WO2023124788A1 - Dispositif mobile autonome, son procédé de commande, appareil, et support de stockage - Google Patents

Dispositif mobile autonome, son procédé de commande, appareil, et support de stockage Download PDF

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Publication number
WO2023124788A1
WO2023124788A1 PCT/CN2022/136455 CN2022136455W WO2023124788A1 WO 2023124788 A1 WO2023124788 A1 WO 2023124788A1 CN 2022136455 W CN2022136455 W CN 2022136455W WO 2023124788 A1 WO2023124788 A1 WO 2023124788A1
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Prior art keywords
obstacle
mobile device
autonomous mobile
area
stuck
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PCT/CN2022/136455
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English (en)
Chinese (zh)
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许思晨
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速感科技（北京）有限公司
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Publication of WO2023124788A1 publication Critical patent/WO2023124788A1/fr

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    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present disclosure relates to the technical field of smart home, and in particular to an autonomous mobile device, a control method and device thereof, and a storage medium.
  • Autonomous mobile devices refer to smart devices that autonomously perform preset tasks within a set working area.
  • autonomous mobile devices usually include but are not limited to cleaning robots (such as smart sweepers, smart floor mopping machines, window cleaning robots), accompanying mobile Robots (such as smart electronic pets, nanny robots), service mobile robots (such as hotels, hotels, reception robots in meeting places), industrial inspection smart devices (such as power inspection robots, smart forklifts, etc.), security robots (such as household Or commercial intelligent guard robot), etc.
  • the motion unit (also known as the driving mechanism) of the autonomous mobile device is usually a part such as a wheel or a track that drives the autonomous mobile device to move on a plane through rotation, which causes the autonomous mobile device to be blocked by some specific obstacles (such as thresholds, glass, etc.)
  • Some specific obstacles such as thresholds, glass, etc.
  • the slide rail of the door, or the edge part of the floor mat with a certain height laid indoors blocks and cannot cross this type of obstacle, or even be stuck by this type of obstacle, causing it to be unable to escape from the predicament caused by this obstacle.
  • obstacles such as thresholds are called surmountable obstacles.
  • autonomous mobile devices usually use various sensors on autonomous mobile devices to detect surmountable obstacles.
  • the front camera or ranging sensor (such as lidar) of the autonomous mobile device is usually used to identify a specific surmountable obstacle on the ground in front of it, and after judging that the obstacle in front of it is a surmountable obstacle , make corresponding actions to perform obstacle-surmounting processing (obstacle-surmounting processing in this disclosure refers to processing for surmounting surmountable obstacles).
  • the front camera recognizes that the obstacle is a surmountable obstacle such as a threshold or a floor mat with a certain height and/or using a ranging sensor (such as a lidar placed on the front of the autonomous mobile device and emitting Geometric calculation detects the height of an obstacle at a certain distance in front of the autonomous mobile device) If the height of the detected obstacle is lower than a certain height threshold such as 2.7cm, the obstacle is a surmountable obstacle, and the autonomous mobile device can make corresponding Action to perform obstacle handling.
  • a surmountable obstacle such as a threshold or a floor mat with a certain height and/or using a ranging sensor (such as a lidar placed on the front of the autonomous mobile device and emitting Geometric calculation detects the height of an obstacle at a certain distance in front of the autonomous mobile device) If the height of the detected obstacle is lower than a certain height threshold such as 2.7cm, the obstacle is a surmountable obstacle, and the autonomous mobile device can make corresponding Action to perform obstacle handling.
  • the above-mentioned methods of assisting autonomous mobile devices to overcome surmountable obstacles through cameras or ranging sensors all have certain limitations.
  • the front camera of the first method may recognize the threshold or the edge of the floor mat, it is limited by the computing power of the processor and the inherent problem of the sensor that it is difficult to identify the height of the object through the photo, which will lead to the detection of obstacles that can be crossed.
  • the recognition success rate is limited, which often leads to false detections; for the second method, due to the limitation of the computing power of the processor and the influence of external ambient light and ground material color, etc., it will also lead to the detection accuracy of lidar for surmountable obstacles. lower.
  • the autonomous mobile device may make incorrect handling in certain environments, such as the autonomous mobile device may recognize the sliding rail of the glass door leading to the balcony or the kitchen as an impassable common obstacle instead of the balcony or kitchen cleaning, resulting in a poor user experience, or an increased number of autonomous mobile devices getting stuck due to straying into troubled areas.
  • the present disclosure proposes an autonomous mobile device, a control method and device thereof, and a storage medium.
  • a control method of an autonomous mobile device comprising: an acquisition step, used to acquire a map marked with an obstacle surmountable area; a judging step, used to judge the autonomous movement Whether the device is stuck in the obstacle surmountable area; a processing step for ordering the autonomous mobile device to execute an obstacle surmounting mode when it is determined that the autonomous mobile device is stuck in the obstacle surmountable area , to try to pass through the obstacle-traversable area.
  • a control device for an autonomous mobile device includes: an acquisition unit for acquiring a map marked with an obstacle-surpassable area; a judging unit for judging the autonomous movement Whether the device is stuck in the obstacle surmountable area; a processing unit, configured to order the autonomous mobile device to execute an obstacle surmounting mode if it is determined that the autonomous mobile device is stuck in the obstacle surmountable area , to try to pass through the obstacle-traversable area.
  • a control device for an autonomous mobile device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above-mentioned Control Method.
  • an autonomous mobile device comprising: the control device described above; and a motion unit, configured to respond to the control device instructing the autonomous mobile device to perform an obstacle surmounting mode, moving in the obstacle clearance mode in an attempt to pass through the obstacle clearance area.
  • a non-transitory computer-readable storage medium When the instructions in the storage medium are executed by a processor, the processor can execute the above control method.
  • the present disclosure obtaining a map marked with an obstacle traversable area (where a surmountable obstacle is located), and instructing the autonomous mobile device to execute an obstacle traversal mode in case the autonomous mobile device becomes stuck in the obstacle traversable area, to try to pass through the obstacle-passable area.
  • the present disclosure assists in overcoming obstacles by means of a map marked with obstacle-surpassable areas, In this way, the problems described above caused by the inability to accurately distinguish between surmountable obstacles and dangerous distressed areas can be avoided.
