height data is used to indicate the position and height of obstacles relative to the ground.
  • the obstacle may be located above the ground, or may also be located below the ground, and this implementation does not limit the position of the obstacle relative to the ground.
  • the height of the obstacle relative to the ground is the height difference between the bottom surface of the obstacle and the ground; when the obstacle is below the ground, the height of the obstacle relative to the ground The height of the ground is the height difference between the top of the obstacle and the ground.
  • the obstacles on the ground may be obstacles such as tables, chairs, and coffee tables, and this embodiment does not limit the types of obstacles on the ground.
  • the table is an obstacle located above the ground, and there is a certain distance between the bottom surface of the table and the ground.
  • the obstacles under the ground may be obstacles such as descending stairs, ditches, ground depressions, cliffs, etc. This embodiment does not limit the types of obstacles under the ground.
  • the cliff is an obstacle located below the ground, and there is a certain distance between the top of the cliff and the ground.
  • the method before determining the height data of the obstacle relative to the ground based on the sensing signal, the method further includes: judging whether there is an obstacle in the traveling direction.
  • judging whether there is an obstacle in the traveling direction is divided into the following two cases.
  • the controller judges whether there is an obstacle in the traveling direction based on the sensing signal of the line laser sensor 120 .
  • the line laser sensor 120 is installed on the front side of the mobile device.
  • the controller controls the laser sensor 120 to remain in the activated state after the mobile device is turned on.
  • the controller can judge different types of obstacles through the sensing signal.
  • judging whether there is an obstacle in the direction of travel includes: for the line laser emitted by the line laser sensor 120 at the same time, determining whether the change of the sensing signal obtained after sensing the line laser satisfies a preset condition, the preset The condition is determined according to the sensing signal obtained when the line laser sensor 120 scans the obstacle; in the case that the change meets the preset condition, it is determined that there is an obstacle in the direction of travel; in the case that the change does not meet the preset condition , make sure there are no obstacles in the direction of travel.
  • the preset condition is: the variation of the sensing signal matches the variation of the sensing signal obtained when the line laser sensor 120 scans the obstacle.
  • the acquisition methods include but are not limited to the following methods :
  • Mode 1 Control the line laser sensor 120 to scan different types of obstacles, and obtain the change of the sensing signal when scanning the obstacles.
  • different types of obstacles include obstacles located above the ground and obstacles located below the ground.
  • Method 2 Simulate the scene in which the line laser sensor 120 scans different types of obstacles in the computer, and obtain the change of the sensing signal when scanning the obstacles.
  • the housing 110 is further provided with an obstacle detection sensor 130 , and the obstacle detection sensor 130 is connected to the controller; the controller judges whether there is an obstacle in the traveling direction based on the detection signal of the obstacle detection sensor 130 .
  • the obstacle detection sensor 130 may be an infrared sensor, or may also be a camera, or may also be an ultrasonic sensor, and this embodiment does not limit the type of the obstacle detection sensor 130 .
  • the controller is also used to:
  • the obstacle detection sensor 130 detects that there is an obstacle in the direction of travel, it controls the self-mobile device to rotate the preset rotation angle in the opposite direction to the direction in which the line laser sensor 120 is installed, so that the obstacle is within the sensing range of the line laser sensor 120 Inside.
  • the line laser sensor 120 is installed on the right front side of the self-moving device, and the angle between the line between the installation position and the centroid of the device and the direction of travel is 45 degrees, and the rotation method of the self-moving device is: counterclockwise rotation 45 degree.
  • the controller directly controls the online laser sensor 120 to collect sensing signals.
  • the controller can also control the self-mobile device to move a preset travel distance toward the obstacle (that is, continue to move by a preset distance along the direction of travel). travel distance), the preset travel distance is less than the distance between the self-mobile device and the obstacle, so as to approach the obstacle, so that the obstacle is within the sensing range of the line laser sensor 120 .
  • the controller controls the laser sensor 120 to keep on continuously after the mobile device is turned on.
  • the controller controls the line laser sensor 120 to activate when the obstacle sensor 130 detects that there is an obstacle in the traveling direction.
  • the preset travel distance is a fixed value or dynamically determined.
  • the controller is also used to: obtain the distance between the self-mobile device and the obstacle; based on the distance between the self-mobile device and the obstacle and the optimal acquisition by the line laser sensor Distance determines the preset travel distance.
  • obtaining the distance between the mobile device and the obstacle includes: calculating the distance between the mobile device and the obstacle based on the signal strength of the sensing signal received by the obstacle sensor 130.
  • determining the preset travel distance based on the distance between the self-mobile device and the obstacle and the optimal collection distance of the line laser sensor 120 includes: combining the distance between the self-mobile device and the obstacle with the line laser sensor 120 The difference between the optimal acquisition distances is determined as the preset travel distance.
  • the distance between the mobile device and the obstacle is 10 meters
  • the optimal collection distance of the line laser sensor 120 is 1 meter
  • the preset traveling distance is 9 meters.
  • the obstacle detection accuracy of the obstacle detection sensor 130 is lower than that of the line laser sensor 120 . Since the amount of data of the low-precision sensing signal is small, when the low-precision sensing signal is used for obstacle detection, the calculation resources consumed are relatively low, and therefore, the calculation resources when detecting obstacles from the mobile device can be saved.
  • the detection distance of the obstacle detection sensor 130 is greater than the detection distance of the line laser sensor 120, which can ensure that obstacles can be detected in a larger range, so that the mobile device can find and approach the obstacle in time, To determine whether the obstacle is passable.
  • the preset rotation angle is determined according to the installation position of the line laser sensor 120 .
  • determining the height data of the obstacle relative to the ground based on the sensing signal includes: for the sensing signal obtained after the obstacle is reflected from the line laser, determining the sudden change signal corresponding to the ground and the sudden change corresponding to the obstacle in the sensing signal The distance and relative position between the signals; determine the height data of the obstacle relative to the ground based on the distance, relative position and preset angle.
  • the abrupt change signal is used to indicate the position where the height changes within the sensing range of the line laser sensor 120 .
  • the height data indicates that the obstacle is located above the ground. At this time, if the height data indicates that the height of the obstacle relative to the ground is greater than the first preset threshold, it is determined that the obstacle is passable; if the height data indicates that the height of the obstacle is less than or equal to the first preset threshold, it is determined that the obstacle is impassable.
  • the first preset threshold is determined according to the height of the housing 110 of the mobile device and the height of the sensor installed above the housing 110 .
  • the obstacle is passable, including: determining whether there are other obstacles below the obstacle; there are other obstacles below the obstacle. In the case of , if the difference between the height of the obstacle relative to the ground and the height of other obstacles is greater than the first preset threshold, it is determined that the obstacle is passable; or, if there are no other obstacles below the obstacle , it is determined that the obstacle is passable.
  • the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than or equal to the first preset threshold, it is determined that the obstacle is impassable.
  • other obstacles refer to obstacles whose bottom surfaces are in contact with the ground.
  • other obstacles are obstacles such as boxes placed on the ground, trash cans, and/or thresholds, and this embodiment does not limit the types of other obstacles.
  • determining whether there are other obstacles below the obstacle includes: for the line laser emitted by the line laser sensor 120 at the same time, determining whether the change of the sensing signal obtained after sensing the line laser satisfies the second preset condition , the second preset condition is determined according to the sensing signal obtained when the line laser sensor 120 scans other obstacles; when the changing situation satisfies other preset conditions, it is determined that there are other obstacles in the sensing range; If the situation does not meet the second preset condition, it is determined that there are no other obstacles within the sensing range.
  • the mutation signal in the sensing signal can reflect the change of height, when there are other obstacles under the obstacle, there are at least three mutation signals in the sensing signal, that is, the mutation signal caused by the ground, the mutation signal caused by the obstacle
  • the mutation signal caused by the mutation signal and other obstacles so, in another example, determining whether there are other obstacles below the obstacle includes: for the line laser emitted by the line laser sensor 120 at the same time, determining the mutation signal in the sensing signal The number of mutation signals; if the number of mutation signals is greater than two, there are other obstacles below the obstacle.
  • the obstacle heights of other obstacles are determined based on the sensing signals.
  • determining the obstacle height of other obstacles based on the sensing signal includes: for the sensing signal obtained after reflecting the line laser on other obstacles, determining the sudden change signal corresponding to the ground in the sensing signal and the corresponding height of other obstacles The distance and relative position between the sudden change signals; the obstacle height of other obstacles is determined based on the distance, relative position and preset angle between the sudden change signal corresponding to the ground and the sudden change signal corresponding to other obstacles.
  • the obstacle is passable , including: determining whether other obstacles are surmountable; if other obstacles are surmountable, determine that the obstacle is passable; and if other obstacles are insurmountable, then determine that the obstacle is impassable.
