WO2022262718A1 - 自移动设备及躲避障碍的控制方法、存储介质 - Google Patents
自移动设备及躲避障碍的控制方法、存储介质 Download PDFInfo
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Definitions
- the present disclosure relates to the field of self-mobile device data processing technology, and in particular, to a self-mobile device, a control method for avoiding obstacles, and a storage medium.
- a commonly used obstacle avoidance method is mainly to install an ultrasonic sensor on a self-moving device, and use the ultrasonic sensor to transmit and receive ultrasonic signals to realize the identification of obstacles. After identifying the obstacle, the control unit on the mobile device controls the mobile device to turn, so as to avoid the obstacle.
- the operating environment is complex, which often leads to the failure of the self-moving equipment to avoid in time, causing damage to obstacles or the self-moving equipment itself.
- the present disclosure provides a self-moving device, a control method for avoiding obstacles, and a storage medium, which can avoid obstacles more quickly and in a timely manner, and ensure the safety of the obstacles and the self-moving device itself.
- the disclosed technical scheme is as follows:
- a self-mobile device including:
- a control unit the control unit is arranged in the main body, and the control unit is used to determine the distance from the mobile device to the obstacle; when the distance is between the first preset distance and the second preset distance, controlling the self-moving device to maintain the original traveling speed and original traveling direction; when the distance reaches a second preset distance, a turning signal is sent, and the turning signal is used to control the self-moving device to be greater than or equal to the original traveling speed Turning, the original travel speed and original travel direction are when the distance reaches the first preset distance, the travel speed and travel direction of the mobile device; wherein the second preset distance is less than the first preset distance a preset distance.
- the turning signal is further used to control the autonomous mobile device to turn at a preset steering angle.
- the value range of the first preset distance is 40-60 cm
- the value range of the second preset distance is 10-20 cm .
- the second preset distance is determined according to the current driving speed of the autonomous mobile device, or is determined in advance according to the information in the product information of the autonomous mobile device. Contains the travel speed information to be set.
- the control signal used to control the self-moving device to turn at a speed greater than or equal to the original driving speed includes:
- Steering is performed with a first speed difference, and the first speed difference is that in the traveling direction of the self-moving device, the rotation speed of the row wheel on one side is faster than the rotation speed of the row wheel on the other side.
- the controlling the self-moving device to turn at a speed greater than or equal to the original driving speed in the self-moving device includes:
- the mobile device is controlled to continue turning at the first turning rate for a preset period of time.
- the autonomous mobile device further includes an obstacle detection device connected to the control unit of the main body, and the obstacle detection device is used to obtain the detection of obstacles Data, obtained from the distance between the mobile device and the obstacle according to the detection data, and sending the distance to the control unit; or used to send the acquired detection data of the obstacle to the control unit, so that all The control unit determines the distance between the mobile device and the obstacle according to the detection data.
- the obstacle detection device includes at least one of the following:
- an energy wave sensor configured to emit an energy wave and receive a reflected signal of the energy wave, and the detection data includes data information emitted by the energy wave and the reflected signal;
- the photographing device is used to acquire image data of obstacles, and the detection data includes the image data.
- the corresponding relationship between the second preset distance and the preset steering angle is a negative correlation.
- control unit is further configured to:
- the data processing speed is increased, or a warning processing signal is sent to the obstacle detection device, and the warning processing signal is used to control the obstacle detection device to increase the detection of the obstacle. Detection frequency.
- a control method for avoiding obstacles from a mobile device including:
- a turning signal is sent, and the turning signal is used to control the self-mobile device to turn at a speed greater than or equal to the original driving speed, and the original driving speed and the original traveling direction are when the When the distance reaches the first preset distance, the traveling speed and traveling direction of the mobile device; wherein the second preset distance is smaller than the first preset distance.
- a computer-readable storage medium When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute any one of the present disclosure. The method described in the examples.
- a computer program product including a computer program, and when the computer program is executed by a processor, the method described in any one of the embodiments of the present disclosure is implemented.
- the detection data of obstacles in the traveling direction of the mobile device can be obtained, and the distance to the obstacle can be calculated according to the detection data of the obstacles or received from other devices based on the detection data.
- the distance from the mobile device to the obstacle When the distance from the mobile device to the obstacle is between the first preset distance and the second preset distance, the mobile device maintains the original driving speed and the traveling direction to move forward stably.
- the steering When the second preset distance is reached, the steering will be performed at the original driving speed or faster, so as to complete more work areas at the same time to the greatest extent, complete timely and fast steering, and realize safer and more reliable self-moving equipment The steering also improves the working efficiency.
- Fig. 1 is a schematic structural diagram of an embodiment of a mobile device according to an exemplary embodiment.
- Fig. 2 is a schematic diagram of scene comparison of an embodiment in which a self-mobile device uses a fast and large-angle steering to avoid obstacles provided in this specification.
- Fig. 3 is a schematic structural diagram of another self-mobile device embodiment according to an exemplary embodiment.
- Fig. 4 is a schematic structural diagram of an obstacle detection device according to an exemplary embodiment.
- Fig. 5 is a schematic flowchart of a control method for avoiding obstacles from a mobile device according to an exemplary embodiment.
- FIG. 6 is a schematic structural diagram of the control unit 14 provided in this specification.
- connection can also be a detachable connection or an integrated connection; it can be a mechanical connection or an electrical connection.
- an embodiment of a self-mobile device may include:
- a control unit 14 the control unit is arranged in the main body, and the control unit is used to determine the distance from the mobile device to the obstacle; when the distance is between the first preset distance and the second preset distance , controlling the self-moving device to maintain the original traveling speed and original traveling direction; when the distance reaches a second preset distance, a turning signal is sent, and the turning signal is used to control the self-moving device to be greater than or equal to the original traveling Speed to turn, the original travel speed and original travel direction are when the distance reaches the first preset distance, the travel speed and travel direction of the mobile device; wherein the second preset distance is less than the The first preset distance.
- the self-moving device may generally include a device that can move according to a predetermined travel route and control strategy, and may include an intelligent lawn mower, a sweeping robot, an automatic delivery machine, and the like.
- Self-moving devices can usually work without human intervention.
- the self-propelled device in the embodiment of this specification can be in contact with human equipment or external equipment.
- the self-propelled device can have a handrail, and the operator can follow behind the self-propelled device and hold the handrail of the self-propelled device.
- the travel route and control strategy of the self-moving device still come from the control logic of the self-moving device itself. Even if the operator holds the handrail or can actively change the direction or speed of the self-moving device through the handrail, such
- the device still belongs to the mobile device described in the embodiments of this specification. type, may also include manned autonomous mobile equipment.
- a turn signal is sent, and the turn signal can be used to control the self-mobile device to turn at a speed lower than the original driving speed.
- the turn signal can be used It is used to control the speed decrease of the self-mobile device during the steering process, that is, to complete the steering and obstacle avoidance by decelerating while turning.
- the control unit 14 may have data processing capabilities, and may also have wired or wireless communication capabilities.
- the control unit may be or include a Microcontroller Unit (MCU).
- MCU Microcontroller Unit
- the control unit 14 can control the device on the mobile device to send out signals such as sound, light, and electromagnetic waves, and a part of the signal will be reflected when the signal encounters an obstacle.
- the self-mobile device can receive the reflected signal and convert it into obstacle feedback data accordingly. The distance to the obstacle can then be calculated based on the obstacle feedback data.
- the mobile device does not have to rely on its own device to detect the distance between the mobile device and the obstacle.
- control unit 14 When the control unit 14 realizes the determination of the distance between the mobile device and the obstacle, it can also use other The device on the device or the beacon marked at a fixed position or the data information sent by the remote server determines the distance to the obstacle, and even, the data information of the distance from the mobile device to the obstacle can also be directly received.