  • the autonomous mobile device can first try to cross the obstacle-surpassable area in the obstacle-surpassing mode, so that Reach more locations and achieve more functions.
  • Figures 1a-1c show a flowchart of a method of controlling an autonomous mobile device according to an exemplary embodiment.
  • Fig. 1d shows a flow diagram of building a map by an autonomous mobile device according to an exemplary embodiment.
  • Fig. 2a shows a schematic diagram of a map marked with obstacle traversable areas according to an exemplary embodiment.
  • Figures 2b-2e show schematic diagrams of a threshold as a surmountable obstacle according to an exemplary embodiment.
  • Fig. 3a shows a schematic diagram of a cost distribution of a grid map of obstacle areas according to an exemplary embodiment.
  • Fig. 3b shows a schematic diagram of a cost distribution of a grid map of non-obstacle areas according to an exemplary embodiment.
  • Fig. 3c shows a schematic diagram of a planned path according to an exemplary embodiment without adjusting the search method for points located in the obstacle-surpassable area.
  • Fig. 3d shows a schematic diagram of a planned path according to an exemplary embodiment after adjusting the search method for points located in the obstacle-surpassable area.
  • Fig. 3e shows a schematic diagram of the angle between an autonomous mobile device and an obstacle according to an exemplary embodiment.
  • 4-7a illustrate a flow diagram of an autonomous mobile device operating in an obstacle clearance mode, according to an exemplary embodiment.
  • Figures 7b-7e illustrate schematic diagrams of an autonomous mobile device operating in the obstacle clearance mode shown in Figure 7a to attempt to cross a threshold, according to an exemplary embodiment.
  • Figures 8a-8b show schematic diagrams of an autonomous mobile device operating in an obstacle clearance mode according to an exemplary embodiment.
  • Fig. 9 shows a block diagram of a control device of an autonomous mobile device according to an exemplary embodiment.
  • Figure 10 shows a block diagram of an autonomous mobile device, according to an exemplary embodiment.
  • the autonomous mobile device may not be able to accurately detect the surmountable obstacle, so that the autonomous mobile device does not try to pass through the surmountable obstacle and thus does not travel to the area it could have traveled to, or makes the The autonomous mobile device misidentifies the surmountable obstacle, which leads to multiple collisions with common obstacles, resulting in damage to the autonomous mobile device itself or damage to common obstacles (such as furniture). Therefore, it is difficult to accurately judge surmountable obstacles such as door sills, slide rails of glass doors, edges of floor mats, etc. simply by using a camera or a distance measuring sensor.
  • the autonomous mobile device considering that if the autonomous mobile device can know where the obstacle is a surmountable obstacle that can be crossed, then the autonomous mobile device only needs to ensure that it can make The correct obstacle-crossing process can pass through the obstacle-crossable area without worrying about the various problems described above.
  • the real-time positioning of autonomous mobile devices in the home environment has become easier and easier.
  • the map of the home environment, and the user marks the obstacle-surpassable area corresponding to the surmountable obstacle on the map through the APP and sends it to the autonomous mobile device, then the autonomous mobile device can accurately determine the obstacle-surpassable area, so that The autonomous mobile device can operate in the obstacle-crossing area according to the preset obstacle-crossing mode, so as to easily cross the obstacle-crossing area where the crossable obstacle is located.
  • the autonomous mobile device can detect in real time whether it has crossed a surmountable obstacle in normal operation mode (for example, by detecting whether it is stuck in the surmountable area to detect whether it has crossed a surmountable obstacle), when When it detects that it has not crossed a surmountable obstacle, the autonomous mobile device operates in a specific obstacle-crossing mode that is more likely to cross the traversable obstacle, so as to increase the probability of the autonomous mobile device crossing the surmountable obstacle .
  • Such autonomous mobile devices may include, but are not limited to, cleaning robots (such as smart sweepers, smart mopping machines, window cleaning robots), companion mobile robots (such as smart electronic pets, nanny robots), service mobile robots (such as hotels, Reception robots in hotels and meeting places), industrial inspection intelligent equipment (such as power inspection robots, intelligent forklifts, etc.), security robots (such as household or commercial intelligent security robots) and other intelligent devices that can move autonomously.
  • the execution subject of the control method in this embodiment may include, but not limited to, a control unit of the autonomous mobile device, an external device of the autonomous mobile device, and the like, for example.
  • control method of this exemplary embodiment may include the following steps:
  • step S110 a map marked with obstacle-surpassing areas is obtained.
  • the obstacle surmountable area may represent a corresponding area in the map of the surmountable obstacle.
  • the autonomous mobile device may directly acquire a pre-stored map marked with obstacle-surpassable areas from its own storage unit (such as an internal storage device or device).
  • its own storage unit such as an internal storage device or device.
  • the autonomous mobile device once performed a work task on a certain workspace (for example, a cleaning robot performed a cleaning task), and during the execution of the work task, the autonomous mobile device established and stored an initial map of the workspace (such as storing the initial map of the workspace in its own storage unit), marking in the initial map the obstacle-surpassable area corresponding to the area occupied by the surmountable obstacle (can be marked manually or automatically by the processing unit), Become a map marked with obstacle-crossable areas and store it, so that when performing follow-up work tasks on the same workspace according to the control method of this embodiment, the autonomous mobile device can directly obtain the marked area from its own storage unit.
  • a map of the obstacle-traversable area may acquire the map from a storage unit of the autonomous mobile device storing the map or a server storing the map through a network.
  • the autonomous mobile device when the autonomous mobile device builds a map in the workspace, it can automatically mark the obstacle-surpassable area on the newly created map.
  • the map can be established by executing the steps in Figure 1d, as shown in Figure 1d, the method for establishing the map includes:
  • step S010 the autonomous mobile device is commanded to operate in an unmapped workspace and map the workspace.
  • step S020 it is determined whether the autonomous mobile device is stuck during the operation of the autonomous mobile device. If it is determined that the autonomous mobile device is stuck, the determination in step S020 is "Yes", and then step S030 is executed. If it is determined that the autonomous mobile device is not stuck, proceed to step S020.
  • step S030 the autonomous mobile device is commanded to execute the obstacle surmounting mode. Then, step S040 is executed.
