WO2023103713A1 - 充电座的搜索方法、系统、自移动机器人和存储介质 - Google Patents

充电座的搜索方法、系统、自移动机器人和存储介质 Download PDF

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WO2023103713A1
WO2023103713A1 PCT/CN2022/131572 CN2022131572W WO2023103713A1 WO 2023103713 A1 WO2023103713 A1 WO 2023103713A1 CN 2022131572 W CN2022131572 W CN 2022131572W WO 2023103713 A1 WO2023103713 A1 WO 2023103713A1
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Prior art keywords
sub
target
area
search
charging stand
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PCT/CN2022/131572
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English (en)
French (fr)
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高斯
丘伟楠
田丰溥
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追觅创新科技(苏州)有限公司
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Publication of WO2023103713A1 publication Critical patent/WO2023103713A1/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
    • A47L11/02—Floor surfacing or polishing machines
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • 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
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the invention belongs to the technical field of robots, and in particular relates to a search method and system for a charging stand, a self-moving robot and a storage medium.
  • the sweeper Based on the existing technology, the sweeper often needs to return to the charging station but cannot find the location information of the charging station. In this case, the sweeper does not know the location of the charging station.
  • the existing sweeper detects the signal of the charging station by random walking. Search efficiency is low. Moreover, due to the obstruction of nearby obstacles, the efficiency of charging station search is further reduced, resulting in the sweeper being unable to plan an effective search route to the charging station.
  • the reason for the correction is that the search strategy used is not reasonable and accurate enough, which leads to defects such as low search success rate and slow search speed when the device searches for the charging stand.
  • the technical problem to be solved by the present invention is that the search strategy adopted when searching for the charging stand based on the prior art is not reasonable and accurate enough, resulting in low search success rate and slow search speed.
  • the present invention provides a search method for a charging stand, including: obtaining the target distance between each position point in the target area and the obstacle; wherein, the target distance is the distance between the position point and different obstacles The minimum value of the separation distance between them; according to the target separation distance of each position point relative to the obstacle, the target area is divided into a plurality of sub-areas; wherein, the target separation distance of the position points contained in the same sub-region relative to the obstacle Same; according to preset screening rules, select a first sub-area that meets the requirements from the plurality of sub-areas; control the target device to search for the charging stand in the first sub-area.
  • obtaining the target separation distance between each location point in the target area and the obstacle includes: acquiring map data of the target area; determining obstacles in the target area according to the map data of the target area; calculating the target area The separation distance between each location point and different obstacles in ; from the separation distance between each location point and different obstacles, the distance with the smallest value is selected to obtain the target separation distance of each location point relative to obstacles.
  • screening the first sub-area that meets the requirements from the plurality of sub-areas includes: determining the matching first search distance; calculating the target interval corresponding to the plurality of sub-areas The difference value between the distance and the first search distance; from the plurality of sub-regions, select the sub-region whose corresponding difference value between the target separation distance and the first search distance is less than a preset difference threshold as the first sub-region meeting the requirements.
  • determining the matching first search distance includes: selecting the target separation distance with the largest numerical value from the target separation distances corresponding to the multiple sub-areas as a reference distance; calculating according to the search coefficient and the reference distance The first search distance.
  • controlling the target device to search for the charging stand in the first sub-area includes: determining the current location of the target device; and generating Covering the first search path of the first sub-area; controlling the target device to move along the first search path; and searching for a target signal; wherein the target signal is a signal sent by the charging stand.
  • the method further includes: The filtering rule is used to filter out the second sub-area from the remaining sub-areas; and the target device is controlled to search for the charging stand in the second sub-area.
  • screening out the second sub-area from the remaining sub-areas includes: calculating the target separation distance corresponding to the first sub-area and the target separation distance corresponding to the remaining sub-areas The gradient value; according to the gradient value, the second sub-region that meets the requirements is selected from the remaining sub-regions.
  • the target device includes at least one of the following: a sweeper, a mopping machine, and a monitoring robot.
  • the present invention also provides a search system for a charging stand, including: an acquisition module, configured to acquire the target distance between each position point in the target area and the obstacle; wherein, the target distance is the distance between the position point and different obstacles The minimum value of the interval distance between; the division module is used to divide the target area into multiple sub-areas according to the target interval distance of each position point relative to the obstacle; wherein, the position points contained in the same sub-area are relatively obstacle The distance between objects is the same; the screening module is used to screen out the first sub-area that meets the requirements from the plurality of sub-areas according to the preset screening rules; the search module is used to control the target device in the first sub-area Search for charging docks in the area.
  • the present invention also provides a self-moving robot, including: a robot body; a controller disposed on the robot body; wherein, the controller is used to: obtain the target distance between each position point in the target area and the obstacle ; Wherein, the target separation distance is the minimum value of the separation distance between the position point and different obstacles; according to the target separation distance of each position point relative to the obstacle, the target area is divided into a plurality of sub-regions; wherein, the same The position points contained in the sub-areas have the same target distance with respect to the obstacle; according to the preset screening rules, the first sub-area that meets the requirements is selected from the plurality of sub-areas; the self-mobile robot is controlled in the first sub-area. Search for charging docks in the subarea.
  • the present invention also provides a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed, relevant steps of the searching method for the charging stand are realized.
  • the self-mobile robot when the self-mobile robot searches for the charging stand, it can first obtain and divide the target area into multiple target intervals corresponding to the target intervals according to the target interval distances of each position point in the target area relative to the obstacle. Multiple sub-areas; wherein, the position points contained in the same sub-area have the same target distance from the obstacle, and the target distance is the minimum distance between the position point and different obstacles; then according to the preset Screening rules to select the first sub-area that meets the requirements from multiple sub-areas; and then control the target device to move in the first sub-area and search for the charging stand in a targeted manner, thereby avoiding blind and ineffective searches.
  • a more reasonable search strategy can efficiently search for the charging stand in the target area, improving the search success rate and search efficiency of the charging stand.
  • FIG. 1 is a schematic flowchart of a search method for a charging stand provided by an embodiment of the present invention
  • Fig. 2 is a schematic diagram of an embodiment of a search method for a charging stand provided by an embodiment of the present invention applied in a specific scene example;
  • Fig. 3 is a schematic diagram of an embodiment of a search method for a charging stand provided by an embodiment of the present invention applied in a specific scene example;
  • Fig. 4 is a schematic diagram of the structural composition of the search system of the charging stand provided by the embodiment of the present invention.