  • determining whether other obstacles are surmountable based on the obstacle heights of other obstacles includes: determining that other obstacles are surmountable when the obstacle heights of other obstacles are greater than a preset surmountable height; When the height of the obstacle is less than or equal to the preset overriding height, it is determined that other obstacles are insurmountable.
  • the preset surmountable height is the maximum height of other obstacles that can be safely surmounted by the mobile device, and the preset surmountable height is determined according to the height from the bottom of the mobile device casing 110 to the ground.
  • the height data indicates that the obstacle is located below the ground. At this time, when the height data indicates that the height of the obstacle relative to the ground is less than the second preset threshold, it is determined that the obstacle is passable; If the height of the object relative to the ground is greater than or equal to the second preset threshold, it is determined that the obstacle is impassable.
  • the second preset threshold is the maximum height at which the self-mobile device can safely pass through an obstacle under the ground, and the second preset threshold is determined according to the height from the bottom of the mobile device casing 110 to the ground.
  • the obstacle after determining whether the obstacle is passable based on the height data, it also includes: if the obstacle is passable, marking the location of the obstacle as a passable area on the working map of the self-moving device for self-moving The device works at the position where the obstacle is; when the obstacle is impassable, mark the position of the obstacle as an impassable area on the working map of the self-mobile device, so as to prohibit the self-mobile device from entering the position of the obstacle to work.
  • the self-mobile device after determining whether the obstacle is passable based on the height data, it also includes: in the case of the obstacle being impassable, controlling the self-mobile device to change the traveling direction after moving a preset distance to the obstacle, so as to avoid the obstacle; When the obstacle is passable, the self-mobile device continues to move along the direction of travel to enter the ground area corresponding to the obstacle to work.
  • the preset distance is smaller than the distance between the mobile device and the obstacle.
  • the self-mobile device Since, in the case of an impassable obstacle, the self-mobile device is controlled to move to the obstacle for a preset distance to change the traveling direction, so that the self-mobile device can enter the edge of the obstacle to work, further improving the work efficiency of the self-mobile device.
  • determining whether the obstacle is passable based on the height data it also includes: determining whether the work on the work area is completed; if the work is not completed, performing the process again when there is an obstacle in the direction of travel of the mobile device , a step of determining the height data of the obstacle relative to the ground based on the sensing signal. With the work done, stop moving from the mobile device.
  • the self-moving device includes: a housing; a line laser sensor located on the side of the housing, the line laser sent by the line laser sensor is at a preset angle with the horizontal plane; a control device connected to the line laser sensor The device is used to: acquire the sensing signal collected by the line laser sensor during the movement of the self-mobile device; in the case of an obstacle in the direction of travel of the self-mobile device, determine the position of the obstacle relative to the ground based on the sensing signal Height data; determine whether the obstacle is passable based on the height data; it can solve the problem that the self-mobile device directly bypasses the obstacle, which will cause the self-mobile device to be unable to work on the ground area corresponding to the passable obstacle, resulting in poor working results Problem: Since it is judged whether the obstacle is passable based on the height data of the obstacle relative to the ground, it can be guaranteed that when the height data of the obstacle relative to the ground meets the conditions, the self-mobile device can be controlled to enter the ground area corresponding to
  • the accuracy of the line laser sensor is higher than other sensors, the accuracy of the height data of the obstacle relative to the ground determined by the sensing signal collected by the line laser sensor from the mobile device is high, so it can improve the ability to judge whether the obstacle is passable. Accuracy, further improving the work effect from mobile devices.
  • the line laser emitted by the line laser sensor is at a preset angle to the horizontal plane, it can ensure that the line laser sensor scans different positions of obstacles located on the side of the mobile device, ensuring comprehensive obstacle information.
  • the line laser sensor can detect that the sensing range is larger than that of the point laser sensor, it can solve the current problem of using point laser sensors to judge height changes. , so that the sensor cannot detect obstacles below the ground very well, resulting in the problem of falling from the mobile device. Since the line laser sensor can detect height changes in an area, it can improve the detection of obstacles located below the ground. Detection accuracy to prevent falls from mobile devices.
  • the signal emission range of the line laser sensor includes above, in front of and below the mobile device, it can ensure that the line laser sensor scans different positions of obstacles located on the side of the mobile device, ensuring the comprehensiveness of obstacle information.
  • the obstacle is determined to be passable when the height data indicates that the obstacle is located above the ground and its height relative to the ground is greater than the first preset threshold, it can solve the problem that the traditional self-mobile device detects that there is an obstacle in the direction of travel. Directly change the direction of travel in the case of an object, resulting in the self-mobile device being unable to work under obstacles that are located above the ground and are relatively high relative to the ground, and the work efficiency is low.
  • the height of the obstacle determines whether the obstacle is passable, which can ensure that the self-mobile device is controlled to enter the ground area corresponding to the obstacle to work when the obstacle is passable, so the working effect of the self-mobile device can be improved.
  • the obstacle is determined to be passable when the height data indicates that the obstacle is located below the ground and the height relative to the ground is less than the second preset threshold, it can solve the problem that the traditional self-mobile device detects that there is an obstacle in the direction of travel. Directly change the direction of travel in the case of an object, resulting in the self-mobile device being unable to work above the obstacle that is located below the ground and relatively low in height relative to the ground, and the work efficiency is low.
  • the height of the obstacle determines whether the obstacle is passable, which can ensure that the self-mobile device is controlled to enter the ground area corresponding to the obstacle to work when the obstacle is passable, so the working effect of the self-mobile device can be improved.
  • the obstacle is above the ground and the height relative to the ground is greater than the first preset threshold, it is further confirmed whether there are other obstacles below the obstacle. If there are other obstacles below the obstacle, continue to Judging whether the obstacle is passable can solve the judgment caused by judging whether the obstacle is passable only based on the height of the obstacle relative to the ground, because other obstacles under the obstacle may affect the self-mobile device to pass under the obstacle Inaccurate, which in turn leads to the problem of low work efficiency of self-moving equipment; since there are other obstacles under the obstacle, the information of other obstacles can be used to comprehensively judge whether the obstacle is passable, so the accuracy of the judgment can be improved, and the Productivity from mobile devices.
  • the obstacle Impassable when the obstacle is above the ground and there are other obstacles below the obstacle, if the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold, the obstacle Impassable, it can be solved that when the height of the obstacle relative to the ground is greater than the first preset threshold, but the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold, the obstacle will be determined The problem of inaccurate judgment caused by passability; when the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold, it is determined that the obstacle is impassable, so the accuracy of judgment can be improved. Improve productivity from mobile devices.
  • the obstacle Objects are impassable, which can solve the problem of inaccurate judgment caused by determining obstacles as passable when other obstacles are insurmountable. Since obstacles are determined to be impassable when other obstacles are insurmountable, so The accuracy of judgment can be improved, and the work efficiency of mobile devices can be improved.
  • controlling the self-mobile device to move a preset distance to the obstacle and then changing the direction of travel can make the self-mobile device enter the edge of the obstacle to work, further improving the work efficiency of the self-mobile device.
  • the line laser sensor can be installed on the left and/or right side of the casing, the line laser sensor can continuously collect sensing signals from at least one side of the mobile device during the process of moving the mobile device, which can solve the problem of traditional Since the self-moving device cannot detect obstacles on both sides of the direction of travel, the efficiency of the self-moving device to detect obstacles is low; since the self-moving device moves along the direction of travel, the line laser sensor can collect at least one side of the direction of travel The sensing signal is used for the controller to determine whether the obstacle is passable according to the sensing signal, so the collection efficiency can be improved.
  • the obstacle detection sensor since the obstacle detection sensor is used to detect obstacles in the direction of travel of the mobile device, it can solve the problem of being unable to determine the obstacles in the direction of travel of the mobile device when the online laser sensor is located on the left and/or right side of the mobile device. causes the problem that the self-mobile device cannot detect obstacles in the direction of travel during the travel process. Since the obstacle detection sensor can detect obstacles in the direction of travel of the self-mobile device, and when the obstacle detection sensor detects an obstacle, the controller Control the self-mobile device to approach obstacles to determine whether the obstacle is passable, so it can solve the problem that the self-mobile device cannot detect obstacles in the direction of travel when the online laser sensor is located on the left and/or right side of the self-mobile device. problem, can improve the work effect from mobile devices.
  • This embodiment provides an obstacle detection method from a mobile device, as shown in FIG. 4 .
  • the method is used in the controller of the mobile device shown in FIG. 1 as an example for illustration. The method includes at least the following steps:
  • Step 401 during the process of moving from the mobile device, acquire the sensing signal collected by the line laser sensor;
  • Step 402 if there is an obstacle in the traveling direction of the self-mobile device, determine the height data of the obstacle relative to the ground based on the sensing signal;
  • Step 403 determine whether the obstacle is passable based on the height data.
