WO2023103515A1 - 自行走设备的控制方法、自行走设备和存储介质 - Google Patents

自行走设备的控制方法、自行走设备和存储介质 Download PDF

Info

Publication number
WO2023103515A1
WO2023103515A1 PCT/CN2022/119428 CN2022119428W WO2023103515A1 WO 2023103515 A1 WO2023103515 A1 WO 2023103515A1 CN 2022119428 W CN2022119428 W CN 2022119428W WO 2023103515 A1 WO2023103515 A1 WO 2023103515A1
Authority
WO
WIPO (PCT)
Prior art keywords
self
obstacle
information
propelled device
propelled
Prior art date
Application number
PCT/CN2022/119428
Other languages
English (en)
French (fr)
Inventor
韩馨宇
张瑞敏
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Publication of WO2023103515A1 publication Critical patent/WO2023103515A1/zh

Links

Images

Classifications

    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to the technical field of intelligent control, and in particular to a control method of a self-propelled device, a self-propelled device and a storage medium.
  • the embodiments of the present disclosure provide a control method for self-propelled equipment, a self-propelled equipment and a storage medium, so as to realize the classification and storage function of obstacles when the self-propelled equipment encounters obstacles, and expand the scope of self-propelled equipment. function.
  • the embodiment of the first aspect of the present disclosure provides a control method of self-propelled equipment, the control method includes:
  • Identify the category information of the obstacle on the walking path of the self-propelled device obtain the area information of the current location of the obstacle; based on the mismatch between the category information and the area information of the current location, control the self-propelled device to contact with the obstacle and perform the push operation , to move the obstacle to the area matching the category information.
  • the embodiment of the second aspect of the present disclosure provides a self-propelled device, including: a perception module, configured to identify the type information of obstacles on the walking path of the self-propelled device; the perception module is also used to: acquire the current The area information of the location; the control module is used to control the drive module to drive the self-propelled device to contact the obstacle and perform the push operation based on the mismatch between the category information and the area information of the current location, so as to push the obstacle to match the category information within the area.
  • a perception module configured to identify the type information of obstacles on the walking path of the self-propelled device
  • the perception module is also used to: acquire the current The area information of the location
  • the control module is used to control the drive module to drive the self-propelled device to contact the obstacle and perform the push operation based on the mismatch between the category information and the area information of the current location, so as to push the obstacle to match the category information within the area.
  • the embodiment of the third aspect of the present disclosure provides a self-propelled device, including a processor and a memory; the memory is used to store operation instructions; the processor is used to execute any one of the above first aspects by calling the operation instructions A control method for self-propelled equipment.
  • the embodiment of the fourth aspect of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method for controlling the self-propelled device of any one of the above-mentioned first aspects is implemented.
  • FIG. 1 is a schematic structural diagram of a self-propelled device according to an optional embodiment of the present disclosure
  • Fig. 2 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 1;
  • Fig. 3 is a partial exploded schematic diagram of the embodiment shown in Fig. 1;
  • FIG. 4 is a schematic flowchart of a control method for a self-propelled device according to an optional embodiment of the present disclosure
  • Fig. 5 is a schematic diagram of the electronic structure of a self-propelled device according to an optional embodiment of the present disclosure.
  • the embodiment of the present disclosure provides a possible application scenario, which includes a self-propelled device 10, specifically, the self-propelled device 10 includes a self-moving cleaning device, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, a vacuum cleaner, etc. . It can be understood that the self-propelled device 10 can also be other devices that meet the requirements. Among them, the embodiment of the present disclosure takes the self-propelled device 10 as a self-moving cleaning robot as an example for illustration.
  • the self-propelled device 10 usually uses host buttons and APP to control it to drive on a predetermined cleaning path to perform corresponding functional operations.
  • the self-propelled device 10 may include a machine body 110 , a perception module 120 , a control module 130 , a drive module 140 , a cleaning system 150 , an energy system 160 and a human-computer interaction module 170 .
  • the main body 110 of the machine includes a forward portion 111 and a rearward portion 112, which have an approximately circular shape (the front and rear are circular), and may also have other shapes, including but not limited to the approximate shape of the front and rear circles. D-shape and a rectangular or square shape at the front and rear.
  • the perception module 120 includes a position determining device 121 located on the main body 110 of the machine, a collision sensor and a proximity sensor arranged on the buffer of the forward part 111 of the main body 110 of the machine, and a sensor located at the bottom of the main body 110. Cliff sensors, as well as sensing devices such as magnetometers, accelerometers, gyroscopes, and odometers installed inside the main body 110 of the machine, are used to provide various position information and motion state information of the machine to the control module 130 .
  • the location determining device 121 includes but is not limited to a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor).
  • the forward part 111 of the main body 110 of the machine can carry a buffer.
  • the driving wheel module 141 pushes the self-propelled device 10 to walk on the ground.
  • the sensor detects one or more events in the travel path of the self-propelled device 10.
  • the self-propelled device 10 can pass through the events detected by the buffer, such as obstacles and walls, and control the driving module 140 to make the self-propelled device 10 respond to Events, such as moving away from obstacles to perform obstacle avoidance operations, etc.
  • the control module 130 is arranged on the main board of the main body 110 of the machine, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • a computing processor such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • the device uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM, full name Simultaneous Localization And Mapping), to draw an instant map of the environment where the self-propelled device 10 is located.
  • SLAM Simultaneous Localization and Mapping
  • the one-step action strategy enables the self-propelled device 10 to have better cleaning performance and user experience.
  • drive module 140 may steer machine body 110 across the ground based on drive commands having distance and angular information (eg, x, y, and theta components).
  • the driving module 140 includes a main driving wheel module 141, and the main driving wheel module 141 can control the left wheel and the right wheel at the same time.
  • the preferred main driving wheel module 141 includes a left driving wheel module and a right driving wheel module respectively.
  • Left and right drive wheel modules are positioned along a transverse axis defined by machine body 110 .
  • the self-propelled device 10 may include one or more driven wheels 142, and the driven wheels 142 include but not limited to universal wheels.
  • the main driving wheel module 141 includes road wheels, a driving motor and a control circuit for controlling the driving motor.
  • the main driving wheel module 141 can also be connected with a circuit for measuring driving current and an odometer.
  • the drive wheels may have an offset drop suspension system, be movably secured, eg rotatably attached, to the machine body 110 and receive a spring bias biased downward and away from the machine body 110 .
  • the spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the self-propelled device 10 also contact the ground with a certain pressure.
  • Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit.
  • the main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage.
  • the human-computer interaction module 170 includes buttons on the host panel, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator lamp and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.
  • the cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153 .
  • the dry cleaning system 151 may include a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
  • the dry cleaning system 151 may also include a side brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the area of the roller brush of the cleaning system 150 .
  • the wet cleaning system 153 may include: a cleaning head 1531 , a driving unit 1532 , a water delivery mechanism, a liquid storage tank, and the like.
  • the cleaning head 1531 can be arranged under the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transported to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned.
  • the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the plane to be cleaned, and the cleaning head 1531 cleans the plane by spreading the cleaning liquid evenly.
  • the cleaning head 1531 is used to clean the surface to be cleaned
  • the driving unit 1532 is used to drive the cleaning head 1531 to reciprocate substantially along the target surface, and the target surface is a part of the surface to be cleaned.
  • the cleaning head 1531 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 1531 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned .
  • the driving unit 1532 can also include a driving platform 1533 and a supporting platform 1534, the driving platform 1533 is connected to the bottom surface of the machine body 110 for providing driving force, and the supporting platform 1534 is detachably connected to the driving platform 1533 for The cleaning head 1531 is supported, and can be driven up and down by the driving platform 1533 .
  • the wet cleaning system 153 can be connected with the machine main body 110 through an active lifting module.
  • the cleaning robot stops at the base station to clean the cleaning head 1531 of the wet cleaning system 153 and fill the liquid storage tank; or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning system 153 , the wet cleaning system 153 is raised by the active lifting module.
  • an embodiment of the present disclosure provides a method for controlling a self-propelled device, including the following method steps.
  • Step S402 Identify the category information of obstacles located on the walking path of the self-propelled device.
  • the walking path is used to represent that the self-propelled device can move along the walking path.
  • the walking path may include the predetermined cleaning walking path of the self-propelled device, the monitoring walking path, the walking path to the pile, or other walking paths that meet the requirements, that is,
  • the walking device can drive along the walking path and at the same time perform cleaning operations, monitoring operations, or other operations such as charging through the charging piles that can reach the base station along the walking path.
  • the category information is used to represent the category of the obstacle, for example, the category of the obstacle may include clothes, dolls, books and so on.
  • the self-propelled device moves on the walking path, by identifying the type information of the obstacle on the walking path, the specific type of the obstacle can be known, so that the self-propelled device can perform corresponding operations according to the type of the obstacle.
  • the perception module of the self-propelled device also includes devices such as camera devices and/or structured light, so as to obtain the volume or shape parameters of obstacles, so as to identify the type information of obstacles, such as according to the volume or shape parameters of obstacles , determine that the obstacle is a doll, a sock, a jacket, a book, etc.
  • the camera device may include a ToF (Time-of-Flight, time-of-flight) lens, or other lenses that meet requirements.
  • ToF Time-of-Flight, time-of-flight
  • Step S404 Obtain the area information of the current location of the obstacle.
  • the self-propelled device can walk in a larger range, and the larger range includes multiple areas.
  • the larger range can be a home, and the multiple areas include cloakrooms, bedrooms, children's rooms, and study rooms. It can be understood that the larger range can also be other ranges that meet the requirements, such as shopping malls, supermarkets, and the like.
  • the current position is the position of the obstacle.
  • the area where the obstacle is currently located can be known, so that the self-propelled device can perform corresponding operations according to the area information of the current position of the obstacle.
  • the volume or shape parameters of other objects in the surrounding environment of the area can be obtained through the camera device of the perception module and/or structured light and other devices, so as to determine the area information of the current location, such as through the camera device and/or structure If devices such as light detect that the area includes a children's bed, it can be determined that the area is a children's room; This area can be identified as a cloakroom.
  • the walking range of the self-propelled device may be divided into areas in advance, and the current position information of the obstacle is obtained and compared with the position information of the divided area to determine the area where the current position of the obstacle is located.
  • Step S406 Based on the mismatch between the category information and the area information of the current location, control the self-propelled device to contact with the obstacle and perform a push operation, so as to push the obstacle into the area that matches the category information.
  • the category information of the obstacle when the category information of the obstacle does not match the area information of the current location, it means that the obstacle should not be placed in the area corresponding to the current location.
  • the category information of the obstacle indicates that the obstacle is clothing and socks.
  • the matching area should be a cloakroom, and the area information of the current location of the obstacle indicates that the area is a study, that is, the category information of the obstacle does not match the area information of the current location, that is, clothes and socks should not be placed in the study.