  • Fig. 5 is a schematic diagram of the structural composition of the self-mobile robot provided by the embodiment of the present invention.
  • orientation words such as “upper, lower, top, bottom” usually refer to the directions shown in the drawings, or refer to the vertical, In terms of vertical or gravitational direction; 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 invention.
  • the embodiment of this specification provides a search method for a charging stand. As shown in FIG. 1 , when the method is implemented specifically, the following contents may be included.
  • S101 Obtain the target separation distance of each location point in the target area relative to the obstacle; wherein, the target separation distance is the minimum value of the separation distance between the location point and different obstacles;
  • S102 Divide the target area into a plurality of sub-areas according to the target separation distance of each position point relative to the obstacle; wherein, the target separation distances of the position points contained in the same sub-area relative to the obstacle are the same;
  • S103 According to preset screening rules, select a first sub-area that meets requirements from the plurality of sub-areas;
  • S104 Control the target device to search for a charging stand in the first sub-area.
  • the above charging stand search method can be specifically applied to a target device that can move by itself.
  • the above-mentioned target device may specifically include at least one of the following: a sweeper, a mopping machine, a monitoring robot, and the like.
  • the target devices listed above are only schematic illustrations.
  • the above-mentioned target devices may also include inspection robots, nanny robots, and the like. In this regard, this specification does not make a limitation.
  • the above-mentioned target area may specifically be understood as an area where a charging stand is arranged.
  • the aforementioned target area may be a room to be cleaned.
  • the target device may be a sweeper.
  • a charging stand is arranged at the corner of the room.
  • the above-mentioned charging stand is set to send signals to real-time pairs.
  • the signal may carry a data identifier for indicating the charging stand.
  • Obstacles may also exist in the aforementioned target area. Wherein, the above obstacles can be specifically understood as objects that the target device cannot pass through.
  • the above-mentioned obstacles may specifically be walls around the room to be cleaned, sofas arranged in the room, and the like.
  • the obstacles listed above are only a schematic illustration.
  • the above-mentioned obstacles may also include other types of obstacles. In this regard, this specification does not make a limitation.
  • the aforementioned position point may specifically be a corresponding grid in the target area.
  • the aforementioned target separation distance may specifically be the minimum value of the separation distance between the location point and different obstacles in the target area.
  • a certain location point X may specifically be a grid X in the target area.
  • the distance between the position point X and the right wall is 2, the distance between the position X and the wall above is 3, the distance between the sofa and the sofa is 2, the distance between the point X and the left wall is 8, and the distance between the point X and the bottom
  • the separation distance between walls is 12. Therefore, the target separation distance between the position point X and the obstacle can be determined as the minimum 2 of the separation distance.
  • the target device when the target device detects that the remaining power is less than the preset threshold power, it can automatically trigger to search for the charging stand in the target area, so as to move to the charging stand for automatic charging.
  • the target device may also trigger to search for the charging stand in the target area when receiving the charging instruction sent by the user through the terminal device.
  • the above acquisition of the target separation distance between each position point in the target area and the obstacle may include the following content during specific implementation:
  • S2 Determine the obstacles in the target area according to the map data of the target area
  • S4 Select the distance with the smallest numerical value from the distances between each position point and different obstacles, and obtain the target distance between each position point and the obstacle.
  • the target device may search locally and obtain a multiplexed map of the target area as the map data of the target area.
  • the target device may also send a map acquisition request about the target area to the cloud server, and acquire the map data of the target area through the cloud server.
  • the above map data may specifically include a grid map of the target area.
  • the target device may search the map data stored in the local cache according to the area identifier of the target area to obtain the map data of the target area.
  • the target device may first detect and identify the map data of the target area, so as to determine each obstacle existing in the target area in the map data (for example, a map Image regions in the data that are marked gray). Further, based on the map data of the target area, the separation distance (for example, vertical distance) between the position point (for example, the passable grid in the map data) and each obstacle in the target area can be calculated; For the numerical comparison of the separation distance, the separation distance with the smallest value is selected from the separation distance between the position point and each obstacle as the target separation distance of the position point relative to the obstacle.
  • the separation distance for example, vertical distance
  • the separation distance with the smallest value is selected from the separation distance between the position point and each obstacle as the target separation distance of the position point relative to the obstacle.
  • the target device may divide the target area into multiple sub-areas according to the target distance between each position point and the obstacle. Wherein, the position points contained in the same sub-area have the same target distance with respect to the obstacle.
  • the target device may divide the location points included in the target area into multiple groups according to the target separation distance; wherein, each group contains one or more location point. Then, the area formed by the position points included in each group in the target area is determined as the corresponding sub-area. Thus, multiple sub-regions can be divided.
  • the target area can be divided into five sub-areas, which can be respectively recorded as: sub-area 1, sub-area 2, sub-area 3, sub-area 4, and sub-area 5.
  • sub-area 1 only contains the position points with target separation distance of 1 (the position points marked as 1 in the figure)
  • sub-region 2 only contains position points with target separation distance of 2 (the position points marked as 2 in the figure)
  • sub-area 3 only contains the location points with a target separation distance of 3 (the location points marked as 3 in the figure)
  • sub-area 4 only contains the location points with a target separation distance of 4 (the location points marked as 4 in the figure )
  • the sub-area 5 only contains the location points with a target separation distance of 5 (the location points marked as 5 in the figure).
  • the target separation distance corresponding to the sub-area can be used for identification.
  • the first sub-region that meets the requirements is selected from the plurality of sub-regions according to the preset screening rules, and the specific implementation may include the following content:
  • S3 Select a sub-area whose corresponding difference between the target separation distance and the first search distance is less than a preset difference threshold from the plurality of sub-areas as the first sub-area meeting the requirements.
  • the above-mentioned first sub-area may specifically be understood as an area that needs to be moved and covered that is determined when the charging stand is searched for the first time.
  • the aforementioned preset difference threshold may be determined according to specific accuracy requirements.
  • a relatively reasonable first sub-area can be determined for the first charging stand search, which can better take into account various factors, and shorten the moving path distance during the search while ensuring the success rate of the search. It avoids the fact that the moving path distance that exists when searching directly along the wall is too long, which effectively improves the search efficiency.