  • the obstacle clearance mode will be described later.
  • step S040 it is judged whether the autonomous mobile device has passed the area corresponding to the stuck position. If it is determined that the area corresponding to the position where the autonomous mobile device is stuck has passed, the determination in step S040 is "Yes", and then step S050 is executed. If it is determined that the area corresponding to the position where the autonomous mobile device is stuck has not been passed, the determination in step S040 is "No", and then step S060 is executed.
  • step S050 mark the passed area (ie, the area corresponding to the stuck position passed by the autonomous mobile device) on the map as an obstacle-surpassable area.
  • step S060 mark the failed area (that is, the area corresponding to the stuck position where the autonomous mobile device failed to pass) as an impassable area on the map.
  • autonomous mobile devices can automatically identify surmountable obstacles and display them on the map during the map building phase.
  • the obstacle-crossable area is marked on the top, and at the same time, the problem of inaccurate recognition caused by long-distance detection of surmountable obstacles only through the camera and/or distance measuring sensor is avoided.
  • the autonomous mobile device may also use relevant and appropriate methods in the prior art to establish a map of the workspace (such as establishing a map by colliding with obstacles through dead reckoning sensors such as code discs, gyroscopes, and accelerometers, Use the camera or lidar to cooperate with the SLAM of the dead reckoning sensor to build a map, etc.), and then provide the user with the option to mark the obstacle-crossing area on the established map, and the user selects the obstacle-crossing area to guide
  • the autonomous mobile device executes subsequent instructions in the designated (selected) obstacle-surpassable area. Due to limited space, this exemplary embodiment does not elaborate on how the autonomous mobile device builds a map of the workspace and how to mark crossable areas on the map.
  • the autonomous mobile device For ordinary obstacles that the autonomous mobile device can recognize, for example, based on the fact that the autonomous mobile device has not passed through the area corresponding to the location where the autonomous mobile device was stuck before, it is recognized that the obstacle is a common obstacle that can prevent it from passing, or by The direct collision of the collision sensor makes it clear that it is impossible to pass through ordinary obstacles, or the height of the obstacle detected by the proximity sensor is obviously greater than the passable threshold, so that the autonomous mobile device must not be able to cross the common obstacle, and through each sensor Can clearly The common obstacle that the autonomous mobile device cannot cross, the judgment of step S040 is "No", the autonomous mobile device marks it as an impassable area on the map, so that the autonomous mobile device can execute other than the obstacle-crossing mode based on subsequent instructions other modes, such as executing the escape mode (such as back and forth and then rotating, or repeatedly performing rotation and backing away from the obstacle), edge-following mode (such as first rotating so that its side faces the obstacle and continue running, and at the same time
  • the autonomous mobile device can first try to cross the obstacle-surpassable area in the obstacle-surpassing mode, so as to reach as far as possible in the workspace More locations, more functions.
  • step S110 may include: pushing the map of the workspace to the user; and receiving the map in which the user has marked the obstacle-surpassable area.
  • the autonomous mobile device can push the map of the workspace to the user device via the wireless network; the user can intuitively see the passable area from the map and obstacle areas, and can use the user's own judgment to mark the area where the surmountable obstacles in the actual workspace are located as the obstacle-surpassable area on the map; the user device can mark the user as the obstacle-surpassable area
  • the map of the autonomous mobile device is sent to the autonomous mobile device through the wireless network.
  • the autonomous mobile device can receive the map where the user has marked the obstacle-surpassable area.
  • the map pushed by the autonomous mobile device to the user device may be an initial map, or a map that has previously marked the obstacle-surpassable area (either marked by the user or marked by the autonomous mobile device).
  • the user can not only create a new obstacle traversable area on the map, but also modify and/or delete the marked obstacle surmountable area.
  • the user may be prompted to mark the obstacle-crossable area on the map by means such as voice or text message.
  • the user needs to judge whether these obstacles can be crossed by the autonomous mobile device according to his own experience or the standards or parameters provided by the product manual.
  • the user will have a more intuitive judgment on whether the obstacle is a crossable obstacle that can be crossed by the autonomous mobile device, so it is more accurate for the user to mark the obstacle crossable area; in another implementation, the user does not need to judge Whether these obstacles can be crossed by the autonomous mobile device, the user can mark these obstacles and indicate the respective parameters of these obstacles such as height, shape, etc., and the autonomous mobile device can automatically judge whether these obstacles are based on these obstacle parameters. Belongs to surmountable obstacles (such as judging whether these obstacles can be surmounted by autonomous mobile devices).
  • the user equipment can obtain the map marked with the obstacle-surpassable area, and then when the autonomous mobile device executes the control method of this exemplary embodiment, the autonomous mobile device can interact with the The user equipment establishes a communication connection, and sends to the user equipment an acquisition request for a map marked with an obstacle-surpassable area, and the user equipment responds to the acquisition request and sends the map marked with an obstacle-surpassable area to the autonomous mobile device, or the user equipment The user equipment periodically sends the map marked with the obstacle-surpassable area to the autonomous mobile equipment according to a predetermined period.
  • User equipment may include, but is not limited to, devices capable of establishing a communication connection with the autonomous mobile device and having a display, such as mobile terminal devices such as mobile phones and tablet computers, or terminal devices such as servers and desktop computers.
  • the user equipment may also be referred to as the autonomous mobile device.
  • the APP end device may include a display for displaying a map and a sensor (such as a touch screen) for detecting the user's marking action, and when the sensor detects the user's marking action on the first area, the APP end device This first area may be marked on the displayed map as an obstacle clearable area.
  • the map shown in Fig. 2a marked with the obstacle-surpassable area is taken as an example for description below.
  • a map 320 marked with an obstacle-surpassable area is displayed on the display 310 of the user equipment, and an obstacle-surpassable area 340 is marked on the map 320.
  • type obstacle 330, the surmountable obstacle 330 is an obstacle that can be passed by an autonomous mobile device, such as a threshold.
  • the user is recommended a predetermined shape used to mark the surmountable obstacle in the obstacle-surpassable area.