  • control the self-propelled device to contact with the obstacle and perform the push operation, and move the obstacle to the area matching the category information, such as pushing the clothes and socks to the cloakroom, so as to realize the classification and storage function of obstacles, and expand the The function of self-propelled equipment improves the user experience.
  • the category information of the obstacle matches the area information of the current location, it means that the obstacle should be placed in the area corresponding to the current location.
  • the category information of the obstacle indicates that the obstacle is clothing socks.
  • the area where the socks match should be a cloakroom, and the area information of the current location of the obstacle indicates that the area is a cloakroom, that is, the category information of the obstacle matches the area information of the current location, that is, the clothes and socks should be placed in the cloakroom.
  • the self-propelled device can drive the obstacle to continue walking along the current walking path, or continue walking along the current walking path after performing an obstacle avoidance operation.
  • the machine body of the self-propelled device is in contact with the obstacle, and during the movement of the self-propelled device, the obstacle is pushed to match the category information within the area.
  • the control method of the self-propelled equipment determines the type of the obstacle by identifying the type information of the obstacle on the walking path of the self-propelled equipment when the self-propelled equipment is traveling along the walking path , by obtaining the area information of the current position of the obstacle to determine the area where the obstacle is currently located, and then judge whether the type information of the obstacle matches the area information of the current position. If they do not match, it means that the obstacle should not be placed at the current position In the corresponding area, by controlling the contact between the self-propelled equipment and the obstacle and performing the push operation, the obstacle is pushed to the area that matches the category information, and then the classification and storage function of obstacles is realized, which expands the scope of the self-propelled equipment. function, which solves the problem of single function of self-propelled equipment and improves the user experience. At the same time, moving the obstacles to the corresponding area facilitates the user to sort out the obstacles, further improving the user satisfaction.
  • control method of the self-propelled device further includes the following method steps.
  • Step S408 Obtain force information of the obstacle after being in contact with the obstacle;
  • Step S410 Based on the force information being less than the preset threshold, control the self-propelled device to perform an object pushing operation, otherwise, control the self-propelled device to perform an obstacle avoidance operation.
  • the force information of the obstacle can represent the weight of the obstacle, that is, the gravity of the obstacle can be known by acquiring the force information of the obstacle after contact with the obstacle.
  • the force information is less than the preset threshold, it means that the weight and gravity of the obstacle are small, and the self-propelled device can push the obstacle, and then control the self-propelled device to perform the push operation, and the obstacle can be pushed to the In the area that matches the category information, the classification and storage function of obstacles is realized.
  • the force information is greater than or equal to the preset threshold, it means that the weight and gravity of the obstacle are large, and the self-propelled device cannot push the obstacle.
  • controlling the self-propelled equipment to perform obstacle avoidance operations that is, controlling the self-propelled equipment to avoid the obstacle and continue to move along the walking path, will help reduce the failure rate of the self-propelled equipment and prolong the use of the self-propelled equipment. Life, and to a greater extent save energy consumption, reduce the cost of use.
  • step S408 can be executed after the category information does not match the area information of the current location, that is, step S408, as one of the judging conditions for controlling the self-propelled setting to perform the pushing operation, should be performed before controlling the self-propelled setting to perform the pushing operation. completed prior to the physical manipulation steps.
  • the preset threshold can be associated with the maximum thrust of the self-propelled device.
  • the preset threshold can be smaller than the maximum thrust of the self-propelled device.
  • Other relationships with the maximum thrust value that meet the requirements may also be used, or the preset threshold may also be a fixed value.
  • the self-propelled device includes a collision sensor, and the collision sensor can be arranged on the buffer or at other positions that meet the requirements.
  • acquiring force information of obstacles may include the following specific methods and steps.
  • Step S408-1 Obtain the force information sensed by the collision sensor during contact with the obstacle.
  • the force information of the obstacle can be determined by acquiring the force information sensed by the collision sensor. Since the self-propelled equipment is in contact with the obstacle, in the process of pushing the obstacle forward, it will be subjected to the force of the obstacle acting on the self-propelled equipment, the force is proportional to the weight of the obstacle, and the magnitude of the force Can be detected by the collision sensor. Therefore, by obtaining the force information of the obstacle acting on the self-propelled equipment sensed by the collision sensor, the weight information of the obstacle can be determined, and then the force information of the obstacle can be determined. The detection is convenient, easy to implement, and the detection result is accurate and reliable. .
  • the collision sensor is a part of the original perception module of the self-propelled equipment, the force information of obstacles can be obtained without adding other detection devices, which simplifies the structure and can meet the needs of self-propelled equipment with compact structure and small volume. design needs.
  • a device for detecting force information of obstacles may also be separately provided on the self-propelled device to detect force information of obstacles.
  • control method of the self-propelled device further includes:
  • Step S412 Obtain map information; wherein, the map information includes area information of at least two areas, and the area information of any area is associated with more than one type information of obstacles.
  • the map information is used to characterize the larger range that the self-propelled device can walk.
  • the map information may be map information corresponding to the layout of the home, and when the self-propelled device is used for cleaning shopping malls, the map information may be map information corresponding to the layout of the shopping mall.
  • the self-propelled device can store real-time maps corresponding to a larger range that can be walked.
  • the map information includes area information of at least two areas, and the area information of any area is associated with more than one type information of obstacles, that is, the area information of each area is matched with the corresponding type information of obstacles , and the category information of obstacles can be one, two or more, that is, each area is used to store or accommodate at least one category of obstacles, and the corresponding relationship is stored in the self-propelled device.
  • the self-propelled device can analyze the type information of any obstacle and the current position Accurately judge whether the area information matches, so that the self-propelled device can accurately perform follow-up operations on the obstacle, wherein the follow-up operations may include pushing objects.
  • the map information can be divided into areas according to functions, such as cloakroom, bedroom, children's room, study, etc., where the area information and obstacles in the cloakroom are clothing, shoes, and hats.
  • the category information is associated and matched.
  • the area information of the children’s room matches the category information of dolls and children’s appliances
  • the area information of the study room matches the category information of books and stationery, and so on.
  • the number of regions can be two, three, four or other numbers that meet the requirements.
  • more than one obstacle type information can be associated with the area information of the same area.
  • the same area information can be associated with two types of obstacle type information, such as the area information of the children's room and the obstacle
  • the area information of the children's room can also be matched with the category information of books at the same time.
  • the book can also be associated with the area information of the study. That is to say, when one of the dolls, children's utensils, and books is in the area of the children's room, the self-propelled device may not perform the pushing operation. When the dolls and children's appliances are in the study area, the self-propelled device can perform the push operation, and when the book is in the study area, the self-propelled device may not perform the push operation.
  • the category information of the book can be associated with the area information of the study room, and can also be associated with the area information of the bedroom.
  • the self-propelled device may not perform the push operation.
  • the self-propelled device can perform a push operation, and push the book to an area in the bedroom or study based on the principle of proximity.
  • the category information of the doll it can be associated with the children's room.
  • the self-propelled device may not perform the push operation.
  • the self-propelled device may perform the push operation operate. It can be understood that step S412 should be completed before step S404, so that step S404 can obtain the area information of the current position of the obstacle.
  • the area information of any area is associated with obstacle category information, specifically including:
  • Any region corresponds to a label, and each label corresponds to a prior data set, wherein the types of obstacles corresponding to the prior data sets in the same label are the same.
  • the label of the area is the area information of the area, specifically, the label of the area may be attribute information of the area, for example, the label may be a children's room, a study room, a living room, and the like.
  • a plurality of prior data are stored in the database, and these prior data are classified according to regional labels to form a prior data set, that is, each region label corresponds to a prior data set.
  • the prior data corresponds to the attribute information of obstacles, that is, each prior data corresponds to different obstacles.
  • the prior data set in the same label can correspond to more than one obstacle, thereby realizing the regional
  • the area information is associated with the category information of obstacles.
  • the area information of the area is associated with the category information of obstacles, which does not require manual operation and is conducive to improving the intelligence of the self-propelled equipment.
  • the area information of any area is associated with more than one type of obstacle type information, specifically including:
  • the attribute information of the obstacle can represent the type of the obstacle, for example, the attribute information of the obstacle may be a book or a pen, and the corresponding type may be a type of stationery.
  • the interaction module manually adds the attributes of obstacles such as books and pens to the study in the map information, and then establishes the corresponding relationship between the area and the attributes of obstacles, such as establishing the corresponding relationship between the study and the book, and the study and the pen.
  • the attribute correspondence between the study room and other obstacles can be established, such as the attribute correspondence between the study room and toys. Therefore, more than one type of obstacles such as books, pens, and toys can be corresponding to the study area, that is, more than one type of obstacle corresponding to the attribute information in the same area information can be more than one type, and then the area information of the area can be realized. Associated with the category information of the obstacle. Among them, associating the area information of the area with the category information of obstacles in this way is conducive to enriching obstacle data and expanding the application range of this method.
  • the self-propelled device includes a sensing device, and the sensing device includes but is not limited to a position determining device, a proximity sensor, a cliff sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensors.
  • Sensing devices wherein, the position determining device includes but not limited to a camera, a laser distance measuring device (LDS, full name Laser Distance Sensor) and the like.
  • LDS laser distance measuring device
  • obtaining the map information includes the following method steps.
  • Step S412-1 Obtain map information according to the sensing information acquired by the perception module.
  • the map information is obtained through the sensing information obtained by the perception module.
  • the self-propelled device draws a real-time map through an LDS laser distance measuring device or other methods, which can accurately, quickly and conveniently obtain map information, that is, complete the real-time map.
  • the drawing and storage of information is easy to obtain and implement, and the instant map drawing results are accurate and reliable.
  • the LDS laser ranging device or other sensing devices are part of the original sensing module of the self-propelled equipment, it is possible to obtain map information without adding other sensing devices, that is, to complete instant map drawing, simplifying the structure, and enabling It meets the design requirements of compact structure and small volume of self-propelled equipment.
  • this method does not require human intervention, which improves the intelligence of the self-propelled equipment.
  • a device for obtaining map information may also be separately provided on the self-propelled device to obtain map information.
  • dividing the map information into at least two regions may include the following method steps.
  • Step S414-1 Divide the map information into at least two regions according to the division information acquired by the perception module.