  • the matching first search distance may be determined according to a preset search strategy.
  • the above-mentioned determination of the matching first search distance may include: selecting the target separation distance with the largest numerical value from the target separation distances corresponding to multiple sub-regions as a reference distance; according to the search coefficient and the reference distance to calculate the first search distance.
  • the value of the above search coefficient can be specifically determined according to the signal strength of the signal transmitted by the charging stand and the area of the target area.
  • the overall search success rate and search efficiency can be taken into consideration at the same time, and a relatively reasonable search coefficient can be obtained.
  • the target interval distance with the largest numerical value is 5 as the reference distance; and the search coefficient obtained is 0.4. Then, the product of the reference separation distance and the search coefficient is calculated to be 2, which is used as the first search distance. Furthermore, the sub-area 2 whose difference value between the target separation distance and the above-mentioned first search distance is smaller than the preset difference threshold (or the difference value is the smallest) can be selected from the plurality of sub-areas as the first sub-area meeting the requirements.
  • the above-mentioned preset search model may specifically be a neural network model constructed by learning and training historical search records in advance and being able to automatically find the first search distance while taking into account the overall search success rate and search efficiency. .
  • the aforementioned control of the target device to search for the charging stand in the first sub-area may include the following content during specific implementation: determining the current location of the target device; and according to the current location of the target device, the first sub-area and the map data of the target area to generate a first search path covering the first sub-area; control the target device to move along the first search path; and search for a target signal; wherein the target signal is a signal sent by the charging stand.
  • the target device can invoke a preset movement path generation algorithm to generate a mobile path that can move and cover the first sub-area by using the current location of the target device, the first sub-area, and the map data of the target area.
  • the moving path with the smallest moving path distance is used as the above-mentioned first search path.
  • the first search path may specifically be a movement path that can pass through each location point included in the first sub-area.
  • the target device can move along the first search path by controlling the moving parts (for example, wheels arranged at the bottom of the sweeper) according to the first search path, so as to move and cover the first sub-area; In the process of moving, the target device will also collect the collected signals in real time or regularly by controlling the signal transceiver, and detect whether the collected signals carry the identification information of the charging stand to determine whether the charging stand is found The target signal emitted.
  • the moving parts for example, wheels arranged at the bottom of the sweeper
  • the target device retrieves the target signal
  • the target device has found the charging stand.
  • the target device may stop moving along the first search path, and perform corresponding target data processing. For example, the target device moves to a charging stand and is automatically charged.
  • the target device determines the location information of the charging stand, marks the charging stand in the map data, completes updating the map data, and so on.
  • the target device In the case that the target device does not retrieve the target signal, the target device will always move along the first search path and search for the target signal until the target signal is found, or the movement covers all position point.
  • the target device after the target device is controlled to move along the first search path and search for the target signal, if it is determined that no target signal is found in the first sub-area, when the method is specifically implemented, it may also be Include the following:
  • S1 According to preset screening rules, filter out the second sub-area from the remaining sub-areas;
  • the above-mentioned second sub-area can be specifically understood as an area that needs to be moved and covered during the second search for the charging stand.
  • the second sub-area is screened out from the remaining sub-areas according to the preset screening rules.
  • the following content may be included: calculating the target distance corresponding to the first sub-area and the remaining The gradient value of the target interval distance corresponding to the sub-region; according to the gradient value, a second sub-region that meets the requirements is selected from the remaining sub-regions.
  • the second sub-region with better effect can be determined more efficiently.
  • the sub-region with the smallest difference between the corresponding target separation distance and the target separation distance corresponding to the first sub-region can also be selected from the remaining sub-regions as the second sub-region. Second sub-region.
  • the target device can update the current location point of the target device; data, and generate a second search path covering the second sub-area; then control the target device to move along the second search path, and search for the target signal.
  • the above method can be repeated to determine the third sub-area, the fourth sub-area, etc. to search until the target signal is found and the charging stand is found.
  • the target device such as a sweeper searches for the charging stand, it can first obtain and divide the target area according to the target distance between each position point in the target area and the obstacle. is a plurality of sub-regions corresponding to multiple target separation distances; wherein, the target separation distances of the position points contained in the same sub-region relative to obstacles are the same, and the target separation distance is the distance between the position points and different obstacles The minimum value of the distance; then according to the preset screening rules, select the first sub-area that meets the requirements from multiple sub-areas; and then control the target device to move and search for the charging stand in the first sub-area in a targeted manner, thereby It is possible to search for the charging stand more efficiently and intelligently, while ensuring the search success rate, shorten the search moving path distance as much as possible, improve the overall search success rate and search efficiency, and enable users to obtain a better user experience.
  • This embodiment provides a search system for a charging stand.
  • the system at least includes an acquisition module 401 , a division module 402 , a screening module 403 and a search module 404 .
  • the obtaining module 401 can be specifically used to obtain the target separation distance between each position point in the target area and the obstacle; wherein, the target separation distance is the minimum value of the separation distance between the position point and different obstacles;
  • the dividing module 402 can be specifically configured to divide the target area into a plurality of sub-areas according to the target distance between each position point and the obstacle; wherein, the target distance between the position points and the obstacle contained in the same sub-area is the same ;
  • the screening module 403 can be specifically configured to screen out the first sub-area that meets the requirements from the plurality of sub-areas according to preset screening rules;
  • the searching module 404 may specifically be configured to control the target device to search for the charging stand in the first sub-area.
  • the acquisition module 401 when the acquisition module 401 is specifically implemented, it can be used to acquire the target distance between each position point in the target area and the obstacle in the following manner: acquire the map data of the target area; according to the map data of the target area , determine the obstacles in the target area; calculate the distance between each position point in the target area and different obstacles; filter out the distance with the smallest value from the distance between each position point and different obstacles, Obtain the target separation distance of each location point relative to the obstacle.
  • the screening module 403 when the screening module 403 is implemented, it can be used to select the first sub-area that meets the requirements from the plurality of sub-areas according to the preset screening rules in the following manner: determine the matching first sub-area A search distance; calculate the difference value between the target separation distance and the first search distance corresponding to the multiple sub-regions; filter out the difference value between the corresponding target separation distance and the first search distance from the multiple sub-regions is less than the preset difference
  • the sub-area of the threshold is regarded as the first sub-area that meets the requirements.