- the control unit 14 can also send control signals, such as turning signals, or forward and reverse signals, etc., to control the traveling direction, traveling mode, and traveling speed of the self-mobile device.
- a first preset distance and a second preset distance may be set, wherein the second preset distance is smaller than the first preset distance.
- the second preset distance may represent the minimum safe distance from the obstacle that the mobile device needs to turn to.
- the second preset distance may be 20 centimeters, or a value range of 10-20 centimeters may be set.
- the first preset distance may represent the distance required to maintain the original driving speed and original traveling direction before reaching the second preset distance.
- the first preset distance may be 40 cm, or a value range of 40-60 cm may be set.
- the original traveling speed and traveling direction are maintained to move forward stably.
- the steering will be performed at the original driving speed or faster, so as to complete more work areas at the same time to the greatest extent, complete timely and fast steering, and realize safer and more reliable self-moving equipment
- the steering also improves the working efficiency.
- the second preset distance can also be determined according to the detection sensitivity or effective detection distance of the obstacle detection device below, wherein the detection sensitivity can be It refers to the maximum or furthest distance that the device can detect obstacles.
- the effective detection distance refers to the early warning distance to avoid obstacles. It should be pointed out that the detection sensitivity can be the same as the effective detection distance, or it can be different. For example, when the obstacle detection device is an ultrasonic sensor, its detection sensitivity is 60 cm, and its effective detection distance is 40 cm.
- the ultrasonic sensor when the ultrasonic sensor detects an obstacle 60cm ahead, it can ignore the obstacle, and only pays attention to the obstacle when it is 40cm away from the obstacle, which means that the obstacle may affect the device's travel strategy. , for example, it is necessary to change the walking route in time to avoid it.
- the self-mobile device can detect and obtain obstacle information in a traveling direction in real time during operation.
- the control unit 14 can judge whether to avoid according to the obstacle feedback data. For example, for some relatively large obstacles or obstacles that may cause damage if not avoided, such as walls, stones, etc., you can set the need to avoid. When it is determined that dodging is required, the mobile device can be controlled to dodge. For some obstacles that do not need to be avoided, such as paper scraps and leaves, you can continue to move forward.
- the main body may generally include driving equipment (such as a power supply, etc.), traveling devices (such as traveling rollers or crawlers, etc.), steering equipment (rack and pinion steering gear, worm crank pin steering gear, etc.) ) and corresponding operating tools (such as mowing devices, cleaning devices, etc.).
- driving equipment such as a power supply, etc.
- traveling devices such as traveling rollers or crawlers, etc.
- steering equipment rack and pinion steering gear, worm crank pin steering gear, etc.
- corresponding operating tools such as mowing devices, cleaning devices, etc.
- the control signal used to control the self-mobile device to turn at a speed greater than or equal to the original driving speed includes:
- Steering is performed with a first speed difference, and the first speed difference is that in the traveling direction of the self-moving device, the rotation speed of the row wheel on one side is faster than the rotation speed of the row wheel on the other side.
- the rotation speed of the outer row wheel is faster than the rotation speed of the inner row wheel by a first percentage.
- the value range of the first percentage can be set correspondingly according to the steering control strategy. For example, in some application scenarios, it can be set to 10% to 40%. This can not only ensure that the self-mobile device can quickly complete the steering, but also avoid equipment tilting, turning in circles, The actual transmission angle is greater than the preset steering angle (caused by rotational inertia), etc., which improves the safety and reliability of steering. As mentioned earlier, steering involves turning while traveling.
- the embodiment in which the rotation speed of the row wheel on one side is faster than the rotation speed of the row wheel on the other side by a first percentage may include a row wheel on one side
- the rotation speed of the wheel is the original rotation speed, and the speed of the row wheel on the other side is reduced to 0.
- the rotation speeds of the row wheels on both sides may also be rotated at a constant speed or steered in a manner in which the first speed difference is zero.
- other policies may also be set correspondingly according to the structure and steering requirements of the self-mobile device.
- the rotation speed of the outer row wheels during steering can be increased.
- a faster turning speed can be formed due to the increased speed of the outer row wheels.
- the normal driving speed of the lawn mower is 33 rpm
- the outer row wheels still turn at the speed of 33 rpm when turning.
- the rotation speed of the outer row wheels is increased, and the rotation speed is greater than 33 revolutions per minute, such as 40 revolutions per minute.
- the first speed difference can also be correspondingly converted into the steering angle completed per unit time.
- the steering completed by the mobile device may be represented by a steering angle completed per unit time.
- the controlling the self-mobile device to turn at a speed greater than or equal to the original driving speed includes:
- the mobile device is controlled to continue turning at the first turning rate for a preset period of time.
- the value range of the first steering rate may be 3.5-8 degrees/second. For example, you can set 2 seconds to complete 15 degrees, that is, turn from the mobile device to 7.5 degrees per second to complete the preset steering angle of 15 degrees, or 6 seconds to complete 30 degrees, that is, turn from the mobile device to 5 degrees per second to complete the preset 30 degrees Steering angle steering. In this way, by controlling the steering angle with the first steering rate and its duration, the difference in the size of the row wheels can be shielded, and the steering can be completed more accurately and reliably.
- the preset steering angle described in this embodiment can be set and adjusted according to job requirements or different types of self-moving equipment, different model sizes of self-moving equipment, sizes of row wheels, and the like.
- the value of the preset steering angle in this embodiment is greater than conventional setting parameters or industry standards under the same conditions (such as the same model, the same operation scene, etc.).
- the preset steering angle may be directly set, so that the self-mobile device turns at the preset steering angle.
- This preset steering angle can be larger than the conventional setting angle.
- the steering angle is usually set to 20 degrees.
- Embodiments of the present disclosure can set the preset steering angle to 30 degrees or 40 degrees, or even 60 degrees. Spend.
- the preset steering angle can also be set or adjusted according to the distance from the obstacle or the size of the mobile device.
- the value range of the preset steering angle may be 30-60 degrees, for example, it may be set to 45 degrees.
- a large steering angle greater than 30 degrees can be set, which can realize fast steering and avoid obstacles.
- some schemes of this embodiment can combine a preset steering angle with a large value and increase the steering speed, and perform steering with a faster turning speed and a larger turning angle, ensuring that even in a small obstacle avoidance When the distance (the second preset distance) is reached, the obstacle avoidance can still be completed in time, ensuring efficient and reliable obstacle avoidance.
- the second preset distance may also be determined according to the current driving speed of the mobile device, or be set in advance according to the driving speed information included in the product information of the mobile device.
- the current driving speed can be determined to dynamically adjust/determine the second preset distance in real time, and different speed value ranges can be preset, which correspond to the corresponding second preset distances.
- the faster the driving speed the relatively larger the second preset distance is set.
- the product information can also be set in advance according to the driving speed information contained in the product information of the mobile device, for example, the product information clearly indicates the speed value of the normal operation of the mobile device, or the speed values of different gears.
- the product information clearly indicates the speed value of the normal operation of the mobile device, or the speed values of different gears.
- different models, sizes, and operating environments will also correspond to corresponding product information, and corresponding form speed information.
- the second preset distance described in this embodiment can be set and adjusted according to the operation requirements or different model sizes and row wheel sizes of mobile equipment.
- Said road wheels include not only conventional circular wheels, but also tracks, polygonal wheels, etc. For the convenience of description, some embodiments of this specification may be collectively referred to as road wheels.
- Fig. 2 is a schematic diagram of scene comparison of an embodiment in which a self-mobile device uses a fast and large-angle steering to avoid obstacles provided in this specification.
- the dotted line part is a schematic diagram of the conventional normal steering route
- the solid line part is a schematic diagram of the route of the fast large-angle steering
- A1 is the steering angle of the normal steering
- A2 is the large steering angle
- A2 is greater than A1.