  • the division information obtained by the perception module can divide the map information into at least two regions, such as the image information obtained by the self-propelled device through the camera, combined with the visual recognition method, it can reliably, quickly and accurately divide the map information Divide into at least two areas.
  • the camera device is a part of the original perception module of the self-propelled device, it is possible to obtain division information without adding other sensing devices to divide the map information into at least two areas, which simplifies the structure and meets the requirements of the self-propelled device. Design requirements for compact structure and small volume. Moreover, this method does not require human intervention, which improves the intelligence of the self-propelled equipment.
  • a device for acquiring division information may also be separately provided on the self-propelled device, so as to acquire the division information and divide the map information into at least two areas.
  • the self-propelled device includes a human-computer interaction module
  • the human-computer interaction module may include an input device.
  • the input device may be an input screen or an input interface of an external device, Wherein, the input screen is connected with the control system of the self-propelled device, and relevant information can be input through the input screen to realize the control or other operations of the self-propelled device.
  • the external device can be a mobile phone, a computer, or other electronic devices. Through the input interface, the external device can be communicated with the self-propelled device, so that the control or other operations on the self-propelled device can be realized through the external device.
  • obtaining the map information includes the following method steps.
  • Step S412-2 Obtain map information according to the input information acquired by the input device.
  • the map information is obtained through the input information obtained by the input device.
  • the user imports the map information through the input screen, so that the self-propelled device can obtain the map information according to the input information obtained by the input screen.
  • the user's mobile phone communicates with the self-propelled device through the input interface, and the user sets map information on the mobile phone, so that the self-propelled device can obtain the map information by obtaining the map information set on the mobile phone.
  • This method enables the user to flexibly set map information, that is, the map information can meet the user's needs for different walking ranges of the self-propelled device, expand the use function of the self-propelled device, and improve the user experience.
  • dividing the map information into at least two regions includes the following method steps.
  • Step S414-2 Divide the map information into at least two regions according to the division information acquired by the input device.
  • the division information obtained through the input device can divide the map information into at least two areas.
  • the user divides the map information through the input screen, and the self-propelled device obtains the division information input on the input screen, it can correspondingly The stored map information is divided into at least two regions.
  • the user's mobile phone communicates with the self-propelled device through the input interface, and the user divides the map information on the mobile phone, and the self-propelled device can correspondingly divide the stored map information into at least two parts by obtaining the division information set on the mobile phone. area.
  • This method enables the user to flexibly input division information, that is, the division information can meet the needs of the user for dividing map information into different regions, expand the use function of the self-propelled device, and improve the user experience.
  • the walking path includes a predetermined cleaning walking path, that is, the self-propelled device performs cleaning operations while traveling along the predetermined cleaning path.
  • the control method further includes step S416 or step S418.
  • step S416 control the self-propelled device to return to the current position, and continue to move along the predetermined cleaning path to perform the cleaning operation.
  • the self-propelled device is controlled to perform the push operation to push the obstacle into the area matching the category information, that is, after the obstacle is successfully classified and stored
  • the self-propelled device is controlled to return to the current position, wherein , the current position is the position of the obstacle before the moving operation is performed, that is, the position of the obstacle in an area that does not match its corresponding category information before the moving operation. That is to say, the self-propelled device is controlled to return to the position before the pushing operation.
  • the self-propelled device is controlled to continue to move along the predetermined cleaning walking path to perform the cleaning operation, so that the subsequent cleaning operation can be compared with the cleaning operation before the pushing operation.
  • the connection can ensure the integrity and accuracy of the cleaning operation, which is conducive to ensuring a good cleaning effect and improving user satisfaction.
  • the cleaning operation is not performed during the process of the self-propelled device moving from an area that matches the type information of the obstacle to an area that does not match the type information of the obstacle.
  • the execution sequence of cleaning operations is executed according to a predetermined cleaning walking path.
  • step S418 judge whether the area where the self-propelled device is currently located has been cleaned, if so, control the self-propelled device to move to the adjacent uncleaned area to restart the cleaning operation, otherwise, control the self-propelled device to start the cleaning operation.
  • the self-propelled device after the self-propelled device is controlled to perform the push operation to push the obstacle into the area matching the category information, that is, after the obstacle is successfully classified and stored, it is judged whether the area where the self-propelled device is currently located has been cleaned , that is, to judge whether the area matching the category information of the obstacle has been cleaned. If so, it indicates that the area has been cleaned, control the self-propelled equipment to move to the adjacent uncleaned area to restart the cleaning operation, that is, control the self-propelled equipment to move to the area adjacent to the area that has been cleaned and is In this way, the self-propelled equipment can perform cleaning operations nearby, shortening the distance of the self-propelled equipment without cleaning and only driving paths, which in turn helps to improve cleaning efficiency and save energy.
  • the self-propelled equipment When it is judged that the area where the self-propelled equipment is currently located is not cleaned, that is, the area has not been cleaned, the self-propelled equipment is controlled to start cleaning operations, and the area is cleaned to realize the nearby cleaning operation, which further shortens the self-propelled operation.
  • the equipment does not clean and only travels the distance of the path, which greatly improves the cleaning efficiency and saves energy.
  • An embodiment of the second aspect of the present disclosure provides a self-propelled device, including: a perception module 120, configured to identify the type information of obstacles on the walking path of the self-propelled device; the perception module 120 is also used to: acquire The area information of the current position of the obstacle; the control module 130 is used to control the drive module 140 to drive the self-propelled device to contact the obstacle and perform the push operation to push the obstacle to within the area that matches the category information.
  • a perception module 120 configured to identify the type information of obstacles on the walking path of the self-propelled device
  • the perception module 120 is also used to: acquire The area information of the current position of the obstacle
  • the control module 130 is used to control the drive module 140 to drive the self-propelled device to contact the obstacle and perform the push operation to push the obstacle to within the area that matches the category information.
  • the self-propelled device when the self-propelled device moves along the walking path, uses the sensing module 120 to identify the type information of the obstacle on the walking path of the self-propelled device to determine the type of the obstacle.
  • module 120 to obtain the area information of the current location of the obstacle to determine the area where the obstacle is currently located, and then the control module 130 judges whether the category information of the obstacle matches the area information of the current location, if not, it means that the obstacle should not Placed in the area corresponding to the current position, control the driving module 140 to contact the obstacle and perform the push operation, and push the obstacle to the area matching the category information, thereby realizing the classification and storage function of the obstacle.
  • the function of self-propelled equipment is expanded, the problem of single function of self-propelled equipment is solved, and the user experience is improved. At the same time, moving the obstacles to the corresponding area facilitates the user to sort out the obstacles, further improving the user satisfaction.
  • control module 130 can control the action of the driving module 140 to drive the self-propelled device 10 to move to contact with the obstacle and perform the push operation, or the control module 130 can control the action of the driving module 140 to drive the self-propelled device 10 The device 10 performs an obstacle avoidance operation.
  • the perception module 120 is also used to: acquire force information of the obstacle after contact with the obstacle; the control module is also used to: control the self-propelled device to perform the pushing operation based on the force information being less than a preset threshold , otherwise, control the self-propelled equipment to perform obstacle avoidance operations.
  • the sensing module 120 includes a collision sensor; the control module 130 is further configured to: acquire force information sensed by the collision sensor during contact with an obstacle.
  • the perception module 120 is further configured to: construct map information; wherein, the map information includes area information of at least two areas, and the area information of any area is associated with more than one type information of obstacles.
  • the self-propelled device further includes: a human-computer interaction module 170, configured to provide an interface for the user to add obstacle attribute information to any area information in the map information.
  • a human-computer interaction module 170 configured to provide an interface for the user to add obstacle attribute information to any area information in the map information.
  • the walking path includes a predetermined cleaning walking path
  • the control module 130 is also used for:
  • An embodiment of the present disclosure provides a self-propelled device, including a processor and a memory.
  • the memory stores computer program instructions that can be executed by the processor.
  • the processor executes the computer program instructions, the control of the self-propelled device in any embodiment is realized. method steps.
  • the self-propelled device can include a processing device 601 (such as a central processing unit, a graphics processing unit, etc.), which can be loaded into a random access memory according to a program stored in a read-only memory (ROM 602) or from a storage device 608. (RAM603) to execute various appropriate actions and processing. In RAM 603, various programs and data necessary for the operation of the electronic robot are also stored.
  • the processing device 601 , ROM 602 and RAM 603 are connected to each other through a bus 604 .
  • Input/output (I/O) interfaces are also connected to bus 604 .
  • the following devices can be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, sensing devices, etc.; an output device 607; a storage device 608 including, for example, a hard disk; and a communication device 609.
  • the communication means 609 may allow the cleaning device to communicate wirelessly or wiredly with other base stations to exchange data, for example, the communication means 609 may enable communication between the cleaning device and a base station or a remote mobile device. While FIG. 5 shows a self-propelled machine having various means, it should be understood that implementing or possessing all of the means shown is not a requirement. More or fewer means may alternatively be implemented or provided.
  • an embodiment of the present disclosure includes a robot software program product, which includes a computer program carried on a readable medium, and the computer program includes program code for executing the method shown in flowchart 4 .
  • the computer program may be downloaded and installed from a network via communication means 609 , or from storage means 608 , or from ROM 602 .
  • the processing device 601 the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.
  • the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two.
  • a computer-readable storage medium may be, for example but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM 603), read only memory (ROM 602), erasable Programmable read only memory (EPROM 602 or flash memory), fiber optics, portable compact disk read only memory (CD-ROM 602), optical storage devices, magnetic storage devices, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device .
  • Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.
  • the above-mentioned computer-readable medium may be included in the above-mentioned robot, or may exist independently without being incorporated into the robot.
  • Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or combinations thereof, including object-oriented programming languages such as Java, Small talk, C++, and conventional A procedural programming language such as the "c" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (such as via the Internet using an Internet service provider). connect).
  • LAN local area network
  • WAN wide area network
  • connect an external computer (such as via the Internet using an Internet service provider).
  • each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自行走设备（10）的控制方法、自行走设备（10）和存储介质，其中方法包括：识别位于自行走设备（10）的行走路径上的障碍物的类别信息(S402)；获取障碍物当前位置的区域信息(S404)；基于类别信息与当前位置的区域信息不匹配，控制自行走设备（10）与障碍物接触执行推物操作，以将障碍物推移至与类别信息相匹配的区域内(S406)。自行走设备（10）的控制方法使得自行走设备（10）在遇到障碍物时，能够实现障碍物的归类收纳功能，扩大了自行走设备（10）的功能。