  • the controller acquires the sensing signal collected by the line laser sensor during the movement of the mobile device; there is an obstacle in the direction of travel of the mobile device
  • the height data of the obstacle relative to the ground is determined based on the sensor signal; whether the obstacle is passable is determined based on the height data; it can be solved that the self-mobile device directly bypasses the obstacle, which will cause the self-mobile device to be unable to pass through Work on the ground area corresponding to the obstacle, which leads to the problem of poor working effect; because the obstacle is judged according to the height data of the obstacle relative to the ground, it can be guaranteed that when the height data of the obstacle relative to the ground meets the conditions, The self-mobile device is controlled to enter the ground area corresponding to the obstacle to work, so the working effect of the self-mobile device can be improved.
  • the method is used in the controller of the mobile device shown in FIG. 1 as an example for illustration.
  • the method includes at least the following steps:
  • Step 501 during the movement of the self-mobile device, acquire the sensing signal collected by the line laser sensor;
  • Step 502 judging whether there is an obstacle in the direction of travel; if there is an obstacle in the direction of travel, perform step 503; if there is no obstacle in the direction of travel, perform step 510;
  • Step 503 determining the height data of the obstacle relative to the ground based on the sensing signal
  • Step 504 in the case where the height data indicates that the obstacle is above the ground, determine whether the height of the obstacle relative to the ground is greater than a first preset threshold; if the height of the obstacle relative to the ground is greater than the first preset threshold , execute step 505; in the case that the height of the obstacle relative to the ground is less than or equal to the first preset threshold, execute step 508;
  • Step 505 determine whether there are other obstacles below the obstacle; if there are other obstacles below the obstacle, perform step 506; if there is no other obstacle below the obstacle, perform step 509;
  • Step 506 determine whether the difference between the height of the obstacle relative to the ground and the height of other obstacles is greater than a first preset threshold; if the difference between the height of the obstacle relative to the ground and the height of other obstacles is greater than the first In the case of a preset threshold, execute step 509; when the difference between the height of the obstacle relative to the ground and the obstacle height of other obstacles is less than or equal to the first preset threshold, execute step 508;
  • Step 507 when the height data indicates that the obstacle is located below the ground, determine whether the height of the obstacle relative to the ground is less than a second preset threshold; if the height of the obstacle relative to the ground is less than the second preset threshold, Execute step 509; when the height of the obstacle relative to the ground is greater than or equal to the second preset threshold, determine that the obstacle is impassable, and execute step 508;
  • Step 508 determine that the obstacle is impassable, control the self-mobile device to change the direction of travel after moving a preset distance to the obstacle, so as to avoid the obstacle, and mark the location of the obstacle as an impassable area on the work map of the self-mobile device , execute step 510;
  • Step 509 determine that the obstacle is passable, control the self-mobile device to continue moving along the direction of travel to enter the ground area corresponding to the obstacle, and mark the location of the obstacle as a passable area on the work map of the self-mobile device, execute Step 510;
  • Step 510 determine whether the work on the work area is completed; if the work is not completed, perform step 501; if the work is completed, perform step 511;
  • Step 511 control the mobile device to stop moving.
  • the controller determines the obstacle when the height data indicates that the obstacle is located above the ground and the height relative to the ground is greater than the first preset threshold Objects are passable, which can solve the problem that the traditional self-mobile device directly changes the direction of travel when it detects an obstacle in the direction of travel, resulting in the inability of the self-mobile device to enter obstacles that are located above the ground and have a higher height relative to the ground Working under the obstacle, the problem of low work efficiency, because it can be determined whether the obstacle is passable according to the height of the obstacle relative to the ground, it can ensure that the self-mobile device enters the ground area corresponding to the obstacle to work when the obstacle is passable. Therefore, the working effect from mobile devices can be improved.