- the self-moving device in this embodiment can complete the steering in a more timely and safe manner while ensuring as many operating areas as possible for the self-moving device, thereby improving the safety and reliability of the self-moving device turning.
- an obstacle detection device 12 may also be included, the obstacle detection device 12 is connected with the control unit 14 of the main body 100, and the obstacle detection device 12 is connected to the control unit 14 of the main body 100.
- the device 12 can be used to obtain the detection data of the obstacle, obtain the distance between the mobile device and the obstacle according to the detection data, and send the distance to the control unit 14; or be used to detect the obtained obstacle
- the data is sent to the control unit 14, so that the control unit 14 determines the distance from the mobile device to the obstacle according to the detection data.
- Fig. 3 is a schematic structural diagram of an embodiment of a mobile device according to an exemplary embodiment.
- the obstacle detection device 12 can at least acquire the detection data of obstacles.
- the way to obtain the detection data of the obstacle may include a method based on self-sending and self-receiving, that is, the obstacle detection device 12 can emit energy waves such as ultrasonic waves and lasers by itself, and receive the data information obtained by the reflected signal; it may also include obtaining the first
- the obstacle feedback data transmitted by three parties such as the obstacle detection data sent by an external device or a remote server through a wireless network.
- the detection data may include received raw data information, such as an analog signal received by the obstacle detection device 12, which may include the amplitude, frequency, phase, etc. of the signal.
- Other embodiments may also include data information that converts and filters raw data information.
- the obstacle detection device 12 may perform analog-to-digital conversion on the received raw data information.
- the step of processing the raw data information can also be executed by the control unit 14 .
- the detection data may also be acquired by other devices, and the distance between the mobile device and the obstacle is calculated according to the detection data, and then the distance is sent to the control unit 14 .
- the device that sends the distance information (including the distance between the self-mobile device and the obstacle) to the control unit 12 and is indirectly mechanically connected with the self-mobile device can be collectively referred to as the server, such as the aforementioned base station, remote server etc. Therefore, in another embodiment of the self-mobile device provided in the present disclosure, the determining the distance between the self-mobile device and the obstacle includes:
- the self-moving device can determine the distance without the obstacle detection device installed on the self-moving device, which can reduce the weight and data processing requirements of the self-moving device, and improve the convenience of moving the self-moving device, the flexibility of operation and the data Reliability of processing (less data to process).
- Fig. 4 is a schematic structural diagram of a mobile device according to an exemplary embodiment.
- the obstacle detection device in the self-mobile device may include the aforementioned energy wave sensor, and may also include a photographing device. Of course, you can also include both.
- the obstacle detection device 12 may at least include one of the following:
- the energy wave sensor 120 can be used to emit energy waves and receive reflected signals of the energy waves, and the detection data includes measurement data of the energy waves;
- the photographing device 122 may be used to acquire image data of obstacles, and the detection data includes measurement data of the energy wave.
- the control unit 14 may determine the distance to the obstacle according to the recognition processing result of the image data.
- the obstacle detection device 12 may be a sensor based on energy waves (which may be referred to as an energy wave sensor).
- the energy waves mentioned above may include propagating energy in the form of waves, and may include mechanical waves, electromagnetic waves, and material waves.
- Specific sensors based on energy waves may include ultrasonic sensors, infrared sensors, radiation sensors (such as gamma rays) and the like.
- the energy wave sensor can emit corresponding energy waves and receive reflected signals of the energy waves.
- ultrasonic sensors can emit ultrasonic signals and receive ultrasonic reflection signals reflected back from targets. In this way, the control unit can calculate the distance to obstacles based on the emitted energy waves and reflected signals.
- the obstacle detection device 12 may include a photographing device, such as a photographing device or a video recording device.
- the photographing device can acquire at least image data in the traveling direction from the mobile device, and can perform recognition processing based on the image data to determine the distance to the target (obstacle).
- a specific way of identifying the distance to the target based on the image data may use some image algorithms or machine learning models/networks.
- the Harris corner method can be used to detect corner points, and the initial matching point pairs can be obtained based on the OPENCV (Open Source Computer Vision Library) method.
- the matching feature point pairs can be guided based on the RANSAC (Random Sample Consensus) algorithm, and the distance to obstacles can be predicted by using the parallax principle.
- RANSAC Random Sample Consensus
- control unit 14 may also be used for:
- the adjusted steering speed and/or the maximum steering angle corresponding to the second preset distance are correspondingly modified.
- the parameters of the self-mobile device in some embodiments of this specification can also be adjusted, and can be pre-adjusted before operation, optimally adjusted after operation, or adjusted in real time during operation.
- the parameter correspondence between the second preset distance, steering speed and preset steering angle can be set in advance, which can make the steering speed and/or preset steering angle be adjusted synchronously when adjusting the second preset distance, effectively ensuring the automatic The safety of mobile devices avoiding obstacles and the reliability of avoiding strategies.
- the rotation speed of the row wheel during normal travel is 33 revolutions per minute.
- the rotation speed of the outer row is 38 revolutions per minute
- the preset steering angle is 35 degrees.
- the rotation speed of the outer row wheel can be adjusted according to the predetermined parameter correspondence. It is 45 rpm, and the preset steering angle is adjusted to 45 degrees. In this way, due to the increased rotation speed of the outer row wheel, the time to complete the steering is shortened, and the steering is completed faster. At the same time, the steering angle is also larger, and better to avoid obstacles .
- the corresponding relationship between the second preset distance and the preset steering angle is negatively correlated.
- control unit 14 is further configured to:
- the warning processing signal When detecting that the distance with the obstacle is less than the warning distance, increase the data processing speed, or send a warning processing signal to the obstacle detection device 12, and the warning processing signal is used to control the obstacle detection device 12 to promote the obstacle detection frequency.
- the detection frequency may include the frequency of the signal transmitted by the obstacle detection device. Improving data processing may include allocating more hardware resources, software resources, etc. (such as threads, increasing processor frequency, etc.), shortening calculation cycles, and the like.
- the data processing speed of the control unit 14 can be improved, such as Make the processor perform data processing in an overclocking state, or increase the frequency of the ultrasonic transmission signal, and synchronously increase the processing speed of the control unit 14 for the reflected signal.
- the self-mobile device can increase the data processing speed or the detection frequency of obstacles, so that obstacles can be avoided in time, and the safety of obstacles and self-mobile devices can be effectively guaranteed.
- Fig. 5 is a schematic flowchart of a control method for avoiding obstacles from a mobile device according to an exemplary embodiment. As shown in Fig. 5, the method may include:
- S502 Determine the distance from the mobile device to the obstacle
- a turning signal is sent, and the turning signal is used to control the self-mobile device to turn at a speed greater than or equal to the original driving speed, and the original driving speed and the original traveling direction are when the When the distance reaches the first preset distance, the traveling speed and traveling direction of the mobile device; wherein the second preset distance is smaller than the first preset distance.
- the value range of the second preset distance is 10-20 cm, and/or, the turning The preset steering angle ranges from 30 to 60 degrees.
- the step of determining the distance between the self-mobile device and the obstacle includes at least one of the following:
- the distance between the obstacle feedback data and the obstacle determined based on the image data acquired by the photographing device.
- the value range of the first preset distance is 40-60 centimeters.
- the second preset distance is determined according to the current driving speed of the self-mobile device, or is determined in advance according to the Set the travel speed information contained in the product information from the mobile device.
- the corresponding turning distance can be determined according to the real-time speed of the self-mobile device, for example, the safe turning distance can be determined according to the preset corresponding relationship table or relational function, or the safe turning distance can be reserved in advance according to the driving speed of the product model .
- control signal used to control the self-moving device to turn at a speed greater than or equal to the original driving speed includes:
- the first speed difference is that in the direction of travel of the self-moving device, the rotation speed of the row wheel on one side is faster than the rotation speed of the row wheel on the other side by a first percentage.