Description

自行走设备的控制方法、自行走设备和存储介质
本申请要求2021年12月7日提交的中国专利申请号202111486130.7的优先权，该中国专利申请以其整体通过引用并入本文。
技术领域
本公开涉及智能控制技术领域，尤其涉及一种自行走设备的控制方法、自行走设备和存储介质。
背景技术
目前的自行走设备，如自移动清洁机器人，在执行清扫操作时，如遇到衣服、袜子、玩偶等障碍物时，通常会执行避障操作，功能较为单一。
发明内容
有鉴于此，本公开实施例提供一种自行走设备的控制方法、自行走设备和存储介质，以在自行走设备遇到障碍物时能够实现障碍物的归类收纳功能，扩大了自行走设备的功能。
本公开第一方面的实施例，提供了一种自行走设备的控制方法，控制方法包括：
识别位于自行走设备的行走路径上的障碍物的类别信息；获取障碍物当前位置的区域信息；基于类别信息与当前位置的区域信息不匹配，控制自行走设备与障碍物接触并执行推物操作，以将障碍物推移至与类别信息相匹配的区域内。
本公开第二方面的实施例，提供了一种自行走设备，包括：感知模块，用于识别位于自行走设备的行走路径上的障碍物的类别信息；感知模块还用于：获取障碍物当前位置的区域信息；控制模块，用于基于类别信息与当前位置的区域信息不匹配，控制驱动模块驱动自行走设备与障碍物接触并执行推物操作，以将障碍物推移至与类别信息相匹配的区域内。
本公开第三方面的实施例，提供了一种自行走设备，包括处理器和存储器；存储器，用于存储操作指令；处理器，用于通过调用操作指令，执行上述第一方面任一项的自行走设备的控制方法。
本公开第四方面的实施例，提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述第一方面任一项的自行走设备的控制方法。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为根据本公开的一个可选实施例的自行走设备的结构示意图；
图2为图1所示实施例的一个视角的结构示意图；
图3为图1所示实施例的部分爆炸示意图；
图4为根据本公开的一个可选实施例提供的自行走设备的控制方法的流程示意图；
图5为根据本公开的一个可选实施例提供的自行走设备的电子结构示意图。
主要附图标记说明如下：
10自行走设备，110机器主体，111前向部分，112后向部分，120感知模块，121位置确定装置，130控制模块，140驱动模块，141主驱动轮模块，142从动轮，150清洁系统，151干式清洁系统，152边刷，153湿式清洁系统，1531清洁头，1532驱动单元，1533驱动平台，1534支撑平台，160能源系统，170人机交互模块，601处理装置，602ROM，603RAM，604总线，605I/O接口、606输入装置，607输出装置，608存储装置，609通信装置。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能解释为对本公开的限制。
本公开实施例提供一种可能的应用场景，该应用场景包括自行走设备10，具体地，自行走设备10包括自移动清洁设备，例如扫地机器人、拖地机器人、扫拖一体机器人、吸尘器等等。可以理解的是，自行走设备10也可以为满足要求的其他设备。其中，本公开实施例以自行走设备10为自移动清洁机器人为例进行说明，自行走设备10通常利用主机按键和APP等控制其在既定的清扫路径上行驶以执行相应的功能操作。
进一步地，如图1和图2所示，自行走设备10可以包括机器主体110、感知模块120、控制模块130、驱动模块140、清洁系统150、能源系统160和人机交互模块170。
其中，如图2所示，机器主体110包括前向部分111和后向部分112，具有近似圆形 形状(前后都为圆形)，也可具有其他形状，包括但不限于前方后圆的近似D形形状及前方后方的矩形或正方形形状。
如图1所示，感知模块120包括位于机器主体110上的位置确定装置121、设置于机器主体110的前向部分111的缓冲器上的碰撞传感器、近距离传感器，设置于机器主体110下部的悬崖传感器，以及设置于机器主体110内部的磁力计、加速度计、陀螺仪、里程计等传感装置，用于向控制模块130提供机器的各种位置信息和运动状态信息。位置确定装置121包括但不限于摄像头、激光测距装置(LDS，全称Laser Distance Sensor)。
如图1所示，机器主体110的前向部分111可承载缓冲器，在清洁过程中驱动轮模块141推进自行走设备10在地面行走时，缓冲器经由设置在其上的传感器系统，例如红外传感器，检测自行走设备10的行驶路径中的一个或多个事件，自行走设备10可通过由缓冲器检测到的事件，例如障碍物、墙壁，而控制驱动模块140使自行走设备10来对事件做出响应，例如远离障碍物执行避障操作等。
控制模块130设置在机器主体110内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如即时定位与地图构建(SLAM，全称Simultaneous Localization And Mapping)，绘制自行走设备10所在环境中的即时地图。并且结合缓冲器上所设置的传感器、悬崖传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断自行走设备10当前处于何种工作状态、位于何位置，以及自行走设备10当前位姿等，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自行走设备10有更好的清扫性能和用户体验。
如图2所示，驱动模块140可基于具有距离和角度信息(例如x、y及θ分量)的驱动命令而操纵机器主体110跨越地面行驶。驱动模块140包含主驱动轮模块141，主驱动轮模块141可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选主驱动轮模块141分别包括左驱动轮模块和右驱动轮模块。左、右驱动轮模块沿着由机器主体110界定的横向轴设置。为了自行走设备10能够在地面上更为稳定地运动或者更强的运动能力，自行走设备10可以包括一个或者多个从动轮142，从动轮142包括但不限于万向轮。主驱动轮模块141包括行走轮和驱动马达以及控制驱动马达的控制电路，主驱动轮模块141还可以连接测量驱动电流的电路和里程计。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接到机器主体110，且接收向下及远离机器主体110偏置的弹 簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时自行走设备10的清洁元件也以一定的压力接触地面。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。
人机交互模块170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型自动自行走设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
清洁系统150可为干式清洁系统151和/或湿式清洁系统153。
如图2所示，本公开实施例所提供的干式清洁系统151可以包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。干式清洁系统151还可包括具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁系统150的滚刷区域中。
如图2和图3所示，本公开实施例所提供的湿式清洁系统153可以包括：清洁头1531、驱动单元1532、送水机构、储液箱等。其中，清洁头1531可以设置于储液箱下方，储液箱内部的清洁液通过送水机构传输至清洁头1531，以使清洁头1531对待清洁平面进行湿式清洁。在本公开其他实施例中，储液箱内部的清洁液也可以直接喷洒至待清洁平面，清洁头1531通过将清洁液涂抹均匀实现对平面的清洁。
其中，清洁头1531用于清洁待清洁表面，驱动单元1532用于驱动清洁头1531沿着目标面基本上往复运动的，目标面为待清洁表面的一部分。清洁头1531沿待清洁表面做往复运动，清洁头1531与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。
如图3所示，驱动单元1532还可以包括驱动平台1533和支撑平台1534，驱动平台1533连接于机器主体110底面，用于提供驱动力，支撑平台1534可拆卸的连接于驱动平台1533，用于支撑清洁头1531，且可以在驱动平台1533的驱动下实现升降。
其中，湿式清洁系统153可以通过主动式升降模组与机器主体110相连接。当湿式清 洁系统153暂时不参与工作，例如，清洁机器人停靠基站对湿式清洁系统153的清洁头1531进行清洗、对储液箱进行注水；或者遇到无法采用湿式清洁系统153进行清洁的待清洁表面时，通过主动式升降模组将湿式清洁系统153升起。
作为本公开的实施方式之一，如图4所示，本公开实施例提供了一种自行走设备的控制方法，包括如下方法步骤。
步骤S402：识别位于自行走设备的行走路径上的障碍物的类别信息。
其中，行走路径用于表征自行走设备可以沿行走路径移动，具体地，行走路径可以包括自行走设备的预定清扫行走路径、监控行走路径、到桩行走路径或满足要求的其他行走路径，即自行走设备可以沿行走路径行驶并同时可以进行清扫操作、监控操作，或者通过沿行走路径能够达到基站的充电桩进行充电等其他操作。类别信息用于表征障碍物的类别，如障碍物的类别可以包括衣物、玩偶、书本等。
当自行走设备在行走路径上移动时，通过识别行走路径上的障碍物的类别信息，可以知晓该障碍物的具体类别，进而便于自行走设备能够根据该障碍物的类别执行对应的操作。
具体地，自行走设备的感知模块还包括摄像装置和/或结构光等器件，以此来获得障碍物的体积或外形参数，以识别障碍物的类别信息，如根据障碍物的体积或外形参数，确定该障碍物为玩偶、袜子、外套、书本等。其中，摄像装置可以包括ToF(Time-of-Flight，飞行时间)镜头，或满足要求的其他镜头。
步骤S404：获取障碍物当前位置的区域信息。
其中，自行走设备可以在一个较大的范围内行走，该较大的范围包括多个区域，如较大的范围可以为居家室内，多个区域包括衣帽间、卧室、儿童房、书房等。可以理解的是，较大的范围也可以为满足要求的其他范围，如商场、超市等。
当前位置为障碍物所在的位置，通过获取障碍物当前位置的区域信息，能够知晓障碍物当前所在的区域，进而便于自行走设备能够根据该障碍物的当前位置的区域信息执行对应的操作。
具体地，可以通过感知模块的摄像装置和/或结构光等器件，来获得该区域的周围环境的其他物体的体积或外形参数，以确定当前位置的区域信息，如通过摄像装置和/或结构光等器件感测出该区域内包括儿童床，则可以确定该区域为儿童房；若通过摄像装置和/或结构光等器件感测出该区域内包括衣柜、多件展示的衣服时，则可确定该区域为衣帽间。或者，可以预先对自行走设备可行走的范围进行区域划分，通过获取障碍物的当前位置信息与已划分的区域的位置信息进行对比，以确定障碍物当前位置所在的区域。