  • the matching first search distance can be determined in the following manner: select the target separation distance with the largest numerical value from the target separation distances corresponding to multiple sub-regions, as a reference Distance; calculate the first search distance according to the search coefficient and the reference distance.
  • the target device when the search module 404 is specifically implemented, can be controlled to search for the charging stand in the first sub-area in the following manner: determine the current location of the target device; and according to the current location of the target device, the second A sub-area and map data of the target area, generating a first search path covering the first sub-area; controlling the target device to move along the first search path; and searching for a target signal; wherein the target signal is sent by the charging stand Signal.
  • the target device after the target device is controlled to move along the first search path and search for the target signal, if it is determined that no target signal is found in the first sub-area, when the screening module 403 is specifically implemented,
  • the second sub-area can also be screened out from the remaining sub-areas according to a preset screening rule; the target device is controlled to search for the charging stand in the second sub-area.
  • the second sub-area can be screened out from the remaining sub-areas according to the preset screening rules in the following manner: calculate the target distance corresponding to the first sub-area and The gradient value of the target separation distance corresponding to the remaining sub-regions; according to the gradient value, a second sub-region meeting the requirements is selected from the remaining sub-regions.
  • the target device may specifically include at least one of the following: a sweeper, a mopping machine, a monitoring robot, and the like.
  • the units, devices, or modules described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions.
  • functions are divided into various modules and described separately.
  • the functions of each module can be implemented in one or more pieces of software and/or hardware, and modules that implement the same function can also be implemented by a combination of multiple sub-modules or sub-units.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the charging stand can be intelligently and efficiently searched in the target area, and the search success rate and search efficiency of the charging stand are improved.
  • the embodiment of this specification also provides a self-moving robot, as shown in FIG. 5 , at least including: a robot body 501 and a controller 502 , and the controller 502 is arranged on the robot body 501 .
  • the controller 502 can be specifically configured to: obtain the target separation distance between each location point in the target area and the obstacle; wherein, the target separation distance is the minimum value of the separation distance between the location point and different obstacles ; Divide the target area into a plurality of sub-areas according to the target separation distance of each position point relative to the obstacle; wherein, the target separation distances of the position points contained in the same sub-region relative to the obstacle are the same; according to the preset screening rules , selecting a first sub-area that meets requirements from the plurality of sub-areas; controlling the self-mobile robot to search for a charging stand in the first sub-area.
  • the above self-mobile robot may specifically include moving parts and a signal transceiver 503 .