  • the predetermined shape may represent the corresponding surmountable obstacle, for example The cross-sectional shape of a leaping obstacle, whereby the user can mark the obstacle-surpassable area via the predetermined shape, and accordingly, the autonomous mobile device can receive the map in which the user marks the obstacle-surpassable area with the predetermined shape.
  • the aforementioned predetermined shapes include, but are not limited to, rectangles, squares, triangles, circles, ovals, rhombuses, circular arcs, and the like. It should be understood that the present disclosure does not specifically limit the specific shape of the predetermined shape, as long as the predetermined shape can mark the obstacle-surpassable area on the initial map, it should all be applicable to the present disclosure.
  • a threshold located between two rooms due to the need to match with the bottom of the door, there are usually slopes (the cross section of which is shown in Figure 2b) and protrusions (such as the doorway stone, whose cross section is shown in Figure 2c) and/or grooves (such as the slide rail of a glass door, whose cross-section is shown in Figure 2d and Figure 2e), when the forward direction of travel of the autonomous mobile device meets the threshold, its moving mechanism may be due to the slope of the threshold. , vertical surfaces or grooves meet and get stuck, resulting in the autonomous mobile device not being able to smoothly (successfully) cross the threshold.
  • slopes the cross section of which is shown in Figure 2b
  • protrusions such as the doorway stone, whose cross section is shown in Figure 2c
  • grooves such as the slide rail of a glass door, whose cross-section is shown in Figure 2d and Figure 2e
  • step S120 After obtaining the map marked with the obstacle-surpassable area, the following step S120 is performed.
  • step S120 it is determined whether the autonomous mobile device is stuck in the obstacle-surpassable area.
  • Situations where the autonomous mobile device gets stuck include but are not limited to: when the autonomous mobile device passes through relatively low obstacles (such as high thresholds or light sockets), its chassis is lifted by such obstacles and the wheels are suspended in the air , so that the autonomous mobile device cannot continue to operate through the operation of its motion unit; or its wheels are stuck in the slide rails in the threshold (such as the slide rails of glass doors) and cannot operate, so that the autonomous mobile device cannot continue to move forward; or other Wheels getting stuck in some sort of gap just big enough to accommodate the wheels so the wheels can't turn and the autonomous mobile device can't continue to function, and other similar situations.
  • relatively low obstacles such as high thresholds or light sockets
  • its chassis is lifted by such obstacles and the wheels are suspended in the air , so that the autonomous mobile device cannot continue to operate through the operation of its motion unit
  • the wheels are stuck in the slide rails in the threshold (such as the slide rails of glass doors) and cannot operate, so that the autonomous mobile device cannot continue to move forward
  • the usual way to detect that the autonomous mobile device is stuck is to combine the information of multiple sensors to make a comprehensive judgment. For example, it is possible to judge whether the wheel set of the autonomous mobile device is running through the code disc on the wheel set, and at the same time obtain the information of the autonomous mobile device from the ranging sensor. The distance between the autonomous mobile device and the surrounding fixed obstacles or according to the camera to obtain the surrounding environment photos, if the wheel set is running, but the distance between the autonomous mobile device and the surrounding fixed obstacles obtained by the ranging sensor does not change, or through the camera If the change of the objects in multiple photos and the change of the mutual relationship between objects is smaller than that of the objects in multiple photos and the change of the mutual relationship between the objects when the autonomous mobile device is running normally, it can indicate that the autonomous mobile device is stuck .
  • the method for detecting that the autonomous mobile device is stuck is not limited to the above methods.
  • step S120 may include steps S121 and S122.
  • step S121 it is judged whether the autonomous mobile device travels to the obstacle-surpassable area. If it is determined that the autonomous mobile device has run to the obstacle-surpassable area, then execute step S122, otherwise, continue to execute step S121.
  • step S122 continue to judge whether the autonomous mobile device is stuck in the obstacle-crossable area. If it is determined that the autonomous mobile device is stuck in the obstacle-surpassable area, then in step S120 it is determined that the autonomous mobile device is stuck in the obstacle-surpassable area, and then the following step S130 is performed; otherwise, the autonomous mobile device operates in the original operating mode Continue to run, and continue to execute step S121 to determine whether the autonomous mobile device runs out of the current obstacle-crossable area or travels to other obstacle-crossable areas.
  • the autonomous mobile device when running to the obstacle-crossable area marked on the map, it is detected whether the autonomous mobile device is stuck.
  • the autonomous mobile device can judge whether the autonomous mobile device is running to the point where the obstacle can be crossed according to whether its own current position has crossed the boundary position of the obstacle surmountable area or whether the current position of the autonomous mobile device is within the range covered by the obstacle surmountable area. If it is determined that the autonomous mobile device has moved to the obstacle-crossable area, step S121 is judged as "Yes”, and then step S122 is executed to further determine whether the autonomous mobile device is in the obstacle-crossable area. stuck. If it is determined that the autonomous mobile device is stuck in the obstacle-crossable area, then step S122 is judged as "yes”, so step S120 is judged as "yes”, so the following step S130 is executed.
  • step S120 may include steps S123 and S124.
  • step S123 it is determined whether the autonomous mobile device is stuck. If it is determined that the autonomous mobile device is stuck, execute step S124, otherwise, continue to execute step S123. The way to detect that the autonomous mobile device is stuck can be found in the previous section.
  • step S124 continue to judge whether the position where the autonomous mobile device is stuck is within the obstacle-surmountable area. If it is determined that the location where the autonomous mobile device is stuck is within the obstacle-crossable area, it is determined in step S120 that the autonomous mobile device is stuck in the obstacle-crossable area, and then the following step S130 is performed. Otherwise, if it is determined that the location where the autonomous mobile device is stuck is not within the obstacle-surpassable area, then step 170 is performed, and the autonomous mobile device performs a rescue mode and/or an alarm, as shown in Figure 1c; You can mark the stuck location as a normal obstacle or mark the area where the stuck location is located as an impassable area on the map.
  • the autonomous mobile device can detect in real time whether the autonomous mobile device is stuck (that is, execute step S123), if it is determined that the autonomous mobile device is stuck, step S123 judges "Yes", and executes step S124 to further according to the autonomous mobile device Whether the position where the mobile device is stuck is on the boundary of the obstacle surmountable area or within the range of the obstacle surmountable area is used to judge whether the position where the autonomous mobile device is stuck is within the obstacle surmountable area; if it is judged that the autonomous mobile device is If the stuck position is within the obstacle-crossable area, step S124 is judged as "Yes", so step S120 is judged as "Yes”, and the following step S130 is executed.