步骤S406：基于类别信息与当前位置的区域信息不匹配，控制自行走设备与障碍物接触并执行推物操作，以将障碍物推移至与类别信息相匹配的区域内。
其中，当障碍物的类别信息与当前位置的区域信息不匹配，说明该障碍物不应该放置在当前位置对应的区域内，如障碍物的类别信息表征该障碍物为衣物袜子，与衣物袜子相匹配的区域应该为衣帽间，而障碍物当前位置的区域信息表征该区域为书房，即障碍物的类别信息与当前位置的区域信息不匹配，即衣物袜子不应该放置在书房内。因此，控制自行走设备与障碍物接触并执行推物操作，将障碍物移动至与类别信息相匹配的区域内，如将衣物袜子推移至衣帽间，进而实现障碍物的归类收纳功能，扩大了自行走设备的功能，提升了用户的使用体验。
可以理解的是，当障碍物的类别信息与当前位置的区域信息相匹配，说明该障碍物应该放置在当前位置对应的区域内，如障碍物的类别信息表征该障碍物为衣物袜子，与衣物袜子相匹配的区域应该为衣帽间，而障碍物当前位置的区域信息表征该区域为衣帽间，即障碍物的类别信息与当前位置的区域信息相匹配，即衣物袜子应该放置在衣帽间内。此时，自行走设备可以带动该障碍物继续沿当前行走路径行走，或者执行避障操作后继续沿当前行走路径行走。
具体地，控制自行走设备执行推物操作，可以为控制自行走设备移动，通过自行走设备的机器主体与障碍物接触，在自行走设备移动过程中，将障碍物推移至与类别信息相匹配的区域内。
也就是说，本公开实施例提供的自行走设备的控制方法，在自行走设备沿行走路径行驶时，通过识别位于自行走设备的行走路径上的障碍物的类别信息，以确定障碍物的类别，通过获取障碍物当前位置的区域信息，以确定障碍物当前所处的区域，然后判断障碍物的类别信息和当前位置的区域信息是否匹配，若不匹配，说明障碍物不应该放置在当前位置对应的区域内，通过控制自行走设备与障碍物接触并执行推物操作，将障碍物推移至与类别信息相匹配的区域内，进而实现障碍物的归类收纳功能，扩大了自行走设备的功能，解决了自行走设备功能单一的问题，提升了用户的使用体验。同时，将障碍物推移至对应的区域内，便于用户对障碍物进行整理操作，进一步提高了用户使用的满意度。
在本公开提供的一些可能实现的实施例中，自行走设备的控制方法还包括如下方法步骤。
步骤S408：在与障碍物接触后，获取障碍物的受力信息；
步骤S410：基于受力信息小于预设阈值，控制自行走设备执行推物操作，否则，控制 自行走设备执行避障操作。
在该实施例中，障碍物的受力信息能够表征障碍物的重量，即在与障碍物接触后，通过获取障碍物的受力信息能够知晓障碍物的重力。当受力信息小于预设阈值，说明障碍物的重量和重力较小，自行走设备能够推移该障碍物，进而控制自行走设备执行推物操作，能够可靠、准确、顺利地将障碍物推移至与类别信息相匹配的区域内，实现障碍物的分类收纳功能。当受力信息大于等于预设阈值，说明障碍物的重量和重力较大，自行走设备无法推移该障碍物，如果自行走设备坚持推移该障碍物，存在损坏自行走设备的可能性，或者存在浪费能耗的可行性，因此，控制自行走设备执行避障操作，即控制自行走设备避开该障碍物继续沿行走路径移动，有利于降低自行走设备的故障率，延长自行走设备的使用寿命，并较大程度的节省能耗，降低使用成本。
可以理解的是，步骤S408可以在基于类别信息与当前位置的区域信息不匹配后执行，即步骤S408作为控制自行走设置执行推物操作的判别条件之一，应先于控制自行走设置执行推物操作的步骤之前完成。
其中，预设阈值可以与自行走设备的最大推力相关联，如为了区别障碍物推移的可靠性和顺畅性，预设阈值可以小于自行走设备的最大推力值，可以理解的是，预设阈值也可以与最大推力值为满足要求的其他关系，或者，预设阈值也可以为定值。
在上述实施例中，自行走设备包括碰撞传感器，该碰撞传感器可以设置在缓存器上，或者设置在满足要求的其他位置上。其中，获取障碍物的受力信息可以包括如下具体方法和步骤。
步骤S408-1：获取碰撞传感器在与障碍物接触过程中感应到的作用力信息。
也就是说，当碰撞传感器在与障碍物接触过程中，通过获取碰撞传感器感应到的作用力信息，能够确定障碍物的受力信息。由于自行走设备在与障碍物接触后，向前推移障碍物的过程中，会受到障碍物作用于自行走设备的作用力，该作用力与障碍物的重量成正比，且该作用力的大小能够通过碰撞传感器检测到。因此，通过获取碰撞传感器感应到的障碍物作用于自行走设备的作用力信息，能够确定障碍物的重量信息，进而确定障碍物的受力信息，检测方便，易于实现，且检测结果准确、可靠。同时，由于碰撞传感器为自行走设备原有感知模块的一部分结构，使得无需增设其他检测装置即可实现障碍物的受力信息的获取，简化了结构，能够满足自行走设备结构紧凑、体积较小的设计需求。
可以理解的是，在本公开提供的其他实施例中，也可以在自行走设备上单独设置障碍物的受力信息的检测装置，以检测障碍物的受力信息。
在本公开提供的一些可能实现的实施例中，自行走设备的控制方法还包括：
步骤S412：获取地图信息；其中，地图信息中包含至少两个区域的区域信息，任一区域的区域信息关联有一种以上的障碍物的类别信息。
在该实施例中，地图信息用于表征自行走设备可以行走的较大范围，如较大的范围可以为居家室内，则地图信息用于表征居家室内的布局，也就是说，当自行走设备用于居家室内的清扫时，地图信息可以为居家室内的布局所对应的地图信息，当自行走设备为用于商场的清扫时，地图信息可以为商场的布局所对应的地图信息。通过获取地图信息，能够使自行走设备存储有可以行走的较大范围所对应的即时地图。
其中，地图信息中包含至少两个区域的区域信息，任一区域的区域信息关联有一种以上的障碍物的类别信息，也就是说，每个区域的区域信息匹配有对应的障碍物的类别信息，且障碍物的类别信息可以是一种、两种或多种，即每个区域用于存储或收纳至少一个类别的障碍物，该对应关系存储在自行走设备内。因此，通过地图信息中包含的至少两个区域的区域信息，且任一区域的区域信息关联有至少一种障碍物的类别信息，使得自行走设备能够对任一障碍物的类别信息和当前位置的区域信息是否匹配进行准确判断，进而便于自行走设备能够准确的对该障碍物进行后续操作，其中，后续操作可以包括推物操作。
具体地，以地图信息为居家室内为例，可以按照功能对地图信息进行区域划分，如划分为衣帽间、卧室、儿童房、书房等，其中，衣帽间的区域信息与障碍物为衣物鞋帽类别的类别信息相关联并匹配，儿童房的区域信息与障碍物为玩偶、儿童用具类别的类别信息相匹配，书房的区域信息与障碍物为书本文具类别的类别信息相匹配等等。其中，区域的数量可以为两个、三个、四个或满足要求的其他数量。
可以理解的是，对于同一区域的区域信息可以关联有一种以上的障碍物的类别信息，举例而言，同一区域信息可以关联有两种障碍物的类别信息，如儿童房的区域信息与障碍物为玩偶、儿童用具类别的类别信息相匹配，儿童房的区域信息也可以同时与书本的类别信息相匹配。同时，书本也可以与书房的区域信息关联。也就是说，当玩偶、儿童用具、书本中的一个处于儿童房的区域时，自行走设备可以不执行推物操作。当玩偶、儿童用具处于书房的区域时，自行走设备可以执行推物操作，当书本处于书房的区域时，自行走设备可以不执行推物操作。
可以理解的是，对于同一障碍物，其类别信息可以与不同的区域信息相关联，或者，可以与一个区域信息相关联。举例而言，对于书本，书本的类别信息可以与书房的区域信息关联，也可以与卧室的区域信息关联，当书本处于书房或卧室中的一个区域时，自行走 设备可以不执行推物操作，当书本处于客厅或厨房中的一个区域时，自行走设备可以执行推物操作，以就近原则，将书本推移至卧室和书房中的一个区域内。对于玩偶的类别信息，可以与儿童房关联，当玩偶处于儿童房的区域时，自行走设备可以不执行推物操作，当玩偶处于客厅或厨房中的一个区域时，自行走设备可以执行推物操作。可以理解的是，步骤S412应先于步骤S404完成，这样，以便于步骤S404获取障碍物当前位置的区域信息。
在本公开提供的一些可能实现的实施例中，任一区域的区域信息关联有障碍物的类别信息，具体包括：
任一区域对应一标签，每一标签对应一先验数据集，其中，同一标签中的先验数据集所对应的障碍物的种类相同。
其中，区域的标签即为区域的区域信息，具体地，区域的标签可以为区域的属性信息，如标签可以为儿童房、书房、客厅等。数据库中存储有多个先验数据，这些先验数据按照区域的标签进行分类形成先验数据集，即每一区域的标签对应有一个先验数据集。具体地，先验数据与障碍物的属性信息对应，即每个先验数据对应不同的障碍物，这样，同一标签中的先验数据集中可以对应一种以上的障碍物，进而实现了区域的区域信息与障碍物的类别信息相关联。其中，通过该种方式将区域的区域信息与障碍物的类别信息关联，不需要人工操作，有利于提高自行走设备的智能化。
可以理解的是，若获取到障碍物的属性信息与某一先验数据匹配，则确定该障碍物与该先验数据所在的先验数据集相匹配，即该障碍物的类别信息与该先验数据集映射的区域的标签相匹配。反之道理相同，不再一一赘述。
在本公开提供的另一些可能实现的实施例中，任一区域的区域信息关联有一种以上的障碍物的类别信息，具体包括：
基于接收到的针对地图信息中的任一区域信息添加障碍物的属性信息的命令，建立区域信息与障碍物的属性的对应关系。
其中，障碍物的属性信息能够表征障碍物的种类，如障碍物的属性信息可以为书本、钢笔，其对应的种类可以为文具种类。当接收到针对地图信息中的任一区域信息添加障碍物的属性信息的命令时，如用户在地图信息中的任一区域信息中添加障碍物的属性信息时，具体地，如用户通过人机交互模块，在地图信息中的书房中手动添加书本、钢笔等障碍物的属性，则建立区域与障碍物的属性的对应关系，如建立书房与书本、书房与钢笔的属性对应关系。基于上述同样的道理，可以建立书房与其他障碍物的属性对应关系，如书房与玩具的属性对应关系等。因此，使得书房区域中可以对应有书本、钢笔、玩具等一种以上 的障碍物，即同一区域信息中的属性信息所对应的障碍物的种类可以为一种以上，进而能够实现区域的区域信息与障碍物的类别信息相关联。其中，通过该种方式将区域的区域信息与障碍物的类别信息关联，有利于丰富障碍物数据，扩大本方法的使用范围。
在本公开提供的一些可能实现的实施例中，自行走设备包括感应装置，感应装置包括但不限于位置确定装置、近距离传感器，悬崖传感器、磁力计、加速度计、陀螺仪、里程计等传感装置，其中，位置确定装置包括但不限于摄像头、激光测距装置(LDS，全称Laser Distance Sensor)等。
其中，获取地图信息包括如下方法步骤。
步骤S412-1：根据感知模块获取到的感应信息获取地图信息。
在该实施例中，通过感知模块获取到的感应信息获取地图信息，如自行走设备通过LDS激光测距装置或其他方式绘制即时地图，能够准确、快速、方便地获取地图信息，即完成即时地图信息的绘制和存储，获取方便，易于实现，且即时地图的绘制结果准确、可靠。同时，由于LDS激光测距装置或其他感应装置为自行走设备原有感知模块的一部分结构，使得无需增设其他感应装置即可实现地图信息的获取，即完成即时地图的绘制，简化了结构，能够满足自行走设备结构紧凑、体积较小的设计需求。并且，该种方式无需人工干涉，提高了自行走设备工作的智能化。