  • the controller 502 can control the moving parts to make the self-mobile robot move in the first sub-area; and during the movement, the controller 502 can also use a control signal transceiver to search for the target signal sent by the charging base.
  • the embodiment of this specification also provides a computer storage medium based on the search method for the above-mentioned charging stand, the computer storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are implemented: obtain the The target separation distance of each position point relative to the obstacle; wherein, the target separation distance is the minimum value of the separation distance between the position point and different obstacles; according to the target separation distance of each position point relative to the obstacle, the target The area is divided into a plurality of sub-areas; wherein, the position points contained in the same sub-area have the same target distance from the obstacle; according to the preset screening rules, the first sub-area that meets the requirements is selected from the plurality of sub-areas ; Control the target device to search for the charging stand in the first sub-area.
  • the above storage medium includes but not limited to random access memory (Random Access Memory, RAM), read-only memory (Read-Only Memory, ROM), cache (Cache), hard disk (Hard Disk Drive, HDD) Or memory card (Memory Card).
  • the memory may be used to store computer program instructions.
  • the network communication unit may be an interface for performing network connection and communication, which is set according to the standards stipulated in the communication protocol.

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Abstract

一种充电座的搜索方法、系统、自移动机器人和存储介质。扫地机等目标设备在搜索充电座时，可以先获取目标区域中的各个位置点相对障碍物的目标间隔距离，其中，目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值（S101)；将目标区域划分为与多个目标间隔距离分别对应的多个子区域，其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同（S102)；根据预设的筛选规则，从多个子区域中筛选出符合要求的第一子区域（S103）；进而可以通过控制目标设备有针对性地在第一子区域中移动并搜索充电座（S104)，从而能够智能、高效地在目标区域中搜索到充电座，提高了充电座的搜索成功率和搜索效率。

Description

充电座的搜索方法、系统、自移动机器人和存储介质
本发明要求如下专利申请的优先权：于2021年12月06日提交中国专利局、申请号为202111477956.7、发明名称为“充电座的搜索方法、系统、自移动机器人和存储介质”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发明中。
技术领域
本发明属于机器人技术领域，具体涉及一种充电座的搜索方法、系统、自移动机器人和存储介质。
背景技术
基于现有技术，扫地机常常出现需要回归充电站但找不到充电站位置信息的情况，在这种情况下扫地机不知道充电站位置，现有扫地机通过随机行走探测充电站信号，其搜索效率较低。而且，由于附近障碍物遮挡，更降低了充电站搜索的效率，导致扫地机无法规划一条有效搜索到充电站的路线。纠其原因，主要是采用的搜索策略不够合理、准确，导致设备在具体搜索充电座时，往往会存在诸如搜索成功率低、搜索速度慢等缺陷。
因此，有必要对现有技术予以改良以克服现有技术中的所述缺陷。
发明内容
因此，本发明所要解决的技术问题是基于现有技术搜索充电座时存在的所采用的搜索策略不够合理、准确，导致搜索成功率低、搜索速度慢。
为解决上述技术问题，本发明提供了一种充电座的搜索方法，包括：获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述 目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；控制目标设备在所述第一子区域中搜索充电座。
在一个实施例中，获取目标区域中的各个位置点相对障碍物的目标间隔距离，包括：获取目标区域的地图数据；根据目标区域的地图数据，确定出目标区域中的障碍物；计算目标区域中的各个位置点与不同障碍物之间的间隔距离；从各个位置点与不同障碍物之间的间隔距离中筛选出数值最小的间隔距离，得到各个位置点相对障碍物的目标间隔距离。
在一个实施例中，根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域，包括：确定相匹配的第一搜索距离；计算多个子区域所对应的目标间隔距离与第一搜索距离的差异值；从所述多个子区域中筛选出所对应的目标间隔距离与第一搜索距离的差异值小于预设的差异阈值的子区域作为符合要求的第一子区域。
在一个实施例中，确定相匹配的第一搜索距离，包括：从多个子区域所对应的目标间隔距离中筛选出数值最大的目标间隔距离，作为参照距离；根据搜索系数和参照距离，计算出第一搜索距离。
在一个实施例中，控制目标设备在所述第一子区域中搜索充电座，包括：确定目标设备当前位置点；并根据目标设备当前位置点、第一子区域和目标区域的地图数据，生成覆盖第一子区域的第一搜索路径；控制目标设备沿所述第一搜索路径移动；并搜索目标信号；其中，所述目标信号为充电座发出的信号。
在一个实施例中，在控制目标设备沿所述第一搜索路径移动并搜索目标信号之后，在确定在第一子区域中没有搜索到目标信号的情况下，所述方法还包括：根据预设的筛选规则，从剩余子区域中筛选出第二子区域；控制目标设备在所述第二子区域中搜索充电座。
在一个实施例中，根据预设的筛选规则，从剩余子区域中筛选出第 二子区域，包括：计算第一子区域所对应的目标间隔距离与所述剩余子区域所对应的目标间隔距离的梯度值；根据梯度值，从剩余子区域中筛选出符合要求的第二子区域。
在一个实施例中，所述目标设备包括以下至少之一：扫地机、拖地机、监控机器人。