  • step S120 determines whether the autonomous mobile device is stuck in the obstacle-crossable area. If it is determined in step S120 that the autonomous mobile device is stuck in the obstacle-crossable area, the following step S130 is executed.
  • step S130 the autonomous mobile device is commanded to execute an obstacle surmounting mode, so as to try to pass through the obstacle surmountable area.
  • a map marked with an obstacle-surmountable area is obtained, and in the case that the autonomous mobile device is stuck in the obstacle-surpassable area, the autonomous mobile device is commanded to execute the obstacle-overpass mode in order to try to pass Obstacle traversable area. Therefore, compared with the prior art that directly uses the corresponding sensors of the autonomous mobile device, such as the front camera or the ranging sensor, to assist in overcoming obstacles, the present disclosure assists in overcoming obstacles by means of a map marked with areas that can be surmounted , in this way, the above-described problems caused by the inability to accurately distinguish between surmountable obstacles and dangerous distressed areas can be avoided.
  • steps S140 and S150 may also be performed.
  • step S140 it is judged whether the autonomous mobile device has passed the obstacle-crossable area; if it is judged that the autonomous mobile device has not passed the obstacle-crossable area, step S150 is executed.
  • step S150 re-mark the non-passable obstacle-passable area on the map as an impassable area.
  • the current type of the obstacle-surpassable area can be updated in real time according to whether the autonomous mobile device that has executed the obstacle-surpassing mode passes through the obstacle-surpassable area, and a more accurate map of the obstacle-surpassable area can be provided for the next operation.
  • step S160 may also be performed.
  • the autonomous mobile device tries other paths, such as performing an escape mode (such as back and forth and then rotating, or repeatedly rotating and backing) so as to stay away from the obstacle, or performing an edge-following mode (such as rotating first to make it a
  • an escape mode such as back and forth and then rotating, or repeatedly rotating and backing
  • an edge-following mode such as rotating first to make it a
  • the side faces the obstacle and continues to run, and at the same time, the proximity sensor on the side detects the distance between the side and the obstacle in a non-contact manner and keeps the distance within the set distance range) so that the autonomous mobile device can move along the Run on the edge of the obstacle.
  • the present disclosure does not limit the running path of the autonomous mobile device after not passing through the obstacle-surpassable area.
  • step S130 There are many ways to overcome the obstacles involved in step S130.
  • steps S710, S720, and S730 in FIG. distance S720: the autonomous mobile device brakes the second driving mechanism, and rotates the first driving mechanism forward by a first angle around the second driving mechanism;
  • S730 fixes the first driving mechanism, and makes the The second drive mechanism is rotated forward by a second angle about the first drive mechanism.
  • the first drive mechanism and the second drive mechanism are arranged side by side at the lower part of the autonomous mobile device.
  • the first drive mechanism and the second drive mechanism of the autonomous mobile device will retreat a certain distance together to retreat a certain distance from the stuck position, thereby providing
  • the drive mechanism of the autonomous mobile device rotates to provide room for acceleration before reaching the lower edge of the obstacle slope; then, braking one drive mechanism of the autonomous mobile device, such as the second drive mechanism, makes it stand still or occurs a small amount in the opposite direction Rotate while another drive mechanism, such as the first drive mechanism, rotates an angle around the braked second drive mechanism at a suitable speed or acceleration so as to have a displacement component of forward motion, and then hold the previously rotating first drive mechanism stationary motionless, while the previously braked second drive mechanism orbits the now immobilized first drive mechanism at a suitable speed or acceleration (the speed and/or acceleration of the first drive mechanism and the second drive mechanism may be the same or different)
  • the mechanism is rotated by an angle so as to have a displacement component of forward movement, thereby achieving alternate forward movement of the first drive mechanism and
  • FIG. 7a For ease of understanding, the obstacle surmounting mode in FIG. 7a will be described by taking a surmountable obstacle as the threshold 210 as an example and referring to FIGS. 7b-7e.
  • step S710 is executed, and the autonomous mobile device retreats a first distance driven by the first drive mechanism W1 and the second drive mechanism W2, and the distance between the autonomous mobile device 220 and the threshold 210
  • the schematic diagram of the relative positional relationship between is changed from Fig. 7b to Fig. 7c.
  • step S720 the second drive mechanism W2 is braked, the first drive mechanism W1 rotates around the second drive mechanism W2 by a first angle, and the schematic diagram of the relative positional relationship between the autonomous mobile device 220 and the threshold 210 is shown in FIG. 7c Transformed into Figure 7d.
  • step S730 the first driving mechanism W1 is fixed, and the second driving mechanism W2 is rotated forward by a second angle around the first driving mechanism W1. 7d is transformed into Figure 7e, thereby completing the obstacle surmounting.
  • the two driving mechanisms W1 and W2 are alternately operated through the obstacle-overriding mode of steps S710, S720 and S730, and finally both can cross the slope of the threshold 210 , so as to solve the technical problem that the autonomous mobile device is stuck before the threshold, and it is an effective obstacle-crossing mode in practice.
  • steps S410 and S420 in FIG. The device increases its speed to accelerate to a first preset speed, and attempts to cross the surmountable obstacle at the increased first preset speed (greater than the speed at which the autonomous mobile device is normally operating).
  • This also includes that the autonomous mobile device sets the first preset speed as the target value of the speed increase, but in actual operation, the autonomous mobile device has rushed over a surmountable obstacle or even crossed it before the increased speed reaches the first preset speed The situation in the obstacle-traversable area.
  • steps S510, S520, and S530 in FIG. 5 may be executed in sequence, that is, the autonomous mobile device retreats a first distance from the current position where it is stuck, The autonomous mobile device takes the current direction after the first distance as the initial direction, and rotates the first set angle in situ along the first rotation direction, and then the autonomous mobile device controls its motion unit to move forward while rotating the second rotation direction for the first time. 2. Set the angle, repeat the above process, and try to cross the obstacle-crossing area during the process; if the obstacle-crossing area is successfully crossed, the autonomous mobile device will perform subsequent normal operations.