可以理解的是，在本公开提供的其他实施例中，也可以在自行走设备上单独设置地图信息的获取装置，以获取地图信息。
在上述实施例中，将地图信息划分为至少两个区域可以包括如下方法步骤。
步骤S414-1：根据感知模块获取到的划分信息将地图信息划分为至少两个区域。
也就是说，通过感知模块获取到的划分信息能够将地图信息划分为至少两个区域，如自行走设备通过摄像头获得的图像信息，并结合视觉识别方式，能够可靠、快速、准确地将地图信息划分为至少两个区域。同时，由于摄像头装置为自行走设备原有感知模块的一部分结构，使得无需增设其他感应装置即可实现划分信息的获取以将地图信息划分为至少两个区域，简化了结构，能够满足自行走设备结构紧凑、体积较小的设计需求。并且，该种方式无需人工干涉，提高了自行走设备工作的智能化。
可以理解的是，在本公开提供的其他实施例中，也可以在自行走设备上单独设置划分信息的获取装置，以获取划分信息将地图信息划分为至少两个区域。
在本公开实施例提供的一些可能实现的实施例中，自行走设备包括人机交互模块，人机交互模块可以包括输入装置，具体地，输入装置可以为输入屏、或者外接设备的输入接 口，其中，输入屏与自行走设备的控制系统连接，通过输入屏可以输入相关信息以实现对自行走设备的控制或其他操作。外接设备可以为手机、电脑、或其他电子设备，通过输入接口，能够将外接设备与自行走设备通信连接，使得通过外接设备即可实现对自行走设备的控制或其他操作。
其中，获取地图信息包括如下方法步骤。
步骤S412-2：根据输入装置获取到的输入信息获取地图信息。
在该实施例中，通过输入装置获取到的输入信息获取地图信息，如用户通过输入屏导入地图信息，使得自行走设备根据输入屏获取到的输入信息即可获取地图信息。或者，用户的手机通过输入接口与自行走设备通信连接，用户在手机上设置地图信息，使得自行走设备通过获取手机上设置的地图信息即可获取地图信息。该种方式，使用户能够灵活的设置地图信息，即地图信息能够满足用户对自行走设备不同行走范围的需求，扩大了自行走设备的使用功能，提升了用户的使用体验。
在上述实施例中，将地图信息划分为至少两个区域包括如下方法步骤。
步骤S414-2：根据输入装置获取到的划分信息将地图信息划分为至少两个区域。
也就是说，通过输入装置获取到的划分信息能够将地图信息划分为至少两个区域，如用户通过输入屏对地图信息进行划分，自行走设备获取到输入屏输入的划分信息，即可对应地将存储的地图信息划分为至少两个区域。或者，用户的手机通过输入接口与自行走设备通信连接，用户在手机上对地图信息进行划分，自行走设备通过获取手机上设置的划分信息，即可对应地将存储的地图信息划分为至少两个区域。该种方式，使用户能够灵活的输入划分信息，即划分信息能够满足用户对地图信息进行不同区域划分的需求，扩大了自行走设备的使用功能，提升了用户的使用体验。
在本公开实施例提供的一些可能实现的实施例中，行走路径包括预定清扫行走路径，即自行走设备沿预定清扫路径边行驶、边执行清扫操作。在步骤S406之后，控制方法还包括步骤S416或步骤S418。
其中，步骤S416：控制自行走设备返回至当前位置处，并继续沿预定清扫行走路径移动执行清扫操作。
在该实施例中，当控制自行走设备执行推物操作以将障碍物推移至与类别信息相匹配的区域内之后，即将障碍物成功分类收纳后，控制自行走设备返回至当前位置处，其中，当前位置为障碍物在未进行推移操作之前的位置，即障碍物在未推移之前位于与其对应的类别信息不匹配的区域内的位置。也就是说，控制自行走设备返回至未进行推移操作之前 的位置，此时，控制自行走设备继续沿预定清扫行走路径移动执行清扫操作，使得后续的清扫操作与进行推移操作之前的清扫操作能够连接上，进而能够确保清扫操作执行的完整性和准确性，有利于保证良好的清扫效果，提高用户使用的满意度。
可以理解的是，在自行走设备由与障碍物的类别信息相匹配的区域移动至与障碍物的类别信息不匹配的区域的当前位置处的过程中，是不执行清扫操作的，即在该实施例中，清扫操作的执行顺序是按照预定清扫行走路径执行的。
其中，步骤S418：判断自行走设备当前所在的区域是否完成清扫，若是，控制自行走设备移动至相邻的未清扫区域重新开始执行清扫操作，否则，控制自行走设备开始执行清扫操作。
在该实施例中，在控制自行走设备执行推物操作以将障碍物推移至与类别信息相匹配的区域内之后，即将障碍物成功分类收纳后，判断自行走设备当前所在的区域是否完成清扫，即判断与障碍物的类别信息相匹配的区域是否完成清扫。若是，表明该区域已完成清扫，控制自行走设备移动至相邻的未清扫区域重新开始执行清扫操作，也就是说，控制自行走设备移动至与已完成清扫的该区域相邻的、且为未清扫的区域，并重新开始执行清扫操作，这样，使得自行走设备能够就近进行清扫操作，缩短了自行走设备不清扫仅行驶路径的距离，进而有利于提高清扫效率，节约能源。
在判断自行走设备当前所在的区域为未完成清扫的情况下，即该区域未完成清扫，则控制自行走设备开始执行清扫操作，对该区域进行清扫，实现就近清扫操作，进一步缩短了自行走设备不清扫仅行驶路径的距离，大大提高了清扫效率，节约能源。
本公开第二个方面的实施例，提供了一种自行走设备，包括：感知模块120，用于识别位于自行走设备的行走路径上的障碍物的类别信息；感知模块120还用于：获取障碍物当前位置的区域信息；控制模块130，用于基于类别信息与当前位置的区域信息不匹配，控制驱动模块140驱动自行走设备与障碍物接触并执行推物操作，以将障碍物推移至与类别信息相匹配的区域内。
本公开实施例提供的自行走设备，在自行走设备沿行走路径移动时，通过感知模块120来识别位于自行走设备的行走路径上的障碍物的类别信息，以确定障碍物的类别，通过感知模块120来获取障碍物当前位置的区域信息，以确定障碍物当前所处的区域，然后控制模块130判断障碍物的类别信息和当前位置的区域信息是否匹配，若不匹配，说明障碍物不应该放置在当前位置对应的区域内，控制驱动模块140自行走设备与障碍物接触并执行推物操作，将障碍物推移至与类别信息相匹配的区域内，进而实现障碍物的归类收纳功能， 扩大了自行走设备的功能，解决了自行走设备功能单一的问题，提升了用户的使用体验。同时，将障碍物推移至对应的区域内，便于用户对障碍物进行整理操作，进一步提高了用户使用的满意度。
可以理解的是，控制模块130可以通过控制驱动模块140动作，以驱动自行走设备10移动与障碍物接触并执行推物操作，或者，控制模块130可以通过控制驱动模块140动作，以驱动自行走设备10执行避障操作。
作为一种示例，感知模块120还用于：在与障碍物接触后，获取障碍物的受力信息；控制模块还用于：基于受力信息小于预设阈值，控制自行走设备执行推物操作，否则，控制自行走设备执行避障操作。
作为一种示例，感知模块120包括碰撞传感器；控制模块130还用于：获取碰撞传感器在与障碍物接触过程中感应到的作用力信息。
作为一种示例，所述感知模块120还用于：构建地图信息；其中，地图信息中包含至少两个区域的区域信息，任一区域的区域信息关联有一种以上的障碍物的类别信息。
作为一种示例，自行走设备还包括：人机交互模块170，用于提供接口供用户针对地图信息中的任一区域信息添加障碍物的属性信息。
作为一种示例，行走路径包括预定清扫行走路径，控制模块130还用于：
控制驱动模块140驱动自行走设备返回至当前位置处，并继续沿预定清扫行走路径移动执行清扫操作；或判断自行走设备当前所在的区域是否完成清扫，若是，控制驱动模块140驱动自行走设备移动至相邻的未清扫区域重新开始执行清扫操作，否则，控制自行走设备开始执行清扫操作。
本公开实施例提供了一种自行走设备，包括处理器和存储器，存储器存储有能够被处理器执行的计算机程序指令，处理器执行计算机程序指令时，实现任一实施例的自行走设备的控制方法的步骤。
如图5所示，自行走设备可以包括处理装置601(例如中央处理器、图形处理器等)，其可以根据存储在只读存储器(ROM602)中的程序或者从存储装置608加载到随机访问存储器(RAM603)中的程序而执行各种适当的动作和处理。在RAM603中，还存储有电子机器人操作所需的各种程序和数据。处理装置601、ROM602以及RAM603通过总线604彼此相连。输入/输出(I/O)接口也连接至总线604。
通常，以下装置可以连接至I/O接口605：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、感应装置等的输入装置606；包括例如液晶显示器(LCD)、扬声器、振动 器等的输出装置607；包括例如硬盘等的存储装置608；以及通信装置609。通信装置609可以允许清洁设备与其他基站进行无线或有线通信以交换数据，例如，通信装置609可以实现清洁设备与基站或远程移动设备之间的通信。虽然图5示出了具有各种装置的自行走设备，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为机器人软件程序。例如，本公开的实施例包括一种机器人软件程序产品，其包括承载在可读介质上的计算机程序，该计算机程序包含用于执行流程图4所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信装置609从网络上被下载和安装，或者从存储装置608被安装，或者从ROM602被安装。在该计算机程序被处理装置601执行时，执行本公开实施例的方法中限定的上述功能。
需要说明的是，本公开上述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以但不限于：电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM603)、只读存储器(ROM602)、可擦式可编程只读存储器(EPROM602或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM602)、光存储器件、磁存储器件、或者上述的任意合适的组合。
在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。
上述计算机可读介质可以是上述机器人中所包含的；也可以是单独存在，而未装配入该机器人中。
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的操作的计算机程序代码，上述程序设计语言包括面向对象的程序设计语言诸如Java、Small talk,C++，还 包括常规的过程式程序设计语言诸如“c”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。
在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，如包括局域网(LAN)或广域网(WAN)连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
最后应说明的是：以上实施例仅用以说明本公开的技术方案，而非对其限制。尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (16)