本发明还提供了一种充电座的搜索系统，包括：获取模块，用于获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；划分模块，用于根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；筛选模块，用于根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；搜索模块，用于控制目标设备在所述第一子区域中搜索充电座。
本发明还提供了一种自移动机器人，包括：机器人主体；控制器，设于所述机器人主体上；其中，所述控制器用于：获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；控制自移动机器人在所述第一子区域中搜索充电座。
本发明还提供了一种计算机可读存储介质，其上存储有计算机指令，所述指令被执行时实现所述充电座的搜索方法的相关步骤。
基于本发明提供的技术方案，自移动机器人在搜索充电座时，可以先获取并根据目标区域中的各个位置点相对障碍物的目标间隔距离，将目标区域划分为与多个目标间隔距离分别对应的多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；再根据预 设的筛选规则，从多个子区域中筛选出符合要求的第一子区域；进而可以通过控制目标设备有针对性地在第一子区域中移动并搜索充电座，从而可以避免盲目、无效地搜索，采用较为合理的搜索策略，高效地在目标区域中搜索到充电座，提高了充电座的搜索成功率和搜索效率。
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为本发明实施例提供的充电座的搜索方法的流程示意图；
图2为在一个具体的场景示例中应用本发明实施例提供的充电座的搜索方法的一个实施例示意图；
图3为在一个具体的场景示例中应用本发明实施例提供的充电座的搜索方法的一个实施例示意图；
图4为本发明实施例提供的充电座的搜索系统的结构组成示意图；
图5为本发明实施例提供的自移动机器人的结构组成示意图。
具体实施方式
下面将结合附图对本发明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发明一部分实施例，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发明。需要说明的是，在不冲突的情况下，本发明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，本发明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。
在本发明中，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发明。
本说明书实施例提供了一种充电座的搜索方法。可以参阅图1所示，该方法具体实施时，可以包括以下内容。
S101：获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；
S102：根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；
S103：根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；
S104：控制目标设备在所述第一子区域中搜索充电座。
在一个实施例中，上述充电座的搜索方法具体可以应用于能够自移动的目标设备。其中，上述目标设备具体可以包括以下至少之一：扫地机、拖地机、监控机器人等。当然，需要说明的是，上述所列举的目标设备只是一种示意性说明。具体实施时，根据具体的应用场景和处理需求，上述目标设备还可以包括巡检机器人、保姆机器人等等。对此，本说明书不作限定。
在一个实施例中，上述目标区域具体可以理解为布设有充电座的区域。
具体的，例如，可以参阅图2所示。上述目标区域可以为待清洁的房间。目标设备可以为扫地机。在房间的墙角位置处布设有充电座。其中，上述充电座被设置为实时对发送信号。该信号具体可以携带有用于指示充电座的数据标识。
上述目标区域中还可以存在障碍物。其中，上述障碍具体可以理解 为目标设备无法通过的物体对象的。
具体的，例如，可以参阅图2所示，上述障碍物具体可以是待清洁的房间四周的墙壁，布设于该房间中的沙发等等。当然，上述所列举的障碍物只是一种示意性说明。具体实施时，根据具体的应用场景和处理需求，上述障碍物还可以包括其他类型的障碍物。对此，本说明书不作限定。
在一个实施例中，上述位置点具体可以是目标区域中相对应的一个栅格。上述目标间隔距离，具体可以是位置点与目标区域中不同障碍物之间的间隔距离的最小值。
具体的，例如，参阅图2所示，某个位置点X具体可以为目标区域中的栅格X。位置点X与右方墙壁之间的间隔距离为2，与上方墙壁之间的间隔距离为3，与沙发之间的间隔距离为2，与左方墙壁之间的间隔距离为8，与下方墙壁之间的间隔距离为12。因此，可以将位置点X相对障碍物的目标间隔距离确定为间隔距离的最小2。
在一个实施例中，目标设备可以在检测到剩余电量小于预设的阈值电量的情况下，自动触发在目标区域中搜索充电座，以便移动至充电座位置进行自动充电。目标设备也可以在接收到用户通过终端设备所发出的充电指令的情况下，触发在目标区域中搜索充电座。
在一个实施例中，上述获取目标区域中的各个位置点相对障碍物的目标间隔距离，具体实施时，可以包括以下内容：
S1：获取目标区域的地图数据；
S2：根据目标区域的地图数据，确定出目标区域中的障碍物；
S3：计算目标区域中的各个位置点与不同障碍物之间的间隔距离；
S4：从各个位置点与不同障碍物之间的间隔距离中筛选出数值最小的间隔距离，得到各个位置点相对障碍物的目标间隔距离。
通过上述实施例，可以获取并根据目标区域的地图数据，准确地计算得到目标区域中的各个位置点相对障碍物的目标间隔距离。
在一个实施例中，具体实施时，目标设备可以从本地搜索并获取关 于目标区域的复用地图作为上述目标区域的地图数据。目标设备还可以向云端服务器发送关于目标区域的地图获取请求，通过云端服务器获取上述目标区域的地图数据。其中，上述地图数据具体可以包括目标区域的栅格地图。具体的，可以目标设备可以根据目标区域的区域标识，搜索本地缓存所保存的地图数据，以得到目标区域的地图数据。
在一个实施例中，目标设备在得到目标区域的地图数据之后，可以先对目标区域的地图数据进行检测识别，以在地图数据中确定出存在于该目标区域中的各个障碍物(例如，地图数据中被标记为灰色的图像区域)。进一步，可以基于目标区域的地图数据，计算出在该目标区域中的位置点(例如，地图数据中可通过的栅格)与各个障碍物之间的间隔距离(例如，垂直距离)；再通过对间隔距离的数值比较，从该位置点与各个障碍物之间的间隔距离中筛选出数值最小的间隔距离作为该位置点相对障碍物的目标间隔距离。
在一个实施例中，具体实施时，目标设备可以根据各个位置点相对障碍物的目标间隔距离，将目标区域划分为多个子区域。其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同。
在一个实施例中，具体划分子区域时，目标设备可以根据目标间隔距离，将目标区域所包含的位置点划分为多个分组；其中，每个分组包含有目标间隔距离相同的一个或多个位置点。再将每个分组中所包含的位置点在目标区域中所组合成的区域，确定为对应的子区域。从而可以划分得到多个子区域。
具体的，可以参阅图3所示。通过上述方式可以将目标区域划分为5个子区域，可以分别记为：子区域1、子区域2、子区域3、子区域4和子区域5。其中，子区域1只包含有目标间隔距离为1的位置点(图中标识为1的位置点)，子区域2只包含有目标间隔距离为2的位置点(图中标识为2的位置点)，子区域3只包含有目标间隔距离为3的位置点(图中标识为3的位置点)，子区域4只包含有目标间隔距离为4的位置点(图中标识为4的位置点)，子区域5只包含有目标间隔距离为5的位置点(图中标识为 5的位置点)。对于每一个子区域所包含的位置点，可以使用该子区域所对应的目标间隔距离进行标识。
在一个实施例中，上述根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域，具体实施时，可以包括以下内容：
S1：确定相匹配的第一搜索距离；
S2：计算多个子区域所对应的目标间隔距离与第一搜索距离的差异值；
S3：从所述多个子区域中筛选出所对应的目标间隔距离与第一搜索距离的差异值小于预设的差异阈值的子区域作为符合要求的第一子区域。
其中，上述第一子区域具体可以理解为第一次搜索充电座时所确定出的需要移动并覆盖的区域。上述预设的差异阈值可以根据具体的精度要求确定。
通过上述实施例，可以确定出较为合理的第一子区域，以进行第一次充电座搜索，能够较好地兼顾多种因素，在保证搜索成功率的同时，缩短搜索时的移动路径距离，避免直接出现直接沿墙搜索时存在的移动路径距离过长的，有效地提高了搜索效率。