  • This embodiment provides an obstacle detection device for a mobile device, as shown in FIG. 6 .
  • the device is applied to the controller of the mobile device shown in FIG. 1 , and the device includes at least the following modules: a signal acquisition module 601 , a data calculation module 602 and a passage judgment module 603 .
  • a signal acquisition module 601, configured to acquire the sensing signal collected by the line laser sensor during the movement of the mobile device
  • the data calculation module 602 is used to determine the height data of the obstacle relative to the ground based on the sensing signal when there is an obstacle in the direction of travel of the self-mobile device;
  • a pass judging module 603, configured to determine whether the obstacle is passable based on the height data.
  • the obstacle detection device of the self-mobile device performs obstacle detection, it only uses the division of the above-mentioned functional modules as an example. In practical applications, the above-mentioned functions can be allocated according to needs. It is completed by different functional modules, that is, the internal structure of the obstacle detection device of the mobile device is divided into different functional modules to complete all or part of the functions described above.
  • the obstacle detection device for mobile devices provided by the above embodiments and the embodiment of the obstacle detection method for mobile devices belong to the same concept, and the specific implementation process is detailed in the method embodiments, and will not be repeated here.
  • the electronic device may be the self-mobile device in FIG. 1 .
  • the electronic device includes at least a processor 701 and a memory 702 .
  • the processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
  • Processor 701 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 701 may also include a main processor and a coprocessor, and the main processor is a processor for processing data in a wake-up state, also called a CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state.
  • CPU Central Processing Unit, central processing unit
  • the coprocessor is Low-power processor for processing data in standby state.
  • the processor 701 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 701 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is configured to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 702 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 702 may also include high-speed random access memory, and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 702 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 701 to realize the self-moving provided by the method embodiments in this application.
  • the device's obstacle detection method is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 701 to realize the self-moving provided by the method embodiments in this application.
  • the electronic device may optionally further include: a peripheral device interface and at least one peripheral device.
  • the processor 701, the memory 702, 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.
  • peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.
  • the electronic device may also include fewer or more components, which is not limited in this embodiment.
  • the present application also provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the obstacle detection method from a mobile device in the foregoing method embodiments.

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Abstract

一种自移动设备、自移动设备的障碍物检测方法及存储介质，该自移动设备包括：壳体；位于壳体侧面的线激光传感器（120），线激光传感器（120）所发送的线激光与水平面成预设角度；与线激光传感器（120）相连的控制器，用于：在自移动设备移动过程中，获取线激光传感器（120）采集的传感信号；在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物的相对于地面的高度数据；基于高度数据确定障碍物是否可通行。该方案可以解决自移动设备直接绕开该障碍物，导致工作效果不佳的问题；由于判断障碍物是否可通行，可以保证在障碍物符合条件时，控制自移动设备进入障碍物对应的地面区域工作，所以可以提高自移动设备的工作效果。

Description

自移动设备、自移动设备的障碍物检测方法及存储介质
本公开要求如下专利申请的优先权：于2021年11月8日提交中国专利局、申请号为202111312990.9、发明名称为“自移动设备、自移动设备的障碍物检测方法及存储介质”的中国专利申请；上述专利申请的全部内容通过引用结合在本公开中。
技术领域
本申请属于自动控制技术领域，具体涉及一种自移动设备、自移动设备的障碍物检测方法及存储介质。
背景技术
随着电子科学技术的发展，扫地机器人、拖地机器人等自移动设备逐渐进入了人们的日常生活，自移动设备通常具有避障功能。
目前，自移动设备的避障方式包括：通过传感器检测行进方向前方是否包括障碍物，若是，则改变行进方向，直至行进方向前方不包括障碍物时继续行进。
然而，对于一些自移动设备可以通过的障碍物，自移动设备直接绕开该障碍物，会导致自移动设备无法对该障碍物对应的地面区域进行工作，从而产生工作效果不佳的问题。
发明内容
