WO2022095488A1 - 一种检测未知障碍物的方法、装置、介质和电子设备 - Google Patents

一种检测未知障碍物的方法、装置、介质和电子设备 Download PDF

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Publication number
WO2022095488A1
WO2022095488A1 PCT/CN2021/104348 CN2021104348W WO2022095488A1 WO 2022095488 A1 WO2022095488 A1 WO 2022095488A1 CN 2021104348 W CN2021104348 W CN 2021104348W WO 2022095488 A1 WO2022095488 A1 WO 2022095488A1
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Prior art keywords
obstacle
distance
detecting
less
detection
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PCT/CN2021/104348
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English (en)
French (fr)
Inventor
侯峥韬
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Beijing Roborock Innovation Technology Co Ltd
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Beijing Roborock Innovation Technology Co Ltd
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Priority to US18/251,863 priority Critical patent/US12443193B2/en
Priority to EP21888190.2A priority patent/EP4241644A4/en
Publication of WO2022095488A1 publication Critical patent/WO2022095488A1/zh
Anticipated expiration legal-status Critical
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    • G05D2111/10—Optical signals

Definitions

  • the present disclosure relates to the field of walking robots, and in particular, to a method, device, medium and electronic device for detecting unknown obstacles.
  • the walking robot sends the ground conditions back to the processor through sensors or cameras, and the processor makes judgments based on the road surface conditions, and then stably walks back and forth, left and right.
  • a sweeping robot also known as automatic cleaning machine, smart vacuum cleaner, robot vacuum cleaner, etc., is a smart home device that can automatically clean the ground. It can automatically complete the floor cleaning work in the room with artificial intelligence.
  • the ability of walking robots to recognize obstacles through cameras is still very limited, and the recognition distance of unknown obstacles is relatively high, and the recognition accuracy can only be guaranteed within an appropriate distance range. Therefore, if an obstacle suddenly appears in a relatively short distance during the walking process, the walking robot may collide with the obstacle because it cannot be recognized correctly.
  • the purpose of the present disclosure is to provide a method, apparatus, medium and electronic device for detecting unknown obstacles, which can solve at least one of the above-mentioned technical problems.
  • the specific plans are as follows:
  • the present disclosure provides a method for detecting an unknown obstacle, including:
  • the obstacle is detected at the first position, and navigation is performed according to the detection result.
  • the present disclosure provides a device for detecting unknown obstacles, including:
  • the detection unit is used to move to a direction away from the obstacle to a distance away from the obstacle when it is detected that the first distance to an obstacle is less than the preset detection distance and the type of the obstacle is unknown during the walking process. the first position where the obstacle is not less than the preset detection distance;
  • the navigation unit is used for detecting the obstacle at the first position, and navigating according to the detection result.
  • the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the unknown detection as described in any one of the first aspect is realized. obstacle method.
  • the present disclosure provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are When executed, the one or more processors cause the one or more processors to implement the method for detecting an unknown obstacle according to any one of the first aspect.
  • FIG. 1 shows a flowchart of a method for detecting an unknown obstacle according to an embodiment of the present disclosure
  • FIG. 2 shows a schematic diagram of a method for detecting an unknown obstacle according to an embodiment of the present disclosure
  • FIG. 3 shows a unit block diagram of an apparatus for detecting unknown obstacles according to an embodiment of the present disclosure
  • FIG. 4 shows a schematic diagram of a connection structure of an electronic device according to an embodiment of the present disclosure.
  • the term “including” and variations thereof are open-ended inclusions, ie, "including but not limited to”.
  • the term “based on” is “based at least in part on.”
  • the term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one additional embodiment”; the term “some embodiments” means “at least some embodiments”. Relevant definitions of other terms will be given in the description below.
  • the names of messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of these messages or information.
  • the present disclosure provides a method, apparatus, medium and electronic device for detecting unknown obstacles. During the walking process of the walking robot of the present disclosure, if an obstacle of unknown type is detected within an undetectable distance, it will move away from the obstacle to an effective detection distance, and then navigate through the effective detection result. Solved the problem that unknown obstacles could not be detected at close range, and avoided collision with unknown obstacles in close range during walking.
  • the first embodiment provided in the present disclosure is an embodiment of a method for detecting an unknown obstacle.
  • the walking robot detects obstacles in the walking direction through the camera, and navigates through the detection results.
  • the walking robot cannot effectively detect unknown types of obstacles that appear within a certain distance. Therefore, it cannot navigate through the detection results, resulting in collision between the walking robot and the obstacle.
  • embodiments of the present disclosure provide a method for detecting unknown obstacles.