在一个实施例中，具体实施时，可以根据预设的搜索策略来确定相匹配的第一搜索距离。
在一个实施例中，上述确定相匹配的第一搜索距离，具体实施时，可以包括：从多个子区域所对应的目标间隔距离中筛选出数值最大的目标间隔距离，作为参照距离；根据搜索系数和参照距离，计算出第一搜索距离。
其中，上述搜索系数的数值具体可以根据充电座所发射信号的信号强度，以及目标区域的区域面积确定。
通过上述实施例，可以同时兼顾整体的搜索成功率和搜索效率，得到较为合理的搜索系数。
具体的，例如，参阅图3所示，可以先确定出数值最大的目标间隔距 离为5，作为参照距离；并获取得到搜索系数为0.4。再计算得到参照隔距离与搜索系数的乘积为2，作为第一搜索距离。进而，可以从多个子区域中筛选出目标间隔距离与上述第一搜索距离的差异值小于预设的差异阈值(或者差异值最小)的子区域2，作为符合要求的第一子区域。
在一个实施例中，具体实施时，还可以通过调用预设的搜索模型处理与目标区域中所包含的多个子区域分别对应的多个目标间隔距离以及目标区域的地图数据，输出对应的处理结果；再根据处理结果，确定出所述第一搜索距离。其中，上述预设的搜索模型具体可以是预先对历史搜索记录进行学习和训练，所构建得到的能够自动找出同时兼顾整体的搜索成功率和搜索效率最优的第一搜索距离的神经网络模型。
在一个实施例中，上述控制目标设备在所述第一子区域中搜索充电座，具体实施时，可以包括以下内容：确定目标设备当前位置点；并根据目标设备当前位置点、第一子区域和目标区域的地图数据，生成覆盖第一子区域的第一搜索路径；控制目标设备沿所述第一搜索路径移动；并搜索目标信号；其中，所述目标信号为充电座发出的信号。
在一个实施例中，具体的，目标设备可以调用预设的移动路径生成算法通过处目标设备当前位置点、第一子区域和目标区域的地图数据，以生成得到能够移动并覆盖第一子区域，且移动路径距离最小的移动路径作为上述第一搜索路径。其中，所述第一搜索路径具体可以为能够经过第一子区域所包含的各个位置点的移动路径。
在一个实施例中，具体实施时，目标设备可以根据第一搜索路径通过控制移动部件(例如，布设于扫地机底部的轮子)沿第一搜索路径移动，以移动并覆盖第一子区域；在移动的过程中，目标设备还会通过控制信号收发器，实时或定时地采集所能采集到的信号，并检测所采集到的信号是否携带有充电座的标识信息，以确定是否搜索到充电座所发出的目标信号。
在目标设备检索到目标信号的情况下，目标设备找到了充电座。这时，目标设备可以停止继续沿第一搜索路径移动，并执行相应的目标数 据处理。例如，目标设备移动至充电座，进行自动充电。或者，目标设备确定出充电座的位置信息，并在地图数据中标记出充电座，完成地图数据更新等等。
在目标设备没有检索到目标信号的情况下，目标设备会一直沿第一搜索路径移动，并进行目标信号的搜索，直到搜索到目标信号，或者，移动覆盖了第一子区域所包含有的所有位置点为止。
在一些实施例中，在控制目标设备沿所述第一搜索路径移动并搜索目标信号之后，在确定在第一子区域中没有搜索到目标信号的情况下，所述方法具体实施时，还可以包括以下内容：
S1：根据预设的筛选规则，从剩余子区域中筛选出第二子区域；
S2：控制目标设备在所述第二子区域中搜索充电座。
其中，上述第二子区域具体可以理解为第二次搜索充电座时所确定出的需要移动并覆盖的区域。
通过上述实施例，在搜索完第一子区域没有找到充电座的情况下，可以快速地确定出较为合理的第二子区域，以进行第二次充电座搜索。
在一个实施例中，上述根据预设的筛选规则，从剩余子区域中筛选出第二子区域，具体实施时，可以包括以下内容：计算第一子区域所对应的目标间隔距离与所述剩余子区域所对应的目标间隔距离的梯度值；根据梯度值，从剩余子区域中筛选出符合要求的第二子区域。
通过上述实施例，可以较为高效地确定效果较好的第二子区域。
在一个实施例中，具体确定第二子区域时，也可以从剩余子区域中筛选出所对应的目标间隔距离与第一子区域所对应的目标间隔距离之间的差异值最小的子区域作为第二子区域。
在一个实施例中，具体实施时，在确定出第二子区域之后，目标设备可以更新目标设备当前的位置点；再根据目标设备当前更新后的位置点、第二子区域和目标区域的地图数据，生成覆盖第二子区域的第二搜索路径；然后控制目标设备沿所述第二搜索路径移动，并搜索目标信号。
如果目标设备在搜索完第二子区域仍未搜索到目标信号，则可以重 复上述方式，依次确定出第三子区域、第四子区域等进行搜索，直到搜索到目标信号，找到充电座为止。
基于本说明书实施例所提供的充电座的搜索方法，诸如扫地机等目标设备在搜索充电座时，可以先获取并根据目标区域中的各个位置点相对障碍物的目标间隔距离，将目标区域划分为与多个目标间隔距离分别对应的多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；再根据预设的筛选规则，从多个子区域中筛选出符合要求的第一子区域；进而可以通过控制目标设备有针对性地在第一子区域中移动并搜索充电座，从而能够较为高效、智能地进行充电座搜索，在保证搜索成功率的同时，尽可能地缩短搜索移动路径距离，提高整体的搜索成功率和搜索效率，也使得用户可以获得较好的使用体验。
本实施例提供了一种充电座的搜索系统。参阅图4所示，该系统至少包括获取模块401、划分模块402、筛选模块403和搜索模块404。
获取模块401，具体可以用于获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；
划分模块402，具体可以用于根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；
筛选模块403，具体可以用于根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；
搜索模块404，具体可以用于控制目标设备在所述第一子区域中搜索充电座。
在一个实施例中，所述获取模块401具体实施时，可以用于按照以下方式获取目标区域中的各个位置点相对障碍物的目标间隔距离：获取目标区域的地图数据；根据目标区域的地图数据，确定出目标区域中的障碍物；计算目标区域中的各个位置点与不同障碍物之间的间隔距离；从 各个位置点与不同障碍物之间的间隔距离中筛选出数值最小的间隔距离，得到各个位置点相对障碍物的目标间隔距离。
在一个实施例中，所述筛选模块403具体实施时，可以用于按照以下方式根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域：确定相匹配的第一搜索距离；计算多个子区域所对应的目标间隔距离与第一搜索距离的差异值；从所述多个子区域中筛选出所对应的目标间隔距离与第一搜索距离的差异值小于预设的差异阈值的子区域作为符合要求的第一子区域。
在一个实施例中，所述筛选模块403具体实施时，可以按照以下方式确定相匹配的第一搜索距离：从多个子区域所对应的目标间隔距离中筛选出数值最大的目标间隔距离，作为参照距离；根据搜索系数和参照距离，计算出第一搜索距离。
在一个实施例中，所述搜索模块404具体实施时，可以按照以下方式控制目标设备在所述第一子区域中搜索充电座：确定目标设备当前位置点；并根据目标设备当前位置点、第一子区域和目标区域的地图数据，生成覆盖第一子区域的第一搜索路径；控制目标设备沿所述第一搜索路径移动；并搜索目标信号；其中，所述目标信号为充电座发出的信号。
在一个实施例中，在控制目标设备沿所述第一搜索路径移动并搜索目标信号之后，在确定在第一子区域中没有搜索到目标信号的情况下，所述筛选模块403具体实施时，还可以根据预设的筛选规则，从剩余子区域中筛选出第二子区域；控制目标设备在所述第二子区域中搜索充电座。
在一个实施例中，所述筛选模块403具体实施时，可以按照以下方式根据预设的筛选规则，从剩余子区域中筛选出第二子区域：计算第一子区域所对应的目标间隔距离与所述剩余子区域所对应的目标间隔距离的梯度值；根据梯度值，从剩余子区域中筛选出符合要求的第二子区域。
在一个实施例中，所述目标设备具体可以包括以下至少之一：扫地机、拖地机、监控机器人等等。
需要说明的是，上述实施例阐明的单元、装置或模块等，具体可以 由计算机芯片或实体实现，或者由具有某种功能的产品来实现。为了描述的方便，描述以上装置时以功能分为各种模块分别描述。当然，在实施本说明书时可以把各模块的功能在同一个或多个软件和/或硬件中实现，也可以将实现同一功能的模块由多个子模块或子单元的组合实现等。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