本申请提供了自移动设备、自移动设备的障碍物检测方法及存储介质，可以解决由于传统的自移动设备无法判断底面与地面之间的距离较高的障碍物的底面下方是否可通行，自移动设备无法进入可通行的障碍物底面的下方工作，导致工作效果不佳的问题。本申请提供如下技术方案：
第一方面，提供了一种自移动设备，所述设备包括：
壳体；
位于壳体侧面的线激光传感器，所述线激光传感器所发送的线激光与水平面成预设角度；
与所述线激光传感器相连的控制器，用于：
在所述自移动设备移动过程中，获取所述线激光传感器采集的传感信号；
在所述自移动设备的行进方向上存在障碍物的情况下，基于所述传感信号确定所述障碍物相对于地面的高度数据；
基于所述高度数据确定所述障碍物是否可通行。
可选地，所述高度数据用于指示所述障碍物相对于地面的位置和高度；
所述基于所述高度数据确定所述障碍物是否可通行，包括：
在所述高度数据指示所述障碍物位于地面之上、且相对于地面的高度大于第一预设阈值的情况下，确定所述障碍物可通行；
在所述高度数据指示所述障碍物位于地面之下、且相对于地面的高度小于第二预设阈值的情况下，确定所述障碍物可通行。
可选地，在所述高度数据指示所述障碍物位于地面之上、且相对于地面的高度大于第一预设阈值的情况下，所述确定所述障碍物可通行，包括：
确定所述障碍物下方是否存在其它障碍物；
在所述障碍物下方存在其它障碍物的情况下，若所述障碍物相对于地面的高度与所述其它障碍物的障碍物高度之差大于所述第一预设阈值的情况下，则确定所述障碍物可通行。
可选地，在所述高度数据指示所述障碍物位于地面之上的情况下，所述方法还包括：
若所述障碍物相对于地面的高度小于或等于所述第一预设阈值、或者所述障碍物相对于地面的高度与所述其它障碍物的障碍物高度之差小于或等于所述第一预设阈值，则确定所述障碍物不可通行。
可选地，在所述高度数据指示所述障碍物位于地面之下的情况下，所述方法还包括：
若所述障碍物相对于地面的高度大于或等于所述第二预设阈值的情况下，确定所述障碍物不可通行。
可选地，所述基于所述高度数据确定所述障碍物是否可通行之后，还包括：
在所述障碍物不可通行的情况下，控制所述自移动设备向所述障碍物移动预设距离后改变行进方向，以避开所述障碍物。
可选地，所述基于所述传感信号确定所述障碍物相对于地面的高度数据之前，还包括：
判断所述行进方向上是否存在所述障碍物。
可选地，所述线激光传感器安装位置位于所述自移动设备的前侧；所述判断所述行进方向上是否存在所述障碍物，包括：
对于所述线激光传感器同一时刻发射的线激光，确定对所述线激光感应后得到的传感信号的变化情况是否满足预设条件，所述预设条件是根据所述线激光传感器扫描所述障碍物时获取到的传感信号确定的；
在所述变化情况满足所述预设条件的情况下，确定所述行进方向上存在所述障碍物；
在所述变化情况不满足所述预设条件的情况下，确定所述行进方向上不存在所述障碍物。
可选地，所述基于所述传感信号确定所述障碍物相对于地面的高度数据，包括：
对于所述障碍物对所述线激光反射后得到的传感信号，确定所述传感信号中所述地面对应的突变信号和所述障碍物对应的突变信号之间的距离和相对位置；
基于所述距离、所述相对位置和所述预设角度确定所述障碍物相对于地面的高度数据。
可选地，所述基于所述高度数据确定所述障碍物是否可通行之后，还包括：
在所述障碍物可通行的情况下，在所述自移动设备的工作地图上将所述障碍物所在位置标记为可通行区域，以供所述自移动设备在所述障碍物所在的位置进行工作。
第二方面，提供一种自移动设备的障碍物检测方法，用于第一方面提供的自移动设备中，所述方法包括：
在所述自移动设备移动过程中，获取所述线激光传感器采集的传感信号；
在所述自移动设备的行进方向上存在障碍物的情况下，基于所述传感信号确定所述障碍物相对于地面的高度数据；
基于所述高度数据确定所述障碍物是否可通行。
第三方面，提供一种计算机可读存储介质，所述存储介质中存储有程序，所述程序被处理器执行时用于实现第二方面提供的自移动设备的障碍物检测方法。
本申请的有益效果至少包括：自移动设备，包括：壳体；位于壳体侧面的线激光传感器，线激光传感器所发送的线激光与水平面成预设角度；与线激光传感器相连的控制器，用于：在自移动设备移动过程中，获取线激光传感器采集的传感信号；在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物的相对于地面的高度数据；基于高度数据确定障碍物是否可通行；可以解决自移动设备直接绕开该障碍物，会导致自移动设备无法对可通行的障碍物对应的地面区域进行工作，导致工作效果不佳的问题；由于根据障碍物相对于地面的高度数据判断障碍物是否可通行，可以保证在障碍物相对于地面的高度数据符合条件时，控制自移动设备进入障碍物对应的地面区域工作，所以可以提高自移动设备的工作效果。
同时，由于线激光传感器的精度高于其他传感器，自移动设备采用线激光传感器采集的传感信号确定出障碍物相对于地面的高度数据的精确度高，所以可以提高判断障碍物是否可以通行的准确性，进一步提高自移动设备的工作效果。
同时，由于线激光传感器发射的线激光与水平面成预设角度，可以保证线激光传感器对位于自移动设备侧面的障碍物的不同位置进行扫描，保证障碍物信息的全面性。
同时，由于线激光传感器可以检测到传感范围大于点激光传感器，可以解决目前使用点激光传感器判断高度变化，由于点激光传感器只能测量直线方向上的高度变化，由于自移动设备下边沿的遮挡，使得该传感器不能很好的检测到位于地面之下的障碍物，导致自移动设备跌落的问题，由于线激光传感器可以检测一个区域内的高度变化，所以可以提高位于地面 之下的障碍物的检测精度，防止自移动设备跌落。
另外，由于线激光传感器的信号发射范围包括自移动设备上方、前方和下方，可以保证线激光传感器对位于自移动设备侧面的障碍物的不同位置进行扫描，保证障碍物信息的全面性。
另外，由于在高度数据指示障碍物位于地面之上、且相对于地面的高度大于第一预设阈值的情况下，确定障碍物可通行，可以解决传统的自移动设备在检测到行进方向存在障碍物的情况下直接改变行进方向，而导致的自移动设备无法进入位于地面之上，且相对于地面的高度较高的障碍物下方工作，工作效率低的问题，由于可以根据障碍物相对于地面的高度确定障碍物是否可通行，可以保证在障碍物可通行的情况下控制自移动设备进入障碍物对应的地面区域工作，所以可以改善自移动设备的工作效果。
另外，由于在高度数据指示障碍物位于地面之下、且相对于地面的高度小于第二预设阈值的情况下，确定障碍物可通行，可以解决传统的自移动设备在检测到行进方向存在障碍物的情况下直接改变行进方向，而导致的自移动设备无法进入位于地面之下，且相对于地面的高度较低的障碍物上方工作，工作效率低的问题，由于可以根据障碍物相对于地面的高度确定障碍物是否可通行，可以保证在障碍物可通行的情况下控制自移动设备进入障碍物对应的地面区域工作，所以可以改善自移动设备的工作效果。
另外，由于在障碍物位于地面之上，且相对于地面的高度大于第一预设阈值的时，进一步确认障碍物下方是否存在其他障碍物，在障碍物下方存在其他障碍物的情况下，继续判断障碍物是否可通行，可以解决仅根据障碍物相对于地面的高度判断障碍物是否可通行时，由于障碍物下方存在的其他障碍物可能会影响自移动设备从障碍物下方通行，导致的判断不准确，进而导致自移动设备工作效率低的问题；由于在障碍物下方存在其他障碍物的情况下，结合其他障碍物的信息综合判断障碍物是否可以通行，所以可以提高判断的准确性，提高自移动设备的工作效率。
另外，由于在障碍物位于地面之上，且障碍物下方存在其他障碍物时，在障碍物相对于地面的高度与其他障碍物的障碍物高度之差小于预设阈值的情况下，确定障碍物不可通行，可以解决在障碍物相对于地面的高度大于第一预设阈值，但障碍物相对于地面的高度与其他障碍物的障碍物高度之差小于预设阈值的情况下，将障碍物确定为可通行而导致的判断不准确的问题；在障碍物相对于地面的高度与其他障碍物的障碍物高度之差小于预设阈值时，确定障碍物不可通行，所以可以提高判断的准确性，提高自移动设备的工作效率。
另外，由于在障碍物下方存在其他障碍物，且障碍物相对于地面的高度与其他障碍物的障碍物高度之差大于第一预设阈值时，在其他障碍物不可逾越的情况下，确定障碍物不可通 行，可以解决在其他障碍物不可逾越的情况下，将障碍物确定为可通行而导致的判断不准确的问题，由于在其他障碍物不可逾越的情况下，确定障碍物不可通行，所以可以提高判断的准确性，提高自移动设备的工作效率。
另外，在障碍物不可通行的情况下，控制自移动设备向障碍物移动预设距离后改变行进方向，可以使自移动设备进入障碍物边缘工作，进一步提高自移动设备的工作效率。
另外，由于线激光传感器可以安装在壳体的左侧和/或右侧，所以在自移动设备行进的过程中，线激光传感器可以不断采集自移动设备至少一侧的传感信号，可以解决传统的自移动设备由于无法检测行进方向两侧的障碍物而导致的自移动设备检测障碍物的效率较低的问题；由于自移动设备沿行进方向运动时，线激光传感器可以采集行进方向至少一侧的传感信号，以供控制器根据传感信号确定障碍物是否可通行，所以可以提高采集效率。
另外，由于采用障碍物检测传感器检测自移动设备行进方向上的障碍物，可以解决在线激光传感器位于自移动设备左侧和/或右侧时，由于无法确定自移动设备行进方向上的障碍物而导致自移动设备在行进过程中无法检测行进方向上的障碍物的问题，由于障碍物检测传感器能够检测自移动设备行进方向上的障碍物，并且在障碍物检测传感器检测到障碍物时，控制器控制自移动设备接近障碍物，以确定障碍物是否可通行，所以可以解决在线激光传感器位于自移动设备左侧和/或右侧时自移动设备在行进过程中无法检测行进方向上的障碍物的问题，可以提升自移动设备的工作效果。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例提供的自移动设备的结构示意图；
图2是本申请一个实施例提供的自移动设备的工作场景示意图；
图3是本申请一个实施例提供的自移动设备的工作场景示意图；
图4是本申请一个实施例提供的自移动设备的障碍物检测方法的示意图；
图5是本申请一个实施例提供的自移动设备的障碍物检测方法的示意图；
图6是本申请一个实施例提供的自移动设备的障碍物检测装置的框图。
图7是本申请一个实施例提供的电子设备的框图。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。下文中将参考附图并结合实施例来详细说明本申请。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
在申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的，或者是针对部件本身在竖直、垂直或重力方向上而言的；同样地，为便于理解和描述，“内、外”是指相对于各部件本身的轮廓的内、外，但上述方位词并不用于限制本申请。
首先，对本申请实施例涉及的若干名词进行介绍。
线激光传感器：是一种包括激光产生组件、柱面物镜和光感组件的传感器；线激光传感器在使用时采用柱面物镜将激光产生组件产生的激光光束扩大为条状，激光在目标物上产生漫反射，反射光在光感组件上成像，可以通过检查成像的位置、形状的变化来测量目标物位置和形状。