- the controlling the self-moving device to turn at a speed greater than or equal to the original driving speed includes:
- the control completes the turning after the mobile device continues turning at the first turning rate for a preset time period.
- the determining the distance between the self-mobile device and the obstacle includes at least one of the following:
- the self-mobile device in another embodiment of the method disclosed in this specification, it also includes:
- the data processing speed is increased, or the obstacle detection device is controlled to increase the detection frequency of the obstacle.
- the present disclosure also provides another control method for avoiding obstacles from a mobile device, including:
- the first control instruction is used to control the self-mobile device to determine the distance between the self-mobile device and the obstacle; when the distance is between the first preset distance and the second preset distance, controlling the self-moving device to maintain the original traveling speed and original traveling direction; when the distance reaches a second preset distance, a turning signal is sent, and the turning signal is used to control the self-moving device to be greater than or equal to the original traveling speed Turning, the original travel speed and original travel direction are when the distance reaches the first preset distance, the travel speed and travel direction of the mobile device; wherein the second preset distance is less than the first preset distance a preset distance.
- FIG. 6 is a schematic structural diagram of the control unit 14 provided in this specification.
- processor 10 can include but not limited to the processing device of microprocessor MCU or programmable logic device FPGA etc.
- memory 20 for storing data
- a transmission module 30 for the communication function.
- the structure shown in FIG. 6 is only for illustration, and it does not limit the structure of the self-moving device or the control unit.
- the control unit 14 may also include more or less devices than those shown in FIG. configuration.
- a storage medium including instructions such as a memory including instructions.
- the above instructions can be executed by a processor of the device to complete the above method.
- the storage medium may be a non-transitory computer readable storage medium such as ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, for example. And other implementations of readable storage media, such as quantum storage, graphene storage, etc.
- a computer program product including a computer program.
- the computer program When the computer program is executed by a processor, the method described in any embodiment of the present disclosure is implemented, or the code of the computer program is recorded in In the storage unit of the self-mobile device described in any embodiment of the present disclosure.
- each module can be realized in the same or more software and/or hardware, and the modules that realize the same function can also be realized by a combination of multiple submodules or subunits, etc. .
- the device embodiments described above are only illustrative.
- the division of energy wave sensors and shooting devices is only a logical function division.
- multiple units or components can be combined Or it can be integrated into another system, or some features can be ignored, or not implemented.
- the mutual coupling and communication connection between the devices or units shown or described in the mobile device can be realized by direct and/or indirect coupling/connection, and can be achieved through some standard or custom interfaces and protocols etc., are implemented in electrical, mechanical or other forms.
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Abstract