基于本说明书实施例提供的充电座的搜索系统，能够智能、高效地在目标区域中搜索到充电座，提高了充电座的搜索成功率和搜索效率。
本说明书实施例还提供了一种自移动机器人，参阅图5所示，至少包括：机器人主体501和控制器502，控制器502设于所述机器人主体501上。
其中，所述控制器502具体可以用于：获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；控制自移动机器人在所述第一子区域中搜索充电座。
在一个实施例中，上述自移动机器人具体还可以包括移动部件和信号收发器503。具体实施时，控制器502可以通过控制移动部件使得自移动机器人在第一子区域中移动；并在移动的过程中，控制器502还可以用个控制信号收发器搜索充电座发出的目标信号。
本说明书实施例还提供了一种基于上述充电座的搜索方法的计算机存储介质，所述计算机存储介质存储有计算机程序指令，在所述计算机程序指令被执行时实现以下步骤：获取目标区域中的各个位置点相对障 碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；控制目标设备在所述第一子区域中搜索充电座。
在本实施例中，上述存储介质包括但不限于随机存取存储器(Random Access Memory,RAM)、只读存储器(Read-Only Memory,ROM)、缓存(Cache)、硬盘(Hard Disk Drive,HDD)或者存储卡(Memory Card)。所述存储器可以用于存储计算机程序指令。网络通信单元可以是依照通信协议规定的标准设置的，用于进行网络连接通信的接口。
在本实施例中，该计算机存储介质存储的程序指令具体实现的功能和效果，可以与其它实施方式对照解释，在此不再赘述。
本说明书中的各个实施例采用递进的方式描述，各个实施例之间相同或相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。本说明书可用于众多通用或专用的计算机系统环境或配置中。例如：个人计算机、服务器计算机、手持设备或便携式设备、平板型设备、多处理器系统、基于微处理器的系统、置顶盒、可编程的电子设备、网络PC、小型计算机、大型计算机、包括以上任何系统或设备的分布式计算环境等等。
虽然通过实施例描绘了本说明书，本领域普通技术人员知道，本说明书有许多变形和变化而不脱离本说明书的精神，希望所附的权利要求包括这些变形和变化而不脱离本说明书的精神。
显然，上述所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下，可以做出其它不同形式的变化或变动，都应当属于本发明保护的范围。

Claims (15)

  1. 一种充电座的搜索方法，其特征在于，包括：
    获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；
    根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；
    根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；
    控制目标设备在所述第一子区域中搜索充电座。
  2. 根据权利要求1所述的充电座的搜索方法，其中，获取目标区域中的各个位置点相对障碍物的目标间隔距离，包括：
    获取目标区域的地图数据；
    根据目标区域的地图数据，确定出目标区域中的障碍物；
    计算目标区域中的各个位置点与不同障碍物之间的间隔距离；
    从各个位置点与不同障碍物之间的间隔距离中筛选出数值最小的间隔距离，得到各个位置点相对障碍物的目标间隔距离。
  3. 根据权利要求1所述的充电座的搜索方法，其中，根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域，包括：
    确定相匹配的第一搜索距离；
    分别计算多个子区域所对应的目标间隔距离与第一搜索距离的差异值；
    从所述多个子区域中筛选出所对应的目标间隔距离与第一搜索距离的差异值小于预设的差异阈值的子区域作为符合要求的第一子区域。
  4. 根据权利要求1所述的充电座的搜索方法，其中，根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域，包括：
    确定相匹配的第一搜索距离；
    分别计算多个子区域所对应的目标间隔距离与第一搜索距离的差异值；
    将目标间隔距离与第一搜索距离的差异值最小的子区域，作为符合要求的第一子区域。
  5. 根据权利要求3或4所述的充电座的搜索方法，其中，确定相匹配的第一搜索距离，包括：
    从多个子区域所对应的目标间隔距离中筛选出数值最大的目标间隔距离，作为参照距离；
    根据搜索系数和参照距离，计算出第一搜索距离。
  6. 根据权利要求5所述的充电座的搜索方法，其中，所述搜索系数的数值根据所述充电座发射信号的信号强度以及所述目标区域的区域面积确定。
  7. 根据权利要求1所述的充电座的搜索方法，其中，控制目标设备在所述第一子区域中搜索充电座，包括：
    确定目标设备当前位置点；并根据目标设备当前位置点、第一子区域和目标区域的地图数据，生成覆盖第一子区域的第一搜索路径；
    控制目标设备沿所述第一搜索路径移动；并搜索目标信号；其中，所述目标信号为充电座发出的信号。
  8. 根据权利要求7所述的充电座的搜索方法，其中，所述根据目标设备当前位置点、第一子区域和目标区域的地图数据，生成覆盖第一子区域的第一搜索路径，包括：
    根据目标设备当前位置点、第一子区域和目标区域的地图数据，生成能够移动并覆盖第一子区域、且移动路径距离最小的移动路径作为第一搜索路径。
  9. 根据权利要求7所述的充电座的搜索方法，其中，在控制目标设备沿所述第一搜索路径移动并搜索目标信号之后，在确定在第一子区域中没有搜索到目标信号的情况下，所述方法还包括：
    根据预设的筛选规则，从剩余子区域中筛选出第二子区域；
    控制目标设备在所述第二子区域中搜索充电座。
  10. 根据权利要求9所述的充电座的搜索方法，其中，根据预设的筛选 规则，从剩余子区域中筛选出第二子区域，包括：
    计算第一子区域所对应的目标间隔距离与所述剩余子区域所对应的目标间隔距离的梯度值；
    根据所述梯度值，从剩余子区域中筛选出符合要求的第二子区域。
  11. 根据权利要求9所述的充电座的搜索方法，其中，控制目标设备在所述第二子区域中搜索充电座，包括：
    根据目标设备当前更新后的位置点、第二子区域和目标区域的地图数据，生成覆盖第二子区域的第二搜索路径；
    控制目标设备沿所述第二搜索路径移动，并搜索目标信号；其中，所述目标信号为充电座发出的信号。
  12. 根据权利要求1所述的充电座的搜索方法，其中，所述子区域所包含的位置点使用相应子区域所对应的目标间隔距离进行标识。
  13. 一种充电座的搜索系统，其特征在于，包括：
    获取模块，用于获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；
    划分模块，用于根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；
    筛选模块，用于根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；
    搜索模块，用于控制目标设备在所述第一子区域中搜索充电座。
  14. 一种自移动机器人，其特征在于，包括：
    机器人主体；
    控制器，设于所述机器人主体上；
    其中，所述控制器用于：
    获取目标区域中的各个位置点相对障碍物的目标间隔距离；其中，所述目标间隔距离为位置点与不同障碍物之间的间隔距离的最小值；
    根据各个位置点相对障碍物的目标间隔距离，将所述目标区域划分为多个子区域；其中，同一个子区域中所包含的位置点相对障碍物的目标间隔距离相同；
    根据预设的筛选规则，从所述多个子区域中筛选出符合要求的第一子区域；
    控制自移动机器人在所述第一子区域中搜索充电座。
  15. 一种计算机可读存储介质，其特征在于，其上存储有计算机指令，所述指令被执行时实现权利要求1至12中任一项所述方法的步骤。
PCT/CN2022/131572 2021-12-06 2022-11-12 充电座的搜索方法、系统、自移动机器人和存储介质 WO2023103713A1 (zh)

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