微控制单元(Microcontroller Unit，MCU)，又称单片微型计算机(Single Chip Microcomputer)或者单片机，是把中央处理器(Central Process Unit，CPU)的频率与规格做适当缩减，并将内存(memory)、计数器(Timer)、USB、等周边接口整合在单一芯片上，形成的芯片级计算机。
图1是本申请一个实施例提供的自移动设备的结构示意图。其中，自移动设备包括但不限于：扫地机、洗地机、扫拖一体机等具有自动移动功能的设备，本实施例不对自移动设备的类型作限定。根据图1可知，该自移动设备至少包括壳体110、线激光传感器120和控制器(图中未示意)。
壳体110为自移动设备的外壳，壳体110的形状可以是规则的几何体，比如圆形，方形，或者，也可以根据实际的应用场景设置成其他形状，本实施例不对壳体110的形状作限定。
壳体110主要起保护和支撑作用。壳体110可以一体成型，或者为可拆分结构，本实施例不对壳体110的实现方式作限定。
壳体110的结构大致呈扁平状，比如为圆盘形，本实施例不对壳体110的形状作限定。
线激光传感器120位于壳体110的侧面，用于发射线激光并采集传感信号。线激光传感 器120可以为单线激光雷达，或者，也可以是多线激光雷达，本实施例不对线激光传感器120的类型作限定。
本实施例中，线激光传感器120发射的线激光与水平面成预设角度，预设角度不等于0。换言之，线激光不与水平面平行，这样不会只扫描到障碍物的一条线，从而更全面地保证扫描障碍物。优选地，线激光垂直于水平面，即预设角度为90度。
为了更全面地扫描障碍物，线激光传感器120的线激光发射范围包括自移动设备的上方、前方和/或下方。参考图2，线激光发射范围包括自移动设备的上方、前方和下方。
本实施例中线激光传感器120可以位于壳体110前侧，后侧，左侧和/或右侧，本实施例不对线激光传感器120的具体安装位置作限定。
以自移动设备移动过程中行进方向为前侧为例，壳体110的左侧是指自移动设备的行进方向的左侧，壳体110的右侧是指自移动设备的行进方向右侧。
在一个示例中，线激光传感器120的安装位置位于自移动设备前侧，用于对行进方向上的障碍物进行检测，可以保证自移动设备在移动过程中能及时发现行进方向上的障碍物。
参考图2，线激光传感器120位于壳体110的前侧。
在另一个示例中，线激光传感器120的安装位置位于壳体110的左侧和/或右侧。这样，可以实现对行进方向至少一侧的障碍物进行检测，从而提高障碍物的检测效率。
另外，由于线激光传感器120发射的线激光与水平面成预设角度，可以保证自移动设备在移动过程中，线激光传感器120对位于自移动设备侧面的障碍物的不同位置进行扫描，保证障碍物信息的全面性。
可选地，壳体110的左侧包括壳体110的正左侧、左前侧和/或左后侧；壳体110的右侧包括壳体110的正右侧、右前侧和/或右后侧。
可选地，线激光传感器120可以为一个，或者，也可以为多个，本实施例不对线激光传感器120的个数作限定。
为了使自移动设备能同时扫描行进方向上和行进方向右侧的障碍物，线激光传感器120为两个，其中一个位于壳体110右侧，用于向自移动设备右发射线激光并采集自移动设备右侧的传感信号，另一个位于壳体110前侧，用于向自移动设备前侧发射线激光采集自移动设备前侧的传感信号。
控制器与线激光传感器120相连。控制器可以为自移动设备内部安装的微控制单元，或者，任何具有控制功能的组件，本实施例不对控制器的类型不做限定。
本实施例中，控制器用于在自移动设备移动过程中，获取线激光传感器120采集的传感信号；在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物相对于地 面之间的高度数据；基于高度数据确定障碍物是否可通行。
可选地，高度数据用于指示障碍物相对于地面的位置和高度。
可选地，障碍物可以位于地面之上，或者，也可以位于地面之下，本实施不对障碍物相对于地面的位置作限定。
可选地，在障碍物位于地面之上的情况下，障碍物相对于地面的高度为障碍物底面与地面的之间的高度差；在障碍物位于地面之下的情况下，障碍物相对于地面的高度为障碍物顶部与地面之间的高度差。
可选地，位于地面之上的障碍物可以是桌子、椅子、茶几等障碍物，本实施例不对位于地面之上的障碍物的类型作限定。
参考图2，桌子为位于地面之上的障碍物，且桌子的底面与地面之间具有一定距离。
可选地，位于地面之下的障碍物可以是下行的楼梯、沟渠、地面的凹陷处、悬崖等障碍物，本实施例不对位于地面之下的障碍物类型作限定。
参考图3，悬崖为位于地面之下的障碍物，且悬崖的顶部与地面之间具有一定距离。
可选地，基于传感信号确定障碍物相对于地面的高度数据之前，还包括：判断行进方向上是否存在障碍物。
本实施例中，判断行进方向上是否存在障碍物分为以下两种情况。
第一种情况，控制器基于线激光传感器120的传感信号判断行进方向上是否存在障碍物。此时，线激光传感器120安装在自移动设备前侧。
为了能够实时判断行进方向是否存在障碍物，控制器在自移动设备开机后，控制激光传感器120持续保持启动状态。
由于不同类型的障碍物的轮廓不同，所以线激光传感器120扫描不同类型障碍物所获得的传感信号不同。基于此，控制器可以通过传感信号判断不同类型的障碍物。
可选地，判断行进方向上是否存在障碍物，包括：对于线激光传感器120同一时刻发射的线激光，确定对线激光感应后得到的传感信号的变化情况是否满足预设条件，该预设条件是根据线激光传感器120扫描障碍物时获取到的传感信号确定的；在变化情况满足预设条件的情况下，确定行进方向上存在障碍物；在变化情况不满足预设条件的情况下，确定行进方向上不存在障碍物。
其中，预设条件为：传感信号的变化情况与线激光传感器120扫描障碍物时获取到的传感信号的变化情况相匹配。
在确定对线激光感应后得到的传感信号的变化情况是否满足预设条件之前，需要预先获取线激光传感器120扫描障碍物时传感信号的变化情况，获取方式包括但不限于以下几种方 式：
方式1：控制线激光传感器120对不同类型的障碍物进行扫描，得到扫描障碍物时传感信号的变化情况。其中，不同类型的障碍物包括位于地面之上的障碍物和位于地面之下的障碍物。
方式2：在计算机中模拟线激光传感器120对不同类型的障碍物进行扫描的场景，得到扫描障碍物时传感信号的变化情况。
第二种情况，壳体110上还设置有障碍物检测传感器130，障碍物检测传感器130与控制器相连；控制器基于障碍物检测传感器130的检测信号判断行进方向上是否存在障碍物。
本实施例中，障碍物检测传感器130可以为红外传感器，或者，也可以为相机，或者，还可以为超声波传感器，本实施例不对障碍物检测传感器130的类型作限定。
相应地，在线激光传感器120安装在自移动设备左侧或右侧时，为了使线激光传感器120能够采集到障碍物与地面之间的高度信息，本实施例中，控制器还用于：在障碍物检测传感器130检测出行进方向上存在障碍物的情况下，控制自移动设备向安装有线激光传感器120的方向的反方向旋转预设旋转角度，以使得障碍物在线激光传感器120的传感范围内。
比如：线激光传感器120安装在自移动设备的右前侧、且安装位置与设备形心之间的连线与行进方向之间的夹角为45度，自移动设备的旋转方式为：逆时针旋转45度。
可选地，在线激光传感器120安装在自移动设备前侧时，在障碍物检测传感器130检测出行进方向上存在障碍物的情况下，控制器直接控制线激光传感器120采集传感信号。
由于障碍物检测传感器130的传感距离可能大于线激光传感器120的传感距离。因此，本实施例中，在障碍物检测传感器130检测出行进方向上存在障碍物的情况下，控制器还可以控制自移动设备向障碍物移动预设行进距离(即继续沿行进方向移动预设行进距离)，预设行进距离小于自移动设备与障碍物之间的距离，以接近障碍物，以使障碍物位于线激光传感器120传感范围内。
为了提高自移动设备采集障碍物信息的效率，在一个示例中，控制器在自移动设备开机后控制激光传感器120持续保持启动状态。
为了节约自移动设备的计算资源，在另一个示例中，控制器在障碍物传感器130检测出行进方向上存在障碍物的情况下，控制线激光传感器120启动。
可选地，预设行进距离为固定值或者为动态确定的。在预设行进距离为动态确定的情况下，控制器还用于：获取自移动设备与障碍物之间的距离；基于自移动设备与障碍物之间的距离和线激光传感器120的最佳采集距离确定预设行进距离。
其中，获取自移动设备与障碍物之间的距离，包括：基于障碍物传感器130接收到的传 感信号的信号强度计算自移动设备与障碍物之间的距离。
在一个示例中，基于自移动设备与障碍物之间的距离和线激光传感器120的最佳采集距离确定预设行进距离，包括：将自移动设备与障碍物之间的距离与线激光传感器120最佳采集距离之间的差值，确定为预设行进距离。
比如：自移动设备与障碍物之间的距离为10米，线激光传感器120最佳采集距离为1米，则预设行进距离为9米。
可选地，障碍物检测传感器130可以是一个，或者，也可以是多个，本实施例不对障碍物检测传感器130的数量作限定。
由于障碍物检测传感器130只需要进行障碍物的检测，所以，本实施例中，设置障碍物检测传感器130的障碍物检测精度低于线激光传感器120的障碍物检测精度。由于精度低的传感信号的数据量少，因此，使用精度低的传感信号进行障碍物检测时，消耗的计算资源较低，因此，可以节省自移动设备检测障碍物时的计算资源。
另外，本实施例中，障碍物检测传感器130的检测距离大于线激光传感器120的检测距离，可以保证能够在较大范围内检测到障碍物，以使自移动设备能及时发现并靠近障碍物，以判断障碍物是否可通行。
可选地，预设旋转角度根据线激光传感器120的安装位置确定。
可选地，基于传感信号确定障碍物相对于地面的高度数据，包括：对于障碍物对线激光反射后得到的传感信号，确定传感信号中地面对应的突变信号和障碍物对应的突变信号之间的距离和相对位置；基于距离、相对位置和预设角度确定障碍物相对于地面的高度数据。
其中，突变信号用于指示线激光传感器120传感范围内高度发生变化的位置。
本实施例中，基于高度数据确定障碍物是否可通行，根据障碍物相对于地面的位置分为以下两种情况：
第一种情况，高度数据指示障碍物位于地面之上，此时，若高度数据指示障碍物相对于地面的高度大于第一预设阈值，确定障碍物可通行；若高度数据指示障碍物高度小于或等于第一预设阈值，确定障碍物不可通行。
其中，第一预设阈值根据自移动设备壳体110的高度和安装在壳体110上方的传感器的高度确定。
在第一情况下，若高度数据指示障碍物相对于地面的高度大于第一预设阈值，确定障碍物可通行，包括：确定障碍物下方是否存在其他障碍物；在障碍物下方存在其他障碍物的情况下，若障碍物相对于地面的高度与其他障碍物的障碍物高度之差大于第一预设阈值，则确定障碍物可通行；或者，在障碍物下方不存在其他障碍物的情况下，则确定障碍物可通行。
若障碍物相对于地面的高度与其他障碍物高度之差小于或等于第一预设阈值，则确定障碍物不可通行。
其中，其他障碍物是指底面与地面接触的障碍物。比如：其他障碍物为放置于地面的箱子、垃圾桶、和/或门槛等障碍物，本实施例不对其他障碍物的类型作限定。