  • FIG. 8a For an exemplary schematic diagram of the autonomous mobile device operating in the obstacle-surpassing mode, refer to FIG. 8a.
  • the autonomous mobile device takes the current direction after retreating the first distance from the stuck current position A as the initial direction, and first rotates the first setting in place along the first rotation direction (for example, clockwise). Angle ⁇ (such as 85°), and then control its wheel set to move forward while rotating a certain set angle in the second direction of rotation (such as counterclockwise) (which can be called the second set angle, such as 175°)
  • the autonomous mobile device controls its wheel set to move forward and edge A certain rotation direction (such as clockwise) rotates a certain set angle (such as 180°) to reach the coordinate position of point C across the obstacle-surpassable area, and then the subsequent normal operation can be performed.
  • the autonomous mobile device if the autonomous mobile device operates in the obstacle-surpassing mode, steps S610, S620, and S630 in FIG.
  • the autonomous mobile device takes the current direction after retreating the second distance as the initial direction, rotates the third set angle in situ along the third rotation direction, and then the autonomous mobile device controls its motion unit to move forward in a straight line for the set distance, and repeat the above steps repeatedly. Rotate and operate straight until it crosses the obstacle-surpassable area, and then perform subsequent normal operations.
  • FIG. 8b For an exemplary schematic diagram of the autonomous mobile device operating in this obstacle-surpassing mode, please refer to FIG. 8b.
  • the autonomous mobile device takes the current direction after retreating a second distance from the stuck current position A as the initial direction, and first rotates the third setting in place along the third rotation direction (for example, clockwise) Angle ⁇ ' (such as 85°), and then control its wheel set to move forward in a straight line for a set distance to reach the coordinate position of point E1.
  • the third rotation direction for example, clockwise
  • Angle ⁇ ' such as 85°
  • the autonomous mobile device then rotates in a certain direction of rotation (such as counterclockwise) at a set angle (such as 135°), and then controls its wheel set to move forward in a straight line for a certain set distance
  • a certain direction of rotation such as counterclockwise
  • a set angle such as 135°
  • the autonomous mobile device then rotates in a certain direction of rotation (such as clockwise) at a set angle (such as 60°) , and then control its wheel set to move forward in a straight line.
  • the autonomous mobile device successfully crosses the obstacle-surpassing area to point C, and then can perform subsequent normal operations.
  • step S110 parameters of surmountable obstacles in the obstacle-surpassable area are also acquired.
  • the user in addition to marking the obstacle-surpassable area on the map, can also set the parameters of the surmountable obstacles in the obstacle-surpassable area, where the parameters may include but are not limited to the shape of the obstacle (such as cross-sectional shape (e.g. trapezoidal, rectangular, circular, etc.) and/or height.
  • shape of the obstacle such as cross-sectional shape (e.g. trapezoidal, rectangular, circular, etc.) and/or height.
  • the user can set the parameters of the surmountable obstacle through the screen displayed on the user equipment for setting the parameters of the surmountable obstacle, and the screen displays the parameters of the surmountable obstacle.
  • the selection buttons corresponding to various parameters the user can set the corresponding obstacle parameters by clicking the corresponding button. Due to limited space, the present disclosure does not describe the manner in which the user sets the parameters of the surmountable obstacle.
  • Step S130 it may be judged according to the parameters of the surmountable obstacle whether the autonomous mobile device can surmount the surmountable obstacle, wherein, if it is determined that the surmountable obstacle can be surmounted, the above-mentioned Step S130.
  • the autonomous mobile device may judge whether the autonomous mobile device can cross the surmountable obstacle according to the acquired parameters of the surmountable obstacle.
  • the autonomous mobile device may perform step S130 to operate in the obstacle-surpassing mode to try to pass through the obstacle-surmountable area corresponding to the obstacle.
  • the autonomous mobile device can be ordered Perform obstacle avoidance processing such as escape mode and edge following mode to improve work efficiency.
  • the parameter of the surmountable obstacle has a corresponding relationship with the obstacle surmounting mode, and when the autonomous mobile device is stuck in the obstacle surmountable area, according to the surmountable
  • the parameters of the leap-over obstacle and the corresponding relationship implement the corresponding obstacle-crossing mode.
  • the obstacle-crossing mode corresponding to the parameter can be selected according to the parameter of the surmountable obstacle, and the selected obstacle-breaking mode can be executed.
  • different obstacle clearance modes can be set according to the parameters of different surmountable obstacles.
  • the parameter thresholds of the surmountable obstacles include the cross-sectional shape of the obstacle as a trapezoid and the height of the first threshold of 2.7cm, the cross-sectional shape of the obstacle as a rectangle and the height of the second threshold of 2cm, and the cross-sectional shape of the obstacle as an arc and the height is the third threshold of 2.2cm, if the user sets the obstacle parameter with a height higher than the first threshold via the user equipment, then it can be determined according to the parameter of the surmountable obstacle set by the user and the aforementioned obstacle parameter threshold The obstacle cannot be crossed. Therefore, when the autonomous mobile device runs into the obstacle-surpassable area, it will not try to cross the obstacle. For example, it can perform obstacle avoidance processing such as escape mode and edge following mode, and the autonomous mobile device can Automatically marks the area on the map as impassable.
  • the autonomous mobile device can determine the obstacle according to the obstacle parameter set by the user and the aforementioned obstacle parameter threshold Objects can be surmounted. If the autonomous mobile device is stuck in the obstacle surmountable area, it will run in the obstacle surmountable mode. Exemplarily, the autonomous mobile device will follow the forward direction and the surmountable obstacle corresponding to the obstacle surmountable area. The lower edge of the slope of the type obstacle runs in the direction of a preset angle to cross the surmountable obstacle. That is, the autonomous mobile device runs along the oblique obstacle-crossing path shown in Figure 3d.
  • the autonomous mobile device can determine the obstacle according to the obstacle parameter set by the user and the aforementioned obstacle parameter threshold Objects can be surmounted. If the autonomous mobile device is stuck in the obstacle-surpassable area, it operates in obstacle-surpassing mode. For example, the autonomous mobile device moves back a certain distance, brakes one wheel and makes the other wheel go around the obstacle.