  • step S101 during the walking process, if it is detected that the first distance from an obstacle is less than the preset detection distance and the type of the obstacle is unknown, move in a direction away from the obstacle moving to a first position that is not less than the preset detection distance from the obstacle.
  • the preset detection distance is related to the sensor set on the walking robot to detect unknown types of obstacles in the walking direction.
  • the sensor can accurately detect unknown types of obstacles within a certain detection range. If the detection range is exceeded, the sensor will not be able to effectively detect unknown types of obstacles. type of obstacle.
  • the walking robot measures the distance to an unknown type of obstacle through the ranging device, and detects the type of the obstacle through the camera; when the distance between the camera and the obstacle is less than the focal length of the camera, the camera can only collect The virtual image of the obstacle or the partial image of the obstacle cannot detect the type of the obstacle; therefore, for a walking robot that detects obstacles through the camera, the preset detection distance is at least greater than or equal to the focal length of the camera, for example, the preset detection distance is quite a lot at 30 cm.
  • the unknown type of obstacle is usually an obstacle that suddenly appears in the walking direction of the walking robot and the distance from the walking robot is less than the preset detection distance, or when the walking direction of the walking robot changes, the distance between the walking robot and the walking robot is less than Obstacles with preset detection distance.
  • the moving in a direction away from the obstacle to a first position that is not less than the preset detection distance from the obstacle includes the following steps:
  • Step S101-1 retreating in a direction away from the obstacle to a second position that is not less than the preset detection distance from the obstacle.
  • Step S101-2 after rotating the second position by 90 degrees, move forward by a preset first distance to the first position.
  • the above steps ensure that the measurement direction of the sensor of the walking robot is always consistent with the target direction.
  • the camera's camera direction is consistent with the direction of the target obstacle by moving backward; when the walking robot reaches the second position and rotates 90 degrees, the camera also follows. Rotate 90 degrees, the camera's shooting direction is consistent with the direction of the target position, thus ensuring the accuracy of the distance measurement when the walking robot moves away.
  • Step S102 the obstacle is detected at the first position, and navigation is performed according to the detection result.
  • the walking robot When the walking robot reaches the type that can effectively detect obstacles, it can achieve effective navigation through the detection results, so as to avoid collisions with obstacles of unknown types.
  • the detecting the obstacle at the first position includes the following steps:
  • Step S102-1 rotate to face the obstacle at the first position and detect the obstacle.
  • the detection of the obstacle includes the following steps:
  • Step S102-1-1 within a preset detection time length, detect the obstacle.
  • the embodiment of the present disclosure provides a stable detection time with a preset detection time length.
  • the preset detection time length is 500 milliseconds.
  • the navigation according to the detection result at least includes the following steps:
  • Step S102-2 Navigate to a third position according to the detection result, where the third position is a starting position for moving in a direction away from the obstacle.
  • the re-planned walking route needs to bypass unknown types of obstacles based on the original planned walking route. For example, if the walking robot is a sweeping robot, its re-planned walking route is to return to the starting position away from the obstacle, and start to bypass the obstacle from this position, in order to ensure that the sweeping robot does not miss the cleaned ground.
  • Step S103 generating tag information based on the detection result.
  • the purpose of generating the marker information is to transmit the marker information to the map display terminal.
  • the map display terminal is used to display the digital track map. After acquiring the marker information, the map display terminal prompts the obstacle in the trajectory map, so that the walking robot can avoid the obstacle in time when walking next time, thereby saving the detection time and improving the walking efficiency.
  • the walking robot moves away from the obstacle within an effective detection distance, and then navigates according to the effective detection result. Solved the problem that unknown obstacles could not be detected at close range, and avoided collision with unknown obstacles in close range during walking.
  • the present disclosure also provides a second embodiment, that is, an apparatus for detecting unknown obstacles. Since the second embodiment is basically similar to the first embodiment, the description is relatively simple, and for related parts, please refer to the corresponding description of the first embodiment.
  • the apparatus embodiments described below are merely illustrative.
  • FIG. 3 shows an embodiment of an apparatus for detecting unknown obstacles provided by the present disclosure.
  • the present disclosure provides a device for detecting unknown obstacles, including:
  • the detection unit 301 is used to move to a distance away from the obstacle when the first distance with an obstacle is detected to be less than the preset detection distance and the type of the obstacle is unknown during the walking process The obstacle is not less than the first position of the preset detection distance;
  • the navigation unit 302 is configured to detect the obstacle at the first position, and perform navigation according to the detection result.
  • the detection unit 301 it includes:
  • a retreating subunit configured to retreat in a direction away from the obstacle to a second position that is not less than the preset detection distance from the obstacle
  • the rotation subunit is used for moving forward a preset first distance to the first position after rotating the second position by 90 degrees.
  • the navigation unit 302 it includes:
  • the facing subunit is used to rotate to face the obstacle at the first position and detect the obstacle.
  • the facing subunit including:
  • the stable detection subunit is used for detecting the obstacle within a preset detection time length.
  • the navigation unit 302 includes at least:
  • the returning subunit is used for navigating to a third position according to the detection result, where the third position is a starting position for moving in a direction away from the obstacle.
  • the preset detection distance is not less than 30 cm.
  • the device further includes:
  • a generating unit configured to generate marker information based on the detection result.
  • the walking robot moves away from the obstacle within an effective detection distance, and then navigates according to the effective detection result. Solved the problem that unknown obstacles could not be detected at close range, and avoided collision with unknown obstacles in close range during walking.
  • Embodiments of the present disclosure provide a third embodiment, that is, an electronic device for detecting an unknown obstacle, the electronic device comprising: at least one processor; and communicating with the at least one processor connected storage; where,
  • the memory stores instructions executable by the one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of detecting unknown obstacles as described in the first embodiment. method.
  • Embodiments of the present disclosure provide a fourth embodiment, that is, a computer storage medium for detecting unknown obstacles, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions can be executed as described in the first embodiment A method to detect unknown obstacles.
  • Terminal devices in the embodiments of the present disclosure may include, but are not limited to, such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablets), PMPs (portable multimedia players), vehicle-mounted terminals (eg, mobile terminals such as in-vehicle navigation terminals), etc., and stationary terminals such as digital TVs, desktop computers, and the like.
  • the electronic device shown in FIG. 4 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present disclosure.
  • the electronic device may include a processing device (eg, a central processing unit, a graphics processor, etc.) 401 that may be loaded into a random access memory according to a program stored in a read only memory (ROM) 402 or from a storage device 408
  • the program in the (RAM) 403 executes various appropriate operations and processes.
  • various programs and data required for the operation of the electronic device are also stored.
  • the processing device 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404.
  • An input/output (I/O) interface 405 is also connected to bus 404 .
  • I/O interface 405 input devices 406 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speakers, vibration An output device 407 of a computer, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. Communication means 409 may allow the electronic device to communicate wirelessly or by wire with other devices to exchange data. While FIG. 4 shows an electronic device having various means, it should be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
  • embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated in the flowchart.
  • the computer program may be downloaded and installed from the network via the communication device 409, or from the storage device 408, or from the ROM 402.
  • the processing apparatus 401 When the computer program is executed by the processing apparatus 401, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are executed.
  • the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two.
  • the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, electrical wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.
  • the client and server can use any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol) to communicate, and can communicate with digital data in any form or medium Communication (eg, a communication network) interconnects.
  • HTTP HyperText Transfer Protocol
  • Examples of communication networks include local area networks (“LAN”), wide area networks (“WAN”), the Internet (eg, the Internet), and peer-to-peer networks (eg, ad hoc peer-to-peer networks), as well as any currently known or future development network of.
  • the above-mentioned computer-readable medium may be included in the above-mentioned electronic device; or may exist alone without being assembled into the electronic device.
  • Computer program code for performing operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and This includes conventional procedural programming languages - such as the "C" language or similar programming languages.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
  • LAN local area network
  • WAN wide area network
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions.
  • the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments of the present disclosure may be implemented in a software manner, and may also be implemented in a hardware manner. Among them, the name of the unit does not constitute a limitation of the unit itself under certain circumstances.
  • exemplary types of hardware logic components include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical Devices (CPLDs) and more.
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSPs Application Specific Standard Products
  • SOCs Systems on Chips
  • CPLDs Complex Programmable Logical Devices
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device.
  • the machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.