在一个示例中，确定障碍物下方是否存在其他障碍物，包括：对于线激光传感器120同一时刻发射的线激光，确定对线激光感应后得到的传感信号的变化情况是否满足第二预设条件，第二预设条件是根据线激光传感器120扫描其他障碍物时获取到的传感信号确定的；在变化情况满足其他预设条件的情况下，确定传感范围内存在其他障碍物；在变化情况不满足第二预设条件的情况下，确定传感范围内不存在其他障碍物。
由于传感信号中的突变信号能够反映高度的变化，所以在障碍物下方存在其他障碍物的情况下，传感信号中的突变信号至少为三个，即地面导致的突变信号、障碍物导致的突变信号和其他障碍物导致的突变信号，所以，在另一个示例中，确定障碍物下方是否存在其他障碍物，包括：对于线激光传感器120同一时刻发射的线激光，确定传感信号中突变信号的个数；在突变信号个数大于两个的情况，障碍物下方存在其他障碍物。
可选地，基于传感信号确定其他障碍物的障碍物高度。
在一个示例中，基于传感信号确定其他障碍物的障碍物高度，包括：对于其他障碍物对线激光反射后得到的传感信号，确定传感信号中地面对应的突变信号和其他障碍物对应的突变信号之间的距离和相对位置；基于地面对应的突变信号与其他障碍物对应的突变信号之间的距离、相对位置和预设角度确定其他障碍物的障碍物高度。
在第一种情况下，在障碍物下方存在其他障碍物的情况下，若障碍物相对于地面的高度与其他障碍物的障碍物高度之差大于第一预设阈值，则确定障碍物可通行，包括：确定其他障碍物是否可逾越；在其他障碍物可逾越的情况下，则确定障碍物可通行；在其他障碍物不可逾越的情况下，则确定障碍物不可通行。
可选地，基于其他障碍物的障碍物高度确定其他障碍物是否可逾越，包括：在其他障碍物的障碍物高度大于预设逾越高度时，确定其他障碍物可逾越；在其他障碍物的障碍物高度小于或等于预设逾越高度时，确定其他障碍物不可逾越。
其中，预设可逾越高度为自移动设备可安全逾越的其他障碍物的最大高度，预设逾越高度根据自移动设备壳体110底部距离地面的高度确定。
第二种情况，高度数据指示障碍物位于地面之下，此时，在高度数据指示障碍物相对于地面的高度小于第二预设阈值的情况下，确定障碍物可通行；在高度数据指示障碍物相对于地面的高度大于或等于第二预设阈值的情况下，确定障碍物不可通行。
其中，第二预设阈值为自移动设备可安全通过位于地面之下的障碍物的最大高度，第二预设阈值根据自移动设备壳体110底部离地高度确定。
可选地，基于高度数据确定障碍物是否可通行之后，还包括：在障碍物可通行的情况下，在自移动设备的工作地图上将障碍物所在位置标记为可通行区域，以供自移动设备在障碍物所在的位置工作；在障碍物不可通行的情况下，在自移动设备的工作地图上将障碍物所在的位置标记为不可通行区域，以禁止自移动设备进入障碍物所在位置工作。
可选地，基于高度数据确定障碍物是否可通行之后，还包括：在障碍物不可通行的情况下，控制自移动设备向障碍物移动预设距离后改变行进方向，以避开障碍物；在障碍物可通行的情况下，自移动设备继续沿行进方向运动，以进入障碍物对应的地面区域工作。
其中，预设距离小于自移动设备与障碍物之间的距离。
由于，在障碍物不可通行的情况下，控制自移动设备向障碍物移动预设距离后改变行进方向，可以使自移动设备进入障碍物边缘工作，进一步提高自移动设备的工作效率。
可选地，基于高度数据确定障碍物是否可通行之后，还包括：确定对工作区域是否工作完成；在工作未完成的情况下，再次执行在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物相对于地面的高度数据的步骤。在工作完成的情况下，自移动设备停止移动。
综上所述，本实施例提供的自移动设备，包括：壳体；位于壳体侧面的线激光传感器，线激光传感器所发送的线激光与水平面成预设角度；与线激光传感器相连的控制器，用于：在自移动设备移动过程中，获取线激光传感器采集的传感信号；在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物的相对于地面的高度数据；基于高度数据确定障碍物是否可通行；可以解决自移动设备直接绕开该障碍物，会导致自移动设备无法对可通行的障碍物对应的地面区域进行工作，导致工作效果不佳的问题；由于根据障碍物相对于地面的高度数据判断障碍物是否可通行，可以保证在障碍物相对于地面的高度数据符合条件时，控制自移动设备进入障碍物对应的地面区域工作，所以可以提高自移动设备的工作效果。
同时，由于线激光传感器的精度高于其他传感器，自移动设备采用线激光传感器采集的传感信号确定出障碍物相对于地面的高度数据的精确度高，所以可以提高判断障碍物是否可以通行的准确性，进一步提高自移动设备的工作效果。
同时，由于线激光传感器发射的线激光与水平面成预设角度，可以保证线激光传感器对位于自移动设备侧面的障碍物的不同位置进行扫描，保证障碍物信息的全面性。
同时，由于线激光传感器可以检测到传感范围大于点激光传感器，可以解决目前使用点激光传感器判断高度变化，由于点激光传感器只能测量直线方向上的高度变化，由于自移动 设备下边沿的遮挡，使得该传感器不能很好的检测到位于地面之下的障碍物，导致自移动设备跌落的问题，由于线激光传感器可以检测一个区域内的高度变化，所以可以提高位于地面之下的障碍物的检测精度，防止自移动设备跌落。
另外，由于线激光传感器的信号发射范围包括自移动设备上方、前方和下方，可以保证线激光传感器对位于自移动设备侧面的障碍物的不同位置进行扫描，保证障碍物信息的全面性。
另外，由于在高度数据指示障碍物位于地面之上、且相对于地面的高度大于第一预设阈值的情况下，确定障碍物可通行，可以解决传统的自移动设备在检测到行进方向存在障碍物的情况下直接改变行进方向，而导致的自移动设备无法进入位于地面之上，且相对于地面的高度较高的障碍物下方工作，工作效率低的问题，由于可以根据障碍物相对于地面的高度确定障碍物是否可通行，可以保证在障碍物可通行的情况下控制自移动设备进入障碍物对应的地面区域工作，所以可以改善自移动设备的工作效果。
另外，由于在高度数据指示障碍物位于地面之下、且相对于地面的高度小于第二预设阈值的情况下，确定障碍物可通行，可以解决传统的自移动设备在检测到行进方向存在障碍物的情况下直接改变行进方向，而导致的自移动设备无法进入位于地面之下，且相对于地面的高度较低的障碍物上方工作，工作效率低的问题，由于可以根据障碍物相对于地面的高度确定障碍物是否可通行，可以保证在障碍物可通行的情况下控制自移动设备进入障碍物对应的地面区域工作，所以可以改善自移动设备的工作效果。
另外，由于在障碍物位于地面之上，且相对于地面的高度大于第一预设阈值的时，进一步确认障碍物下方是否存在其他障碍物，在障碍物下方存在其他障碍物的情况下，继续判断障碍物是否可通行，可以解决仅根据障碍物相对于地面的高度判断障碍物是否可通行时，由于障碍物下方存在的其他障碍物可能会影响自移动设备从障碍物下方通行，导致的判断不准确，进而导致自移动设备工作效率低的问题；由于在障碍物下方存在其他障碍物的情况下，结合其他障碍物的信息综合判断障碍物是否可以通行，所以可以提高判断的准确性，提高自移动设备的工作效率。
另外，由于在障碍物位于地面之上，且障碍物下方存在其他障碍物时，在障碍物相对于地面的高度与其他障碍物的障碍物高度之差小于预设阈值的情况下，确定障碍物不可通行，可以解决在障碍物相对于地面的高度大于第一预设阈值，但障碍物相对于地面的高度与其他障碍物的障碍物高度之差小于预设阈值的情况下，将障碍物确定为可通行而导致的判断不准确的问题；在障碍物相对于地面的高度与其他障碍物的障碍物高度之差小于预设阈值时，确定障碍物不可通行，所以可以提高判断的准确性，提高自移动设备的工作效率。
另外，由于在障碍物下方存在其他障碍物，且障碍物相对于地面的高度与其他障碍物的障碍物高度之差大于第一预设阈值时，在其他障碍物不可逾越的情况下，确定障碍物不可通行，可以解决在其他障碍物不可逾越的情况下，将障碍物确定为可通行而导致的判断不准确的问题，由于在其他障碍物不可逾越的情况下，确定障碍物不可通行，所以可以提高判断的准确性，提高自移动设备的工作效率。
另外，在障碍物不可通行的情况下，控制自移动设备向障碍物移动预设距离后改变行进方向，可以使自移动设备进入障碍物边缘工作，进一步提高自移动设备的工作效率。
另外，由于线激光传感器可以安装在壳体的左侧和/或右侧，所以在自移动设备行进的过程中，线激光传感器可以不断采集自移动设备至少一侧的传感信号，可以解决传统的自移动设备由于无法检测行进方向两侧的障碍物而导致的自移动设备检测障碍物的效率较低的问题；由于自移动设备沿行进方向运动时，线激光传感器可以采集行进方向至少一侧的传感信号，以供控制器根据传感信号确定障碍物是否可通行，所以可以提高采集效率。
另外，由于采用障碍物检测传感器检测自移动设备行进方向上的障碍物，可以解决在线激光传感器位于自移动设备左侧和/或右侧时，由于无法确定自移动设备行进方向上的障碍物而导致自移动设备在行进过程中无法检测行进方向上的障碍物的问题，由于障碍物检测传感器能够检测自移动设备行进方向上的障碍物，并且在障碍物检测传感器检测到障碍物时，控制器控制自移动设备接近障碍物，以确定障碍物是否可通行，所以可以解决在线激光传感器位于自移动设备左侧和/或右侧时自移动设备在行进过程中无法检测行进方向上的障碍物的问题，可以提升自移动设备的工作效果。
下面对本申请提供的自移动设备的障碍物检测方法进行详细介绍。
本实施例提供一种自移动设备的障碍物检测方法，如图4所示。本实施例以该方法用于图1所示的自移动设备的控制器中为例进行说明。该方法至少包括以下几个步骤：
步骤401，在自移动设备移动过程中，获取线激光传感器采集的传感信号；
步骤402，在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物相对于地面的高度数据；
步骤403，基于高度数据确定障碍物是否可通行。
本实施例的相关描述参考上述实施例，本实施例在此不再赘述。
根据上述实施例可知，本申请提供的自移动设备的障碍物检测方法，控制器在自移动设备移动过程中，获取线激光传感器采集的传感信号；在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物的相对于地面的高度数据；基于高度数据确定障碍物是 否可通行；可以解决自移动设备直接绕开该障碍物，会导致自移动设备无法对可通行的障碍物对应的地面区域进行工作，导致工作效果不佳的问题；由于根据障碍物相对于地面的高度数据判断障碍物是否可通行，可以保证在障碍物相对于地面的高度数据符合条件时，控制自移动设备进入障碍物对应的地面区域工作，所以可以提高自移动设备的工作效果。
为了更清楚地理解本申请提供的自移动设备的障碍物检测方法，下面对该方法举一个实例进行说明。如图5所示。本实施例以该方法用于图1所示的自移动设备的控制器中为例进行说明。该方法至少包括以下几个步骤：
步骤501，在自移动设备移动过程中，获取线激光传感器采集的传感信号；
步骤502，判断行进方向上是否存在障碍物；在行进方向上存在障碍物的情况下，执行步骤503；在行进方向上不存在障碍物的情况下执行步骤510；