一种自移动设备及躲避障碍的控制方法、存储介质。自移动设备躲避障碍的控制方法包括:确定自移动设备与障碍物之间的距离;当自移动设备与障碍物之间的距离在第一预设距离和第二预设距离之间时,自移动设备保持原行驶速度和原行进方向;当自移动设备与障碍物之间的距离达到第二预设距离时,自移动设备以原行驶速度或更快的行驶速度进行转向;原行驶速度和原行进方向为当自移动设备与障碍物之间的距离在到达第一预设距离时,自移动设备的行进速度和行进方向;第二预设距离小于第一预设距离。
Description
本公开涉及自移动设备数据处理技术领域,尤其涉及一种自移动设备及躲避障碍的控制方法、存储介质。
随着科学技术的发展,越来越多的自动处理设备走进了人们的生活。例如,自动割草机、自动扫地机器人、自动送货机等。这些自移动设备给人们的生产和生活带来了极大的便利。
这些自移动设备通常是按照设定的路线或工作方式进行作业。作业过程中若遇到障碍物,自移动设备需要对障碍物进行识别和避让。目前常用一种障碍物躲避方式中,主要是在自移动设备上安装超声波传感器,利用超声波传感器来发射和接收超声波信号,实现对障碍物的识别。识别障碍物后,自移动设备上的控制单元控制自移动设备进行转向,从而实现对障碍物的避让。在一些作业场景中,作业环境复杂,常常导致自移动设备避让不及时,对障碍物或自移动设备自身造成损伤。
因此,亟需一种可以使自移动设备更加有效、及时躲避障碍物的解决方案。
发明内容
本公开提供一种自移动设备及躲避障碍的控制方法、存储介质,可以更加快速、及时的避让障碍物,保障障碍物和自移动设备自身的安全。本公开的技术方案如下:
根据本公开实施例的一方面,提供一种自移动设备,包括:
主体;
控制单元,所述控制单元设置于所述主体内,所述控制单元用于确定自移动设备与障碍物的距离;当所述距离在第一预设距离和第二预设距离之间时,控制所述自移动设备保持原行驶速度和原行进方向;当所述距离达到第二预设距离时,发出转向信号,所述转向信号用于控制自移动设备以大于或等于所述原行驶速度进行转向,所述原行驶速度和原行进方向为当所述距离在到达第一预设距离时,所述自移动设备的行进速度和行进方向;其中所述第二预设距离小于所述第一预设距离。
根据本公开实施例的另一方面,所述自移动设备中,所述转向信号还用于控制自移动设备以预设转向角度进行转向。
根据本公开实施例的另一方面,所述自移动设备中,所述第一预设距离的取值范围为40~60厘米,所述第二预设距离的取值范围为10~20厘米。
根据本公开实施例的另一方面,所述自移动设备中,所述第二预设距离根据所述自移动设备当前的行驶速度进行确定,或者预先根据所述自移动设备的产品信息中所包含的行驶速度信息进行设置的。
根据本公开实施例的另一方面,所述自移动设备中,所述控制信号用于控制自移动设备以大于或等于所述原行驶速度进行转向包括:
以第一速度差进行转向,所述第一速度差为在自移动设备行进方向上,其中一侧的行轮的转动速度比另一侧的行轮的转动速度快。
根据本公开实施例的另一方面,所述自移动设备中所述控制自移动设备以大于或等于所述原行驶速度进行转向包括:
控制自移动设备以第一转向速率持续转向预设时长。
根据本公开实施例的另一方面,所述自移动设备还包括障碍物检测装置,所述障碍物检测装置与所述主体的控制单元连接,所述障碍物检测装置用于获取障碍物的检测数据,根据所述检测数据得到自移动设备与障碍物的距离,并将所述距离发送给所述控制单元;或者用于将获取的障碍物的检测数据发送给所述控制单元,以使所述控制单元根据所述检测数据确定自移动设备与障碍物的距离。
根据本公开实施例的另一方面,所述自移动设备中,所述障碍物检测装置至少包括下述之一:
能量波传感器,用于发射能量波和接收所述能量波的反射信号,所述检测数据包括所述能量波发射的数据信息和所述反射信号;
拍摄装置,用于获取障碍物的图像数据,所述检测数据包括所述图像数据。
根据本公开实施例的另一方面,所述自移动设备中,所述第二预设距离与所述预设转向角度的对应关系为负相关。
根据本公开实施例的另一方面,所述自移动设备中,所述控制单元还用于:
当检测到与障碍物的距离小于警惕距离时,提高数据处理速度,或者向所述障碍物检测装置发送警惕处理信号,所述警惕处理信号用于控制所述障碍物检测装置提升对障碍物 的检测频率。
根据本公开实施例的另一方面,还提供一种自移动设备躲避障碍的控制方法,包括:
确定自移动设备与障碍物的距离;
当所述距离在第一预设距离和第二预设距离之间时,控制所述自移动设备保持原行驶速度和原行进方向;
当所述距离达到第二预设距离时,发出转向信号,所述转向信号用于控制自移动设备以大于或等于所述原行驶速度进行转向,所述原行驶速度和原行进方向为当所述距离在到达第一预设距离时,所述自移动设备的行进速度和行进方向;其中所述第二预设距离小于所述第一预设距。
根据本公开实施例的另一方面,还提供一种计算机可读存储介质,当所述存储介质中的指令由电子设备的处理器执行时,使得所述电子设备能够执行本公开中任一项实施例所述的方法。
根据本公开实施例的另一方面,还提供一种计算机程序产品,包括计算机程序,所述计算机程序被处理器执行时实现权本公开中任一项实施例所述的方法。
本公开实施例提供的技术方案中,可以获取自移动设备行进方向上障碍物的检测数据,可以根据障碍物的检测数据计算得到与障碍物的之间的距离或者接收其他设备根据检测数据得到的自移动设备与障碍物的距离。自移动设备在与障碍物的距离为第一预设距离和第二预设距离之间时,保持原行驶速度和行进方向稳定前行。当达到第二预设距离时,以原行驶速度或更快的行驶速度的进行转向,进而在最大程度完成更多作业区域的同时事,完成及时、快速转向,实现自移动设备更加安全、可靠的转向,也提高了作业效率。
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本公开。
此处的附图被并入说明书中并构成本说明书的一部分,示出了符合本公开的实施例,并与说明书一起用于解释本公开的原理,并不构成对本公开的不当限定。
图1是根据一示例性实施例示出的一个自移动设备实施例的结构示意图。
图2是本说明书提供的一个自移动设备采用快速大角度转向躲避障碍物的实施例场景对比示意图。
图3是根据一示例性实施例示出的另一个自移动设备实施例的结构示意图。
图4是根据一示例性实施例示出的一种障碍物检测装置的结构示意图。
图5是根据一示例性实施例示出的一种自移动设备躲避障碍的控制方法流程示意图。
图6是本说明书提供的所述控制单元14的一个结构示意图。
附图标记:
100-自移动设备;12-障碍物检测装置;14-控制单元;120-能量波传感器;122-拍摄装置;10-处理器;20-存储器;30-传输模块;A1-正常转向的转向角度;A2-预设转向角度。
为了使本领域普通人员更好地理解本公开的技术方案,下面将结合附图,对本公开实施例中的技术方案进行清楚、完整地描述。
需要说明的是,本公开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。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本公开的实施例能够以除了在这里图示或描述的那些以外的顺序实施。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反,它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。术语“包括”、“包含”或者其任何其它变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、产品或者设备不仅包括那些要素,而且还包括没有明确列出的其它要素,或者是还包括为这种过程、方法、产品或者设备所固有的要素。在没有更多限制的情况下,并不排除在包括所述要素的过程、方法、产品或者设备中还存在另外的相同或等同要素。例如若使用到第一,第二等词语用来表示名称,而并不表示任何特定的顺序。
本公开中,当元件被称为“固定于”另一个元件,它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件或者一个元件与另一个元件“相连”,它可以是直接连接到另一个元件或者可能同时存在居中元件,并且应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体式连接;可以是机械连接,也可以是电连接。对于本领域中的普通技术人员而言,可以具体情况理解上述术语在本发明中的具体含义。
本文所使用的术语“垂直的”、“水平的”、“左”、“右”、“上”、“下”、“前”、“后”、“周向”、“行进方向”以及类似的表述是基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。
除非另有定义,本文所使用的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义可以相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。本文所使用的术语“及/或”、“和/或”、“至少…之一”包括一个或多个相关的所列项目的任意的和所有的组合。需要说的是,本公开中所描述的转向、偏转等,可以包括自移动设备在原地停止行进,完成转向或偏转动作后继续行进的方式,也可以包括在行进的同时进行转向或偏转的方式。