  1. 一种自行走设备的控制方法，其特征在于，所述控制方法包括：
    识别位于所述自行走设备的行走路径上的障碍物的类别信息；
    获取所述障碍物当前位置的区域信息；
    基于所述类别信息与所述当前位置的区域信息不匹配，控制所述自行走设备与所述障碍物接触并执行推物操作，以将所述障碍物推移至与所述类别信息相匹配的区域内。
  2. 根据权利要求1所述的自行走设备的控制方法，其特征在于，还包括：
    在与所述障碍物接触后，获取所述障碍物的受力信息；
    基于所述受力信息小于预设阈值，控制所述自行走设备执行所述推物操作，否则，控制所述自行走设备执行避障操作。
  3. 根据权利要求2所述的自行走设备的控制方法，其特征在于，所述自行走设备包括碰撞传感器，所述获取所述障碍物的受力信息，包括：
    获取所述碰撞传感器在与所述障碍物接触过程中感应到的作用力信息。
  4. 根据权利要求1所述的自行走设备的控制方法，其特征在于，还包括：
    获取地图信息；
    其中，所述地图信息中包含至少两个区域的区域信息，任一所述区域的区域信息关联有一种以上的障碍物的类别信息。
  5. 根据权利要求4所述的自行走设备的控制方法，其特征在于，任一所述区域对应一标签，每一标签对应一先验数据集，其中，同一所述标签中的所述先验数据集所对应的障碍物的种类相同。
  6. 根据权利要求4所述的自行走设备的控制方法，其特征在于，还包括：
    基于接收到的针对所述地图信息中的任一所述区域信息添加障碍物的属性信息的命令，建立所述区域与所述障碍物的属性的对应关系。
  7. 根据权利要求1至6中任一项所述的自行走设备的控制方法，其特征在于，所述行走路径包括预定清扫行走路径，在控制所述自行走设备与所述障碍物接触并执行推物操作，以将所述障碍物推移至与所述类别信息相匹配的区域内之后，所述控制方法还包括：
    控制所述自行走设备返回至所述当前位置处，并继续沿所述预定清扫行走路径执行清扫操作；或
    判断所述自行走设备当前所在的区域是否完成清扫，若是，控制所述自行走设备移动至相邻的未清扫区域重新开始执行清扫操作，否则，控制所述自行走设备开始执行清扫操 作。
  8. 一种自行走设备，其特征在于，包括：
    感知模块，用于识别位于所述自行走设备的行走路径上的障碍物的类别信息；
    还用于：获取所述障碍物当前位置的区域信息；
    控制模块，用于基于所述类别信息与所述当前位置的区域信息不匹配，控制驱动模块驱动所述自行走设备与所述障碍物接触并执行推物操作，以将所述障碍物推移至与所述类别信息相匹配的区域内。
  9. 根据权利要求8所述的自行走设备，其特征在于，
    所述感知模块还用于：在与所述障碍物接触后，获取所述障碍物的受力信息；
    所述控制模块还用于：基于所述受力信息小于预设阈值，控制所述自行走设备执行所述推物操作，否则，控制所述自行走设备执行避障操作。
  10. 根据权利要求9所述的自行走设备，其特征在于，
    所述感知模块包括碰撞传感器；
    所述控制模块还用于：获取所述碰撞传感器在与所述障碍物接触过程中感应到的作用力信息。
  11. 根据权利要求8所述的自行走设备，其特征在于，
    所述感知模块还用于：构建地图信息；
    其中，所述地图信息中包含至少两个区域的区域信息，任一所述区域的区域信息关联有一种以上的障碍物的类别信息。
  12. 根据权利要求11所述的自行走设备，其特征在于，任一所述区域对应一标签，每一标签对应一先验数据集，其中，同一所述标签中的所述先验数据集所对应的障碍物的种类相同。
  13. 根据权利要求11所述的自行走设备，其特征在于，还包括：
    人机交互模块，用于提供接口供用户针对所述地图信息中的任一所述区域信息添加障碍物的属性信息。
  14. 根据权利要求8至13中任一项所述的自行走设备，其特征在于，所述行走路径包括预定清扫行走路径，所述控制模块还用于：
    控制所述驱动模块驱动所述自行走设备返回至所述当前位置处，并继续沿所述预定清扫行走路径执行清扫操作；或
    判断所述自行走设备当前所在的区域是否完成清扫，若是，控制所述驱动模块驱动所 述自行走设备移动至相邻的未清扫区域重新开始执行清扫操作，否则，控制所述自行走设备开始执行清扫操作。
  15. 一种自行走设备，其特征在于，包括处理器和存储器；
    所述存储器，用于存储操作指令；
    所述处理器，用于通过调用所述操作指令，执行上述权利要求1至7中任一项所述的自行走设备的控制方法。
  16. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现上述权利要求1至7中任一项所述的自行走设备的控制方法。
PCT/CN2022/119428 2021-12-07 2022-09-16 自行走设备的控制方法、自行走设备和存储介质 WO2023103515A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111486130.7 2021-12-07
CN202111486130.7A CN114296447B (zh) 2021-12-07 2021-12-07 自行走设备的控制方法、装置、自行走设备和存储介质