步骤503，基于传感信号确定障碍物相对于地面的高度数据；
步骤504，在高度数据指示障碍物位于地面之上的情况下，确定障碍物相对于地面的高度是否大于第一预设阈值；在障碍物相对于地面的高度大于第一预设阈值的情况下，执行步骤505；在障碍物相对于地面的高度小于或等于第一预设阈值的情况下，执行步骤508；
步骤505，确定障碍物下方是否存在其他障碍物；在障碍物下方存在其他障碍物的情况下，执行步骤506；障碍物下方不存在其他障碍物的情况下，执行步骤509；
步骤506，确定障碍物相对于地面的高度与其它障碍物的障碍物高度之差是否大于第一预设阈值；在障碍物相对于地面的高度与其它障碍物的障碍物高度之差大于第一预设阈值的情况下，执行步骤509；在障碍物相对于地面的高度与其它障碍物的障碍物高度之差小于或等于第一预设阈值的情况下执行步骤508；
步骤507，在高度数据指示障碍物位于地面之下的情况下，判断障碍物相对于地面的高度是否小于第二预设阈值；障碍物相对于地面的高度小于第二预设阈值的情况下，执行步骤509；障碍物相对于地面的高度大于或等于第二预设阈值的情况下，确定障碍物不可通行，执行步骤508；
步骤508，确定障碍物不可通行，控制自移动设备向障碍物移动预设距离后改变行进方向，以避开障碍物，并在自移动设备的工作地图上将障碍物所在位置标记为不可通行区域，执行步骤510；
步骤509，确定障碍物可通行，控制自移动设备继续沿行进方向运动，以进入障碍物对应的地面区域工作，并在自移动设备的工作地图上将障碍物所在位置标记为可通行区域，执行步骤510；
步骤510，确定对工作区域是否工作完成；在工作未完成的情况下，执行步骤501；在工作完成的情况下，执行步骤511；
步骤511，控制自移动设备停止移动。
本实施例的相关描述参考上述实施例，本实施例在此不再赘述。
根据上述实施例可知，本申请提供的自移动设备的障碍物检测方法，控制器在高度数据指示障碍物位于地面之上、且相对于地面的高度大于第一预设阈值的情况下，确定障碍物可通行，可以解决传统的自移动设备在检测到行进方向存在障碍物的情况下直接改变行进方向，而导致的自移动设备无法进入位于地面之上，且相对于地面的高度较高的障碍物下方工作，工作效率低的问题，由于可以根据障碍物相对于地面的高度确定障碍物是否可通行，可以保证在障碍物可通行的情况下控制自移动设备进入障碍物对应的地面区域工作，所以可以改善自移动设备的工作效果。
本实施例提供一种自移动设备的障碍物检测装置，如图6所示。本实施例以该装置应用于图1所示的自移动设备的控制器中，该装置包括至少以下几个模块，信号获取模块601、数据计算模块602和通行判断模块603。
信号获取模块601，用于在自移动设备移动过程中，获取线激光传感器采集的传感信号；
数据计算模块602，用于在自移动设备的行进方向上存在障碍物的情况下，基于传感信号确定障碍物相对于地面的高度数据；
通行判断模块603，用于基于高度数据确定障碍物是否可通行。
相关细节参考上述方法和设备实施例。
需要说明的是：上述实施例中提供的自移动设备的障碍物检测装置在进行障碍物检测时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将移动设备的障碍物检测装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的移动设备的障碍物检测装置与移动设备的障碍物检测方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
本实施例提供一种电子设备，如图7所示。电子设备可以为图1中自移动设备。该电子设备至少包括处理器701和存储器702。
处理器701可以包括一个或多个处理核心，比如：4核心处理器、8核心处理器等。处理器701可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable  Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器701也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器701可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器701还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器702可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器702还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器702中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器701所执行以实现本申请中方法实施例提供的自移动设备的障碍物检测方法。
在一些实施例中，电子设备还可选包括有：外围设备接口和至少一个外围设备。处理器701、存储器702和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口相连。示意性地，外围设备包括但不限于：射频电路、触摸显示屏、音频电路、和电源等。
当然，电子设备还可以包括更少或更多的组件，本实施例对此不作限定。
可选地，本申请还提供有一种计算机可读存储介质，计算机可读存储介质中存储有程序，程序由处理器加载并执行以实现上述方法实施例的自移动设备的障碍物检测方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (15)

  1. 一种自移动设备，其特征在于，所述设备包括：
    壳体；
    位于壳体侧面的线激光传感器，所述线激光传感器所发送的线激光与水平面成预设角度；
    与所述线激光传感器相连的控制器，用于：
    在所述自移动设备移动过程中，获取所述线激光传感器采集的传感信号；
    在所述自移动设备的行进方向上存在障碍物的情况下，基于所述传感信号确定所述障碍物相对于地面的高度数据；
    基于所述高度数据确定所述障碍物是否可通行。
  2. 根据权利要求1所述的自移动设备，其特征在于，所述高度数据用于指示所述障碍物相对于地面的位置和高度；
    所述基于所述高度数据确定所述障碍物是否可通行，包括：
    在所述高度数据指示所述障碍物位于地面之上、且相对于地面的高度大于第一预设阈值的情况下，确定所述障碍物可通行；
    在所述高度数据指示所述障碍物位于地面之下、且相对于地面的高度小于第二预设阈值的情况下，确定所述障碍物可通行。
  3. 根据权利要求2所述的自移动设备，其特征在于，在所述高度数据指示所述障碍物位于地面之上、且相对于地面的高度大于第一预设阈值的情况下，所述确定所述障碍物可通行，包括：
    确定所述障碍物下方是否存在其它障碍物；
    在所述障碍物下方存在其它障碍物的情况下，若所述障碍物相对于地面的高度与所述其它障碍物的障碍物高度之差大于所述第一预设阈值的情况下，则确定所述障碍物可通行。
  4. 根据权利要求3所述的自移动设备，其特征在于，在所述高度数据指示所述障碍物位于地面之上的情况下，还包括：
    若所述障碍物相对于地面的高度小于或等于所述第一预设阈值、或者所述障碍物相对于地面的高度与所述其它障碍物的障碍物高度之差小于或等于所述第一预设阈值，则确定所述障碍物不可通行。
  5. 根据权利要求2所述的自移动设备，其特征在于，在所述高度数据指示所述障碍物位 于地面之下的情况下，还包括：
    若所述障碍物相对于地面的高度大于或等于所述第二预设阈值的情况下，确定所述障碍物不可通行。
  6. 根据权利要求1所述的自移动设备，其特征在于，所述基于所述高度数据确定所述障碍物是否可通行之后，还包括：
    在所述障碍物不可通行的情况下，控制所述自移动设备向所述障碍物移动预设距离后改变行进方向，以避开所述障碍物。
  7. 根据权利要求1所述的自移动设备，其特征在于，所述基于所述传感信号确定所述障碍物相对于地面的高度数据之前，还包括：
    判断所述行进方向上是否存在所述障碍物。
  8. 根据权利要求7所述的自移动设备，其特征在于，所述线激光传感器安装位置位于所述自移动设备的前侧；所述判断所述行进方向上是否存在所述障碍物，包括：
    对于所述线激光传感器同一时刻发射的线激光，确定对所述线激光感应后得到的传感信号的变化情况是否满足预设条件，所述预设条件是根据所述线激光传感器扫描所述障碍物时获取到的传感信号确定的；
    在所述变化情况满足所述预设条件的情况下，确定所述行进方向上存在所述障碍物；
    在所述变化情况不满足所述预设条件的情况下，确定所述行进方向上不存在所述障碍物。
  9. 根据权利要求1所述的自移动设备，其特征在于，所述基于所述传感信号确定所述障碍物相对于地面的高度数据，包括：
    对于所述障碍物对所述线激光反射后得到的传感信号，确定所述传感信号中所述地面对应的突变信号和所述障碍物对应的突变信号之间的距离和相对位置；
    基于所述距离、所述相对位置和所述预设角度确定所述障碍物相对于地面的高度数据。
  10. 根据权利要求1所述的自移动设备，其特征在于，所述基于所述高度数据确定所述障碍物是否可通行之后，还包括：
    在所述障碍物可通行的情况下，在所述自移动设备的工作地图上将所述障碍物所在位置标记为可通行区域，以供所述自移动设备在所述障碍物所在的位置进行工作。
  11. 根据权利要求1-10任意一项所述的自移动设备，其特征在于，所述自移动设备还包括：与所述控制器相连的障碍物检测传感器；
    所述控制器还用于，基于所述障碍物检测传感器的检测信号判断行进方向上是否存在障碍物。
  12. 根据权利要求11任意一项所述的自移动设备，其特征在于，所述控制器还用于：在所述障碍物检测传感器检测出行进方向上存在障碍物的情况下，控制自移动设备向障碍物沿行进方向移动预设行进距离，以使障碍物位于线激光传感器120传感范围内；其中，所述预设行进距离小于自移动设备与障碍物之间的距离。
  13. 根据权利要求11任意一项所述的自移动设备，其特征在于，所述控制器还用于：获取自移动设备与障碍物之间的距离；基于自移动设备与障碍物之间的距离和所述线激光传感器的最佳采集距离确定所述预设行进距离。
  14. 一种自移动设备的障碍物检测方法，其特征在于，用于权利要求1至13任一所述的自移动设备中，所述方法包括：
    在所述自移动设备移动过程中，获取所述线激光传感器采集的传感信号；
    在所述自移动设备的行进方向上存在障碍物的情况下，基于所述传感信号确定所述障碍物相对于地面的高度数据；
    基于所述高度数据确定所述障碍物是否可通行。
  15. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如权利要求11所述的自移动设备的障碍物检测方法。
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