如图1所示,本说明书提供的一个自移动设备实施例中,可以包括:
主体100;
控制单元14,所述控制单元设置于所述主体内,所述控制单元用于确定自移动设备与障碍物的距离;当所述距离在第一预设距离和第二预设距离之间时,控制所述自移动设备保持原行驶速度和原行进方向;当所述距离达到第二预设距离时,发出转向信号,所述转向信号用于控制自移动设备以大于或等于所述原行驶速度进行转向,所述原行驶速度和原行进方向为当所述距离在到达第一预设距离时,所述自移动设备的行进速度和行进方向;其中所述第二预设距离小于所述第一预设距离。
本实施例中,所述的自移动设备通常可以包括能够按照预定的行进路线和控制策略进行移动的设备,可以包括智能割草机、扫地机器人、自动送货机等。自移动设备通常可以无需人为干预。本说明书实施例中的自移动设备可以与人接触设备或外接设备,例如自移动设备可以有扶手,作业人员可以跟随在自移动设备后面并握住自移动设备的扶手。但该情况下,自移动设备的行进路线和控制策略仍然是出自于自移动设备自身的控制逻辑,即使作业人员握住扶手或者可以通过扶手主动改变自移动设备的行进方向或速度等,这种设备仍然属于本说明书实施例中所述的自移动设备。类型的,还可以包括载人的自移动设备。
需要说明的是,在其他一些实施例中,当所述距离达到第二预设距离时,发出转向信号,转向信号可以用于控制自移动设备以小于原行驶速度进行转向,例如转向信号可以用于控制自移动设备在转向过程中控制速度下降,即以边转向边减速的方式,来完成转向避障。
所述控制控制单元14可以具有数据处理能力,也可以同时具有有线或无线的通信能力。例如控制单元可以是或者包括微控制单元(Microcontroller Unit,MCU)。控制单元14可以控制自移动设备上的装置发出声、光、电磁波等信号,信号遇到障碍物后会反射一部分信号。自移动设备可以接收反射信号,并可以相应的转换为障碍物反馈数据。然后可以根据障碍物反馈数据计算与障碍物的距离。当然,其他的一些实施方式中,自移动设备也不必是必须依靠自身的装置实现检测自移动设备与障碍物的距离,控制单元14实现确定自移动设备与障碍物的距离时,也可以通过其他设备上的装置或在固定位置标记的信标或通过远程服务器下发的数据信息来确定与障碍物的距离,甚至,也可以直接接收自移动设备与障碍物的距离的数据信息。控制单元14也可以发出控制信号,如转向信号,或者行进、后退信号等,以控制自移动设备的行进方向、行进方式、行驶速度等。
本公开的一些实施方式中,可以设置有第一预设距离和第二预设距离,其中所述第二预设距离小于所述第一预设距离。第二预设距离可以表征自移动设备需要转向的距离障碍物的最小安全距离,例如第二预设距离可以为20厘米,也可以设置取值范围为10~20厘米。第一预设距离可以表征在达到第二预设距离之前需要保持原行驶速度和原行进方向的距离,例如第一预设距离可以为40厘米,也可以设置取值范围为40~60厘米。
通过上述实施例方案,当自移动设备在与障碍物的距离为第一预设距离和第二预设距离之间时,保持原行驶速度和行进方向稳定前行。当达到第二预设距离时,以原行驶速度或更快的行驶速度的进行转向,进而在最大程度完成更多作业区域的同时事,完成及时、快速转向,实现自移动设备更加安全、可靠的转向,也提高了作业效率。
前述实施例给出了第一预设距离的取值范围,另一些实施方式中,第二预设距离也可以根据下文的障碍物检测装置的检测灵敏度或者有效检测距离确定,其中,检测灵敏度可以是指设备能够检测到障碍物的最大距离或最远距离,有效检测距离是指为避开障碍物的预警距离,需要指出的是,检测灵敏度可以与有效检测距离相同,也可以不同。例如,障碍物检测装置为超声波传感器时,其检测灵敏度为60cm,而有效检测距离为40cm。也就是说,超声波传感器在检测到前方60cm存在障碍物,可以忽视该障碍物,而只有在距障碍物40cm时,才会关注该障碍物,即表明该障碍物可能会对设备行进策略产生影响,例如需要及时改变行走路线来规避。
在一些实施例中,自移动设备在作业过程中,可以实时检测并获取行进方向的障碍物信息。控制单元14可以根据障碍物反馈数据判断是否需要躲避。例如对于一些比较大障 碍物或如果不避让可能会产生损坏的障碍物,如墙面、石块等,则可以设置需要避让。在确定需要躲避时,可以控制自移动设备进行躲避。对于一些例如纸屑、树叶等不需要避让的障碍物,则可以继续前行。
在自移动设备中,所述的主体通常可以包括驱动设备(如电源等)、行进装置(如行进滚轮或履带等)、转向设备(齿轮齿条式转向器、蜗杆曲柄指销式转向器等)以及相应的作业工具(如割草装置、清洁装置等)等。自移动设备在转向时可以通过控制行轮转动的速度差(在此称为第一速度差)来实现转向。为保障自移动设备能及时快速的完成转向,本公开提供一种速度差的设置方法。具体的,所述控制信号用于控制自移动设备以大于或等于所述原行驶速度进行转向包括:
以第一速度差进行转向,所述第一速度差为在自移动设备行进方向上,其中一侧的行轮的转动速度比另一侧的行轮的转动速度快。
这样,例如转向时外侧的行轮的转动速度比内侧的行轮的转动速度快第一百分比。所述第一百分比的取值范围可以根据转向的控制策略进行相应的设置。如在一些应用场景中,可以设置为10%~40%,这样既可以保障自移动设备能够快速完成转向,同时也可以避免因第一速度差过大导致转向时出现设备倾斜、原地转圈、实际转达角度大于预设转向角度(转动惯性导致)等,提高转向的安全性和可靠性。如前所述,转向包括行进的同时进行转向。
需要指出的是,在本公开的一些应用场景中,所述的一侧的行轮的转动速度比另一侧的行轮的转动速度快第一百分比的实施方式可以包括一侧行轮的转动速度为原转动速度,另一侧行轮的减速到0。另一些实施方式中,也可以两侧的行轮的转动速度也可以匀速转动或以第一速度差为0的方式进行转向等。当然,还可以根据自移动设备的结构、转向要求等相应的设置其他策略。
本实施例中,在控制自移动设备执行动作时,可以提高转向时外侧行轮的转动速度,这样,在同等条件下,由于外侧行轮的速度被提高,则可以形成更快的转弯速度。例如,割草机正常行驶的速度为33转/分钟,当距离障碍物的距离为20厘米时,转向时外侧行轮仍是以33转/分钟的速度进行转向。而在本实施例方案中,当距离障碍物为20厘米时,则提高外侧行轮的转动速度,以大于33转/分钟,例如40转/分钟的转动速度进行转向。
当然,这个第一速度差还可以相应的转换为单位时间内完成的转向角度。或者自移动设备完成转向可以以单位时间完成的转向角度来体现。具体的,本公开的另一个实施例中, 所述控制自移动设备以大于或等于所述原行驶速度进行转向包括:
控制自移动设备以第一转向速率持续转向预设时长。
一些实施例中,所述第一转向速率的取值范围可以为3.5~8度/秒。例如,可以设置2秒完成15度,即每秒自移动设备转向7.5度完成15度的预设转向角度,或6秒完成30度,即每秒自移动设备转向5度完成30度的预设转向角度转向。这样,以第一转向速率以及其持续时间来控制转向角度,可以屏蔽行轮大小的差异,可以更加精确、可靠的完成转向。
本实施例中所述的预设转向角度可以根据作业需求或者不同种类的自移动设备、自移动设备不同的机型尺寸、行轮的尺寸等进行设置和调整。本实施例中的预设转向角度的取值在同等条件下(如同样的机型、同样的作业场景等),取值大于常规的设置参数或者行业标准等。
当然,其他的实施例中,可以直接设置预设转向角度,使自移动设备以预设转向角度进行转向。这个预设转向角度可以比常规设置角度大,例如自移动设备距离障碍物为20厘米时通常设置转向20度,本公开的实施例可以将预设转向角度设置为30度或40度,甚至60度。当然,这个预设转向角度还可以根据与障碍物的距离或自移动设备的尺寸进行设置或调整。本公开提供的一个实施例中,所述预设转向角度的取值范围可以为30~60度,如可以设置为45度。本领域技术人员基于当前例如割草机等的自移动设备,通常考虑的是自移动设备的稳定行进,通常是设置小于30度且缓慢转向来躲避障碍物的。而本实施例可以设置大于30度的大转向角度,可以实现快速转向,躲避障碍物。尤其是,本实施例的一些方案可以将取值较大的预设转向角度与提高转向速度结合,以更快的转弯速度与更大的转弯角度进行转向,保障即使是在较小的避障距离(第二预设距离)时,仍然可以及时完成避障,保障避障的高效、可靠。
前述提供了第二预设距离取值或者预设偏转角度的取值的实施例。另一些实施方式中,第二预设距离也可以根据所述自移动设备当前的行驶速度进行确定,或者预先根据所述自移动设备的产品信息中所包含的行驶速度信息进行设置的。例如,可以当前的行驶速度进行确定实时动态调整/确定第二预设距离,可以预先设置不同的速度取值区间,不同的速度取值区间对应相应的第二预设距离。一般的,行驶速度越快,第二预设距离设置的相对越大。也可以预先根据所述自移动设备的产品信息中所包含的行驶速度信息进行设置,如产品信息中明确标明了自移动设备正常作业的速度值,或者不同档位的速度值。当 然,不同的机型、尺寸、作业环境也会对应相应的产品信息,并对应有相应的形式速度信息。
本实施例中所述的第二预设距离可以根据作业需求或者自移动设备不同的机型尺寸、行轮的尺寸等进行设置和调整。所述的行轮不仅仅包括常规的圆形轮,也可以包括履带、多边形的车轮等,为便于描述,本说明书的一些实施例中可以统称为行轮。