  • the braked wheel is rotated at an angle to allow the rotating wheel to step over or over an obstacle, keeping the previously rotating wheel stationary, while the previously braked wheel is rotated at an angle around the fixed wheel to allow the rotating wheel Stepping to or over an obstacle, that is, the autonomous mobile device operates with the flow chart of the obstacle surmounting mode shown in FIG. 7 .
  • the autonomous mobile device will It can be determined that the obstacle is surmountable. If the autonomous mobile device is stuck in the obstacle-surpassable area, it operates in a specific obstacle-surpassing mode. For example, the autonomous mobile device retreats a certain distance, increases its speed and uses The increased speed traverses the obstacle, ie the autonomous mobile device operates in the obstacle clearance mode shown in FIG. 4 .
  • the obstacle-crossable area is set with a predetermined path of the obstacle-crossing path and runs according to the predetermined path.
  • the user assists in marking obstacles on the map and setting obstacle parameters, and determines that obstacles can be crossed based on the obstacle parameters.
  • the path suitable for the marked obstacles is planned based on the marked map. In this way, the risk of being trapped that the autonomous mobile device may encounter during unnecessary attempts to cross obstacles can be avoided, and the The time consumed by autonomous mobile equipment in unnecessary obstacle-crossing processing can ensure the stability of equipment operation and improve work efficiency.
  • the autonomous mobile device when the autonomous mobile device is stuck in the obstacle-surpassable area, the autonomous mobile device operates in an obstacle-surpassing mode with a higher probability of overcoming obstacles, thereby increasing the probability of the autonomous mobile device overcoming obstacles.
  • step S130 the following steps are also performed:
  • step S140 it is judged whether the autonomous mobile device has passed the obstacle-surpassable area.
  • the autonomous mobile device After executing all the steps of the control method shown in Figure 1a, as described in Figures 1b and 1c, it is also judged whether the autonomous mobile device has passed the obstacle-crossable area, for example, by judging whether the autonomous mobile device is in the If it is stuck in the obstacle-crossing area, it is judged whether the autonomous mobile device has passed the obstacle-crossable area. If it is judged that the autonomous mobile device is stuck in the obstacle-crossable area, it is judged that the autonomous mobile device has not passed the obstacle-crossable area; , if it is determined that the autonomous mobile device is not stuck in the obstacle-surpassable area, it is determined that the autonomous mobile device has passed the obstacle-surmountable area.
  • the method of judging whether the autonomous mobile device is stuck can refer to the previous description, and due to space limitation, details will not be repeated here.
  • step S140 if the determination is "No" in step S140, the autonomous mobile device has not passed the obstacle-surpassable area even if it is running in the obstacle-surpassing mode. The area is re-marked as an impassable area.
  • the autonomous mobile device when the autonomous mobile device operates in the obstacle surmounting mode to try to overcome the obstacle and fails, in order to improve work efficiency, the autonomous mobile device can try other paths, such as executing the escape mode, edge following mode, etc.
  • the obstacle surmounting mode includes: making the autonomous mobile device follow the forward travel direction of the autonomous mobile device along the slope of the surmountable obstacle corresponding to the obstacle surmountable area The lower edge of the face runs in a direction at a preset angle to cross over a surmountable obstacle.
  • the preset angle may include, but not limited to, any angle within the interval [10°, 45°], for example.
  • the autonomous mobile device can use the A-Star (also written as A*) algorithm to plan the path.
  • the autonomous mobile device uses the A* algorithm to plan the path
  • the search point is located in the obstacle-surpassing area (such as the threshold area)
  • the cost of the oblique search method is set to be lower than the cost of the horizontal and vertical search methods, so that The path planned by the autonomous mobile device tends to pass through the obstacle-surpassing area obliquely, that is, the planned path is modified from a horizontal and vertical obstacle-crossing path to an oblique obstacle-crossing path.
  • the path in the obstacle-surpassable area 240 tends to pass through the obstacle-surpassable area 240 along a direction of 45 degrees.
  • the angle between the forward direction of the autonomous mobile device and the obstacle 230 is 45°.
  • the autonomous mobile device when the autonomous mobile device fails to cross the obstacle-surpassable area with the above-mentioned oblique obstacle-surpassing path, it can continue to use another oblique obstacle-surpassing path (the corresponding predetermined angle is different from the previous oblique obstacle-surpassing path) Try again to cross the accessible area.
  • the autonomous mobile device runs along a direction in which the forward travel direction forms a preset angle with the lower edge of the slope of the surmountable obstacle corresponding to the obstacle-surpassable area to perform obstacle-surpassing processing and fails, the preset can be changed.
  • the forward travel direction of the autonomous mobile device and the lower edge of the slope of the surmountable obstacle corresponding to the obstacle-surpassing area form a changed preset angle to perform obstacle-surpassing processing again.
  • the mode corresponding to the predetermined path that the autonomous mobile device can plan may include special modes in the prior art such as a bow-shaped coverage mode, an edge mode, a navigation mode, and an escape mode. Due to space limitation, this disclosure will not describe it any further.
  • Fig. 9 shows a block diagram of a control device of an autonomous mobile device according to an exemplary embodiment.
  • the control apparatus 1100 of the autonomous mobile device may include an acquiring unit 1110 , a judging unit 1120 and a processing unit 1130 .
  • the obtaining unit 1110 is used to obtain a map marked with obstacle-surpassable areas.
  • the judging unit 1120 is used to judge whether the autonomous mobile device is stuck in the obstacle-surpassable area.
  • the processing unit 1130 is connected to the judging unit 1120, and is configured to command the autonomous mobile device to execute an obstacle-crossing mode in order to try to pass the obstacle-crossable area when it is judged that the autonomous mobile device is stuck in the obstacle-crossable area. Obstacle clearance area.
  • the judging unit 1120 is configured to: judge whether the autonomous mobile device runs to the obstacle-crossable area; Next, continue to judge whether the autonomous mobile device is stuck in the obstacle-passable area, wherein, if it is determined that the autonomous mobile device is stuck in the obstacle-passable area, the processing unit 1130 instructs the The autonomous mobile device executes an obstacle surmounting mode to try to pass through the obstacle surmountable area.