Publications (1)

Publication Number Publication Date
WO2023103515A1 true WO2023103515A1 (zh) 2023-06-15

Family

ID=80964840

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/119428 WO2023103515A1 (zh) 2021-12-07 2022-09-16 自行走设备的控制方法、自行走设备和存储介质

Country Status (2)

Country Link
CN (1) CN114296447B (zh)
WO (1) WO2023103515A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114296447B (zh) * 2021-12-07 2023-06-30 北京石头世纪科技股份有限公司 自行走设备的控制方法、装置、自行走设备和存储介质

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004249389A (ja) * 2003-02-19 2004-09-09 Matsushita Electric Ind Co Ltd 物品管理システム
CN107877521A (zh) * 2017-11-06 2018-04-06 广西富迈科技有限公司 物品识别与处理方法、机器人终端及存储介质
TW201825037A (zh) * 2016-11-24 2018-07-16 南韓商Ｌｇ電子股份有限公司 移動式清掃機器人及其控制方法
US20180210445A1 (en) * 2017-01-25 2018-07-26 Lg Electronics Inc. Moving robot and control method thereof
CN108344414A (zh) * 2017-12-29 2018-07-31 中兴通讯股份有限公司 一种地图构建、导航方法及装置、系统
US20190332119A1 (en) * 2016-12-26 2019-10-31 Lg Electronics Inc. Mobile robot and method of controlling the same
CN110393482A (zh) * 2019-09-03 2019-11-01 深圳飞科机器人有限公司 地图处理方法以及清洁机器人
CN112155486A (zh) * 2020-09-30 2021-01-01 王丽敏 扫地机器人的控制方法和控制装置
CN112388639A (zh) * 2020-11-13 2021-02-23 盛铭睿 物品取放系统、方法、控制设备、机器人设备及存储介质
CN114296447A (zh) * 2021-12-07 2022-04-08 北京石头世纪科技股份有限公司 自行走设备的控制方法、装置、自行走设备和存储介质

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111481105A (zh) * 2020-04-20 2020-08-04 北京石头世纪科技股份有限公司 一种自行走机器人避障方法、装置、机器人和存储介质
CN111421553A (zh) * 2020-05-14 2020-07-17 小狗电器互联网科技（北京）股份有限公司 基于轮廓识别的机器人控制方法、存储介质及移动机器人
CN112346453A (zh) * 2020-10-14 2021-02-09 深圳市杉川机器人有限公司 机器人自动回充方法、装置、机器人和存储介质

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004249389A (ja) * 2003-02-19 2004-09-09 Matsushita Electric Ind Co Ltd 物品管理システム
TW201825037A (zh) * 2016-11-24 2018-07-16 南韓商Ｌｇ電子股份有限公司 移動式清掃機器人及其控制方法
US20190332119A1 (en) * 2016-12-26 2019-10-31 Lg Electronics Inc. Mobile robot and method of controlling the same
US20180210445A1 (en) * 2017-01-25 2018-07-26 Lg Electronics Inc. Moving robot and control method thereof
CN107877521A (zh) * 2017-11-06 2018-04-06 广西富迈科技有限公司 物品识别与处理方法、机器人终端及存储介质
CN108344414A (zh) * 2017-12-29 2018-07-31 中兴通讯股份有限公司 一种地图构建、导航方法及装置、系统
CN110393482A (zh) * 2019-09-03 2019-11-01 深圳飞科机器人有限公司 地图处理方法以及清洁机器人
CN112155486A (zh) * 2020-09-30 2021-01-01 王丽敏 扫地机器人的控制方法和控制装置
CN112388639A (zh) * 2020-11-13 2021-02-23 盛铭睿 物品取放系统、方法、控制设备、机器人设备及存储介质
CN114296447A (zh) * 2021-12-07 2022-04-08 北京石头世纪科技股份有限公司 自行走设备的控制方法、装置、自行走设备和存储介质

Also Published As

Publication number Publication date
CN114296447B (zh) 2023-06-30
CN114296447A (zh) 2022-04-08

Similar Documents

Publication Publication Date Title
EP4140381A1 (en) Obstacle avoidance method and apparatus for self-walking robot, robot, and storage medium
US20230305573A1 (en) Method for detecting obstacle, self-moving robot, and non-transitory computer readable storage medium
US20230200613A1 (en) Obstacle avoidance method for robot, obstacle avoidance device for robot, and non-transitory computer readable storage medium
EP3424395B1 (en) Method and apparatus for performing cleaning operation by cleaning device
EP3955027A1 (en) Detection method and apparatus, and mobile robot and storage medium
TWI789625B (zh) 一種清潔機器人及其控制方法
CN114468898B (zh) 机器人语音控制方法、装置、机器人和介质
US20200345191A1 (en) Self-propelled vacuum cleaner
US11330951B2 (en) Robot cleaner and method of operating the same
CN110136704B (zh) 机器人语音控制方法、装置、机器人和介质
TW202110379A (zh) 一種清潔機器人及其控制方法
CN109920424A (zh) 机器人语音控制方法、装置、机器人和介质
KR20140063119A (ko) 로봇 청소기와 로봇 청소기를 이용한 환경 정보 제공 방법
CN111990930B (zh) 一种测距方法、装置、机器人和存储介质
WO2023103515A1 (zh) 自行走设备的控制方法、自行走设备和存储介质
US20240053762A1 (en) Regional map drawing method and apparatus, medium, and electronic device
WO2023130704A1 (zh) 机器人的建图方法、装置、机器人和存储介质
TW202115516A (zh) 清掃機器人及其控制方法
CN217792839U (zh) 自动清洁设备
US20230393583A1 (en) Obstacle recognition information feedback method and apparatus, robot, and storage medium
CN113625700A (zh) 自行走机器人控制方法、装置、自行走机器人和存储介质
CN114608520A (zh) 一种测距方法、装置、机器人和存储介质
CN217982190U (zh) 自行走设备
CN115211763B (zh) 一种用于自动清洁设备的识别方法、设备及存储介质
CN116149307A (zh) 自行走设备及其避障方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22902940

Country of ref document: EP

Kind code of ref document: A1