图2是本说明书提供的一个自移动设备采用快速大角度转向躲避障碍物的实施例场景对比示意图。其中虚线部分为常规正常转向的路线示意图,实线部分为快速大角度转向的路线示意图,A1为正常转向的转向角度,A2为大转向角度,A2大于A1。由图2也可以得知,本说明书提供的自移动设备确定需要转向时,可以以更快转弯速度和更大转弯角度的转向,完成转向的时间要小于常规正常转向,保留出了更多的作业区域,因此可以在转向前有更多的时间在行原行驶线路的区域进行作业(可以设置更小的转向距离,L2小于L1)。本实施例的自移动设备可以在尽量保证自移动设备更可能多的作业区域的情况下,能够更加及时、安全的完成转向,提高自移动设备转向的安全、可靠。
在本说明书实施例的自移动设备中,还可以包括障碍物检测装置12,还包括障碍物检测装置,所述障碍物检测装置12与所述主体100的控制单元14连接,所述障碍物检测装置12可以用于获取障碍物的检测数据,根据所述检测数据得到自移动设备与障碍物的距离,并将所述距离发送给所述控制单元14;或者用于将获取的障碍物的检测数据发送给所述控制单元14,以使所述控制单元14根据所述检测数据确定自移动设备与障碍物的距离。
图3是根据一示例性实施例示出的一个自移动设备实施例的结构示意图。如图3所示,在本说明书实施例的自移动设备中,所述障碍物检测装置12至少可以获取障碍物的检测数据。获取障碍物的检测数据的方式可以包括基于自发自收的方式,即障碍物检测装置12可以自己发射超声波、激光等能量波,并自己接收反射回来的信号得到的数据信息;也可以包括获取第三方传输过来的障碍物反馈数据,例如通过外部设备或远程服务器利用无线网络发送过来的障碍物的检测数据。需要理解的,本说明书一些实施例中,所述的检测数据,可以包括接收的原始数据信息,如障碍物检测装置12接收的模拟信号,其中可以包括信号的振幅、频率、相位等。另一些实施例中也可以包括对原始数据信息进行转换、过滤等处理的数据信息,如障碍物检测装置12可以对接收的原始数据信息进行模数转换。当然,对原始数据信息进行处理的步骤也可以由控制单元14执行。
另一些实施例中,也可以由其他设备获取检测数据,根据检测数据计算得到自移动设备与障碍物的距离,然后将该距离发送给控制单元14。例如引导自移动设备行进的基站或远程的服务器或其他设备上等。为便于描述,本实施例中可以将发送给控制单元12距离信息(包含自移动设备与障碍物的距离)且与自移动设备是非直接机械连接的设备统一称为服务端,如前述的基站、远程的服务器等。因此,本公开提供的所述自移动设备的另一个实施例中,所述确定自移动设备与障碍物的距离包括:
根据接收的服务端发送的距离信息确定自移动设备与障碍物的距离。
这样,自移动设备可以无需通过安装于自移动设备上的障碍物检测装置来确定距离,可以减少自移动设备的重量和数据处理要求,提高自移动设备移动的便利性、作业的灵活性和数据处理的可靠性(需要处理的数据减少)。
图4是根据一示例性实施例示出的一个自移动设备的结构示意图。如图4所示,自移动设备中的障碍物检测装置可以包括前述中的能力波传感器,也可以包括拍摄装置。当然,也可以两者都包括。具体的,所述障碍物检测装置12可以至少包括下述之一:
能量波传感器120,可以用于发射能量波和接收所述能量波的反射信号,所述检测数据包括所述能量波的测量数据;
拍摄装置122,可以用于获取障碍物的图像数据,所述检测数据包括所述能量波的测量数据。所述控制单元14可以根据所述图像数据的识别处理结果确定与障碍物的距离。
所述自移动设备的另一个实施例中,所述障碍物检测装置12可以是基于能量波的传感器(可以简称能量波传感器)。所述的能量波可以包括以波的形态进行传播能量,可以包括机械波、电磁波、物质波。具体的基于能量波的传感器可以包括超声波传感器、红外传感器、射线传感器(如γ射线)等。能量波传感器可以发射相应的能量波和接收所述能量波的反射信号。例如超声波传感器可以发射超声波信号,并可以接收目标反射回来的超声波反射信号。这样,所述控制单元可以根据发射的能量波和反射信号计算与障碍物的距离。
所述自移动设备的另一个实施例中,所述障碍物检测装置12可以包括拍摄装置,如图片拍照或视频摄像等装置。拍摄装置可以获取自移动设备至少行进方向上的图像数据,可以根据图像数据进行识别处理,确定与目标(障碍物)的距离。具体的根据图像数据识别出与目标之间的距离的方式可以采用一些图像算法或机器学习模型/网络。例如可以采用哈瑞斯(harris角)点方法检测角点,基于OPENCV(Open Source Computer Vision Library)方法获得初始匹配点对。然后可以基于RANSAC(Random Sample Consensus)算法引导匹配特征点对,运用视差原理预测与障碍物的距离。
本公开的自移动设备的另一个实施例中,所述控制单元14还可以用于:
调整所述第二预设距离的取值;
根据第二预设距离、转向速度、预设转向角度之间的参数对应关系,相应的修改调整后的第二预设距离所对应的转向速度和/或大转向角度。
本说明书一些实施例中的自移动设备的参数还可以进行调整,可以在作业前预先调整、作业后优化调整或者作业过程中实时调整。可以预先设置第二预设距离、转向速度、预设转向角度之间的参数对应关系,这可以使得在调整第二预设距离时,同步调整转向速度和/或预设转向角度,有效保障自移动设备躲避障碍物的安全性、躲避策略的可靠性。例如,正常行进时行轮的转动速度为33转/分钟。第二预设距离设置为25厘米时,外侧行转动速度为38转/分钟,预设转向角度为35度。若调整第二预设距离的取值为20厘米,由于转向距离变短,则需要更快速的完成转向,躲避障碍物,因此,可以根据预先确定的参数对应关系将外侧行轮的转动速度调整为45转/分钟,预设转向角度调整为45度,这样由于外侧行轮的转动速度提高,完成转向的时间缩短,更快的完成转向,同时转向角度也更大,更好的躲避障碍物。
由于转向距离变短,则需要更快速的完成转向,躲避障碍物,因此所述本公开的一些实施方式中,述第二预设距离与所述预设转向角度的对应关系为负相关。
本公开的另一个示例性实施例中,所述控制单元14还用于:
当检测到与障碍物的距离小于警惕距离时,提高数据处理速度,或者向所述障碍物检测装置12发送警惕处理信号,所述警惕处理信号用于控制所述障碍物检测装置12提升对障碍物的检测频率。
所述检测频率可以包括障碍物检测装置发射信号的频率。提高数据处理可以包括分配更多的硬件资源、软件资源等(如线程、提高处理器频率等)、缩短计算周期等。当自移动设备与障碍物的距离小于转向警惕距离时,需要更加及时、准确的进行检测,以及时调整转向角度和转向速度,因此,本实施例中可以提高控制单元14的数据处理速度,如使处理器在超频状态下进行数据处理,或者提高超声波发射信号的频率,以及同步提高控制单元14对反射信号的处理速度。这样,自移动设备提高数据处理速度或障碍物的检测频率,可以及时的避开障碍物,有效保障障碍物和自移动设备安全。
图5是根据一示例性实施例示出的一种自移动设备躲避障碍的控制方法流程示意图,如图5所示,所述方法可以包括:
S502:确定自移动设备与障碍物的距离;
S504:当所述距离在第一预设距离和第二预设距离之间时,控制所述自移动设备保持原行驶速度和原行进方向;
当所述距离达到第二预设距离时,发出转向信号,所述转向信号用于控制自移动设备以大于或等于所述原行驶速度进行转向,所述原行驶速度和原行进方向为当所述距离在到达第一预设距离时,所述自移动设备的行进速度和行进方向;其中所述第二预设距离小于所述第一预设距离。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,所述第二预设距离的取值范围为10~20厘米,和/或,进行转向的预设转向角度的取值范围为30~60度。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,所述确定自移动设备与障碍物的距离的步骤,至少包括下述之一:
基于能量波传感器获取的障碍物反馈检测数据确定与障碍物的距离;
基于拍摄装置获取的图像数据确定的障碍物反馈数据与障碍物的距离。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,所述第一预设距离的取值范围为40~60厘米。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,所述第二预设距离根据所述自移动设备当前的行驶速度进行确定,或者预先根据所述自移动设备的产品信息中所包含的行驶速度信息进行设置。
即可以根据自移动设备的实时速度来确定对应的转向距离,例如根据预设的对应关系表或关系函数来确定出安全转向距离,也可以通过根据产品型号的行驶速度,预先留出安全转向距离。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,所述控制信号用于控制自移动设备以大于或等于所述原行驶速度进行转向包括:
以第一速度差进行转向,所述第一速度差为在自移动设备行进方向上,其中一侧的行轮的转动速度比另一侧的行轮的转动速度快第一百分比。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,所 述控制自移动设备以大于或等于所述原行驶速度进行转向包括:
控制自移动设备以第一转向速率持续转向预设时长后完成转向。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,所述确定自移动设备与障碍物的距离至少包括下述之一:
根据获取的障碍物的检测数据确定自移动设备与障碍物的距离;
根据接收的服务器发送的距离信息确定自移动设备与障碍物的距离;
根据接收的障碍物检测装置发送的距离信息确定自移动设备与障碍物的距离。
如前述所述的自移动设备的实施例,本说明书公开的所述方法的另一个实施例中,还包括:
当与障碍物的距离小于警惕距离时,提高数据处理速度,或者控制障碍物检测装置提升对障碍物的检测频率。
基于前述描述,本公开还提供另一种自移动设备躲避障碍的控制方法,包括:
接收服务器的第一控制指令,所述第一控制指令用于控制自移动设备确定自移动设备与障碍物的距离;当所述距离在第一预设距离和第二预设距离之间时,控制所述自移动设备保持原行驶速度和原行进方向;当所述距离达到第二预设距离时,发出转向信号,所述转向信号用于控制自移动设备以大于或等于所述原行驶速度进行转向,所述原行驶速度和原行进方向为当所述距离在到达第一预设距离时,所述自移动设备的行进速度和行进方向;其中所述第二预设距离小于所述第一预设距离。
可以理解的是,本说明书中上述自移动设备以及方法、设备的各个实施例均采用递进的方式描述,各个实施例之间相同/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它实施例的不同之处。相关之处参见其他方法实施例的描述说明即可。例如,所述方法中,根据自移动设备的实施例描述,也可以包括调整所述第二预设距离的取值,或者,当检测到与障碍物的距离小于警惕距离时,提高数据处理速度,或者向控制障碍物检测装置提升对障碍物的检测频率,等。实施于本说明书中自移动设备以实现躲避障碍物的方法均包含在本申请所述的方法范围之内。
应该理解的是,虽然附图中的流程图中的各个步骤按照箭头的指示依次显示,但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明,这些步骤的执行并没有严格的顺序限制,这些步骤可以以其它的顺序执行。而且,附图中的至少一部分步骤可以包括多个步骤或者多个阶段,这些步骤或者阶段并不必然是在同一时刻执行完 成,而是可以在不同的时刻执行,这些步骤或者阶段的执行顺序也不必然是依次进行,而是可以与其它步骤或者其它步骤的步骤或者阶段的至少一部分轮流或者交替地执行。
图6是本说明书提供的所述控制单元14的一个结构示意图。可以包括一个或多个(图中仅示出一个)处理器10(处理器10可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)、用于存储数据的存储器20、以及用于通信功能的传输模块30。本领域普通技术人员可以理解,图6所示的结构仅为示意,其并不对上述自移动设备或控制单元的结构造成限定。例如,控制单元14还可包括比图6中所示更多或者更少的设备,例如还可以包括内存、数据库或多级缓存、图像处理器等,或者具有与图6所示的不同的其他配置。
在示例性实施例中,还提供了一种包括指令的存储介质,例如包括指令的存储器上述指令可由设备的处理器执行以完成上述方法。存储介质可以是非临时性计算机可读存储介质,例如,所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。以及其它实现方式的可读存储介质,例如量子存储、石墨烯存储等等。
在示例性实施例中,还提供了一种计算机程序产品,包括计算机程序,所述计算机程序被处理器执行时实现本公开任一实施例所述的方法,或者该计算机程序的代码被记录在本公开任一实施例所述的自移动设备的存储单元中。
本说明书中的各个实施例均采用递进的方式描述,各个实施例之间相同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它实施例的不同之处。
需要说明的,上述所述的方法、自移动设备、存储介质等根据方法或设备实施例的描述还可以包括其它的实施方式,具体的实现方式可以参照相关方法或设备实施例的描述。同时各个方法以及设备、存储介质实施例之间特征的相互组合组成的新的实施例仍然属于本公开所涵盖的实施范围之内,在此不作一一赘述。
为了描述的方便,描述以上自移动设备时以功能分为各种模块分别描述。当然,在实施本说明书一个或多个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。以上所描述的设备实施例仅仅是示意性的,例如,能量波传感器、拍摄装置的划分,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***,或一些特征可以忽略,或不执行。另一点,自移动设备中所显示或描述的装置或单 元相互之间的耦合、通信连接等可以是直接和/或间接耦合/连接的方式实现,可以是通过一些标准或自定义的接口、协议等,是电性,机械或其它的形式实现。
本领域技术人员在考虑说明书及实践这里公开的发明后,将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化,这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的,本公开的真正范围和精神由下面的权利要求指出。
应当理解的是,本公开并不局限于上面已经描述并在附图中示出的精确结构,并且可以在不脱离其范围进行各种修改和改变。
Claims (12)
- 一种自移动设备,其特征在于,包括:主体;控制单元,所述控制单元设置于所述主体内,所述控制单元用于确定自移动设备与障碍物的距离;当所述距离在第一预设距离和第二预设距离之间时,控制所述自移动设备保持原行驶速度和原行进方向;当所述距离达到第二预设距离时,发出转向信号,所述转向信号用于控制自移动设备以大于或等于所述原行驶速度进行转向,所述原行驶速度和原行进方向为当所述距离在到达第一预设距离时,所述自移动设备的行进速度和行进方向;其中所述第二预设距离小于所述第一预设距离。
- 根据权利要求1所述的自移动设备,其特征在于,所述转向信号还用于控制自移动设备以预设转向角度进行转向。
- 根据权利要求1所述的自移动设备,其特征在于,所述第一预设距离的取值范围为40~60厘米,所述第二预设距离的取值范围为10~20厘米。
- 根据权利要求1所述的自移动设备,其特征在于,所述第二预设距离根据所述自移动设备当前的行驶速度进行确定,或者预先根据所述自移动设备的产品信息中所包含的行驶速度信息进行设置。
- 根据权利要求1所述的自移动设备,其特征在于,所述控制信号用于控制自移动设备以大于或等于所述原行驶速度进行转向包括:以第一速度差进行转向,所述第一速度差为在自移动设备行进方向上,其中一侧的行轮的转动速度比另一侧的行轮的转动速度快。
- 根据权利要求1所述的自移动设备,其特征在于,所述控制自移动设备以大于或等于所述原行驶速度进行转向包括:控制自移动设备以第一转向速率持续转向预设时长。
- 根据权利要求1所述的自移动设备,其特征在于,还包括障碍物检测装置,所述障碍物检测装置与所述主体的控制单元连接,所述障碍物检测装置用于获取障碍物的检测数据,根据所述检测数据得到自移动设备与障碍物的距离,并将所述距离发送给所述控制单元;或者用于将获取的障碍物的检测数据发送给所述控制单元,以使所述控制单元根据所述检测数据确定自移动设备与障碍物的距离。
- 根据权利要求7所述的自移动设备,其特征在于,所述障碍物检测装置至少包括下述之一:能量波传感器,用于发射能量波和接收所述能量波的反射信号,所述检测数据包括所述能量波的测量数据;拍摄装置,用于获取障碍物的图像数据,所述检测数据包括所述图像数据。
- 根据权利要求2所述的自移动设备,其特征在于,所述第二预设距离与所述预设转向角度的对应关系为负相关。
- 根据权利要求7所述的自移动设备,其特征在于,所述控制单元还用于:当与障碍物的距离小于警惕距离时,提高数据处理速度,或者向所述障碍物检测装置发送警惕处理信号,所述警惕处理信号用于控制所述障碍物检测装置提升对障碍物的检测频率。
- 一种自移动设备躲避障碍的控制方法,其特征在于,包括:确定自移动设备与障碍物的距离;当所述距离在第一预设距离和第二预设距离之间时,控制所述自移动设备保持原行驶速度和原行进方向;当所述距离达到第二预设距离时,发出转向信号,所述转向信号用于控制自移动设备以大于或等于所述原行驶速度进行转向,所述原行驶速度和原行进方向为当所述距离在到达第一预设距离时,所述自移动设备的行进速度和行进方向;其中所述第二预设距离小于所述第一预设距离。
- 一种计算机可读存储介质,其特征在于,当所述存储介质中的指令由电子设备的处理器执行时,使得所述电子设备能够执行如权利要求11所述的方法。
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