  • the judging unit 1120 is configured to: judge whether the autonomous mobile device is stuck; if it is judged that the autonomous mobile device is stuck, continue to judge that the autonomous mobile device is stuck Whether the stuck position is within the obstacle-surmountable area, wherein, if it is determined that the autonomous mobile device is stuck within the obstacle-surpassable area, the processing unit 1130 instructs the autonomous mobile device to Executing an obstacle clearance mode to attempt to pass through the obstacle clearance area.
  • the judging unit 1120 also judges whether the autonomous mobile device has passed the obstacle-crossable area; if it is judged that the autonomous mobile device has not passed the obstacle-crossable area, Obstacle traversable areas that have not been passed are remarked as impassable areas on the map.
  • the processing unit 1130 when it is determined that the location where the autonomous mobile device is stuck is not within the obstacle-surpassable area, the processing unit 1130 commands the autonomous mobile device to execute the escape mode, alarm, and /or mark the stuck position on the map as a common obstacle or mark the area where the stuck position is located as an impassable area.
  • the processing unit 1130 commands the autonomous mobile device to run in a workspace without a map and establishes a map of the workspace; the judging unit 1120 judges whether the autonomous mobile device is stuck; If it is judged that the autonomous mobile device is stuck at the current position, the processing unit 1130 commands the autonomous mobile device to execute the obstacle-crossing mode; after the autonomous mobile device executes the obstacle-crossing mode, the judging unit 1120 judges that the autonomous mobile device Whether the mobile device has passed the area corresponding to the position where the autonomous mobile device is stuck; if it is determined that the autonomous mobile device has passed the area corresponding to the position where the autonomous mobile device is stuck, marking the area on the created map as an obstacle traversable area; and/or in the event that the autonomous mobile device is determined not to have passed through the area corresponding to the location where the autonomous mobile device is stuck, The created map marks the area as impassable.
  • the acquiring unit 1110 also acquires parameters of surmountable obstacles in the obstacle-surpassable area.
  • the obtaining unit 1110 is configured to: push the map of the workspace to the user; and receive the map on which the user has marked the obstacle-surpassable area.
  • a recommendation unit (not shown), configured to recommend to the user to mark the surmountable obstacle in the obstacle-surpassable area after the map of the workspace is pushed to the user predetermined shape.
  • the judging unit 1120 also judges whether the autonomous mobile device can surmount the surmountable obstacle according to the parameters of the surmountable obstacle, wherein, after judging that the surmountable obstacle can be In the case of a surmountable obstacle, the processing unit 1130 instructs the autonomous mobile device to execute an obstacle surmounting mode, so as to try to pass through the obstacle surmountable area.
  • the obstacle surmounting mode includes: making the autonomous mobile device form a preset angle with the lower edge of the slope of the surmountable obstacle corresponding to the obstacle surmountable area along the forward traveling direction run in the direction to cross the surmountable obstacle.
  • the preset angle is not less than 10° and not greater than 45°.
  • the obstacle surmounting mode includes: making the autonomous mobile device retreat a first distance from the current position; braking the second driving mechanism, and making the first driving mechanism rotate around the second driving mechanism; The mechanism is rotated forward by a first angle, wherein the first drive mechanism and the second drive mechanism are arranged side by side on the autonomous mobile device; the first drive mechanism is fixed, and the second drive mechanism is rotated around the The first driving mechanism rotates forward by a second angle.
  • the obstacle surmounting mode includes: making the autonomous mobile device retreat a first distance from the stuck current position; accelerating the autonomous mobile device to a first preset speed, and The first preset speed crosses the surmountable obstacle, wherein the first preset speed is greater than the speed of the autonomous mobile device during normal operation.
  • the obstacle surmounting mode includes: making the autonomous mobile device retreat a first distance from a stuck current position; The direction is the initial direction, rotate the first set angle in situ along the first rotation direction, and then control the motion unit of the autonomous mobile device to move forward while rotating the second set angle along the second rotation direction, wherein the first The second direction of rotation is opposite to the first direction of rotation.
  • the obstacle surmounting mode includes: making the autonomous mobile device retreat a second distance from a stuck current position; The direction is the initial direction, rotate in situ at a third set angle along the third rotation direction, and then control the motion unit of the autonomous mobile device to move forward a set distance in a straight line.
  • the parameter of the surmountable obstacle corresponds to the obstacle surmounting mode
  • the processing unit 1130 The parameters of the surmountable obstacle and the corresponding relationship execute a corresponding obstacle-crossing mode.
  • the parameters of the surmountable obstacle include shape and/or height.
  • Figure 10 shows a block diagram of an autonomous mobile device, according to an exemplary embodiment.
  • the autonomous mobile device 1200 may include a control device 1100 and a motion unit 1210 of the autonomous mobile device.
  • the movement unit 1210 is connected with the control device 1100, and is used for responding to the control device 1100 commanding the autonomous mobile device 1200 to execute an obstacle-crossing mode, and to try to pass through the obstacle-crossing area by moving in the obstacle-crossing mode.
  • the exercise unit 1210 may include, but is not limited to, a wheel set, for example.

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

Abstract

Sont divulgués un dispositif mobile autonome, son procédé de commande, un appareil, et un support de stockage. Le procédé comprend : une étape d'acquisition pour acquérir une carte marquée avec une zone de croisement d'obstacle (S110) ; une étape de détermination pour déterminer si un dispositif mobile autonome est coincé dans la zone de croisement d'obstacle (S120) ; et une étape de manipulation pour commander le dispositif mobile autonome pour déclencher un mode de croisement d'obstacle lorsqu'il est déterminé que le dispositif mobile autonome est coincé dans la zone de croisement d'obstacle, de façon à tenter de passer à travers la zone de croisement d'obstacle (S130). Par conséquent, un croisement d'obstacle est assisté au moyen de la carte marquée avec la zone de croisement d'obstacle et, par conséquent, le problème provoqué par une incapacité à distinguer un obstacle pouvant être croisé d'une zone de risque dangereuse peut être évité.
PCT/CN2022/136455 2021-12-28 2022-12-05 Dispositif mobile autonome, son procédé de commande, appareil, et support de stockage WO2023124788A1 (fr)

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