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Abstract

一种检测未知障碍物的方法、装置、介质和电子设备。行走机器人在行走过程中，如在无法检测的距离内检测到未知类型的障碍物，则远离障碍物至有效检测距离内，然后通过有效检测结果进行导航。解决了近距离无法检测未知障碍物的问题，避免了在行走过程中，与近距离内的未知障碍物发生碰撞。

Description

一种检测未知障碍物的方法、装置、介质和电子设备
相关申请的交叉引用
本申请基于申请号为202011217309.8、申请日为2020年11月4日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及行走机器人领域，具体而言，涉及一种检测未知障碍物的方法、装置、介质和电子设备。
背景技术
行走机器人是通过传感器或摄像头把地面的状况送回处理器，处理器则根据路面情况作出判断，进而稳定地前后左右行走。例如，扫地机器人，又称自动打扫机、智能吸尘器、机器人吸尘器等，是一种能够对地面进行自动清扫的智能家居设备，能够凭借人工智能，自动在房间内完成地板消扫工作。
当前，行走机器人通过摄像头对障碍物的识别能力尚有很大的局限性，对未知障碍物的识别距离要求较高，只有在适当距离范围内才能够保证识别准确率。因此，如在行走过程中，较近距离内忽然出现一个障碍物，行走机器人因无法正确识别而导致与障碍物发生碰撞。
发明内容
提供该发明内容部分以便以简要的形式介绍构思，这些构思将在后面的具体实施方式部分被详细描述。该发明内容部分并不旨在标识要求保护的技术方案的关键特征或必要特征，也不旨在用于限制所要求的保护的技术方案的范围。
本公开的目的在于提供一种检测未知障碍物的方法、装置、介质和电子设备，能够解决上述提到的至少一个技术问题。具体方案如下：
根据本公开的具体实施方式，第一方面，本公开提供一种检测未知障碍物的方法，包括：
在行走过程中，如检测到与一障碍物之间的第一距离小于预设检测距离、且所述障碍物类型未知时，向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置；
在所述第一位置对所述障碍物进行检测，并根据检测结果进行导航。
根据本公开的具体实施方式，第二方面，本公开提供一种检测未知障碍物的装置，包括：
检测单元，用于在行走过程中，如检测到与一障碍物之间的第一距离小于预设检测距 离、且所述障碍物类型未知时，向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置；
导航单元，用于在所述第一位置对所述障碍物进行检测，并根据检测结果进行导航。
根据本公开的具体实施方式，第三方面，本公开提供一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现如第一方面任一项所述检测未知障碍物的方法。
根据本公开的具体实施方式，第四方面，本公开提供一种电子设备，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如第一方面任一项所述检测未知障碍物的方法。
附图说明
结合附图并参考以下具体实施方式，本公开各实施例的上述和其他特征、优点及方面将变得更加明显。贯穿附图中，相同或相似的附图标记表示相同或相似的元素。应当理解附图是示意性的，元件和元素不一定按照比例绘制。在附图中：
图1示出了根据本公开实施例的检测未知障碍物的方法的流程图；
图2示出了根据本公开实施例的检测未知障碍物的方法的示意图；
图3示出了根据本公开实施例的检测未知障碍物的装置的单元框图；
图4示出了根据本公开的实施例的电子设备连接结构示意图。
具体实施方式
下面将参照附图更详细地描述本公开的实施例。虽然附图中显示了本公开的某些实施例，然而应当理解的是，本公开可以通过各种形式来实现，而且不应该被解释为限于这里阐述的实施例，相反提供这些实施例是为了更加透彻和完整地理解本公开。应当理解的是，本公开的附图及实施例仅用于示例性作用，并非用于限制本公开的保护范围。
应当理解，本公开的方法实施方式中记载的各个步骤可以按照不同的顺序执行，和/或并行执行。此外，方法实施方式可以包括附加的步骤和/或省略执行示出的步骤。本公开的范围在此方面不受限制。
本文使用的术语“包括”及其变形是开放性包括，即“包括但不限于”。术语“基于”是“至少部分地基于”。术语“一个实施例”表示“至少一个实施例”；术语“另一实施例”表示“至少一个另外的实施例”；术语“一些实施例”表示“至少一些实施例”。其他术语的相关定义将在下文描述中给出。
需要注意，本公开中提及的“第一”、“第二”等概念仅用于对不同的装置、模块或单元进行区分，并非用于限定这些装置、模块或单元所执行的功能的顺序或者相互依存关 系。
需要注意，本公开中提及的“一个”、“多个”的修饰是示意性而非限制性的，本领域技术人员应当理解，除非在上下文另有明确指出，否则应该理解为“一个或多个”。
本公开实施方式中的多个装置之间所交互的消息或者信息的名称仅用于说明性的目的，而并不是用于对这些消息或信息的范围进行限制。本公开提供了一种检测未知障碍物的方法、装置、介质和电子设备。本公开行走机器人在行走过程中，如在无法检测的距离内检测到未知类型的障碍物，则远离该障碍物至有效检测距离内，然后通过有效检测结果进行导航。解决了近距离无法检测未知障碍物的问题，避免了在行走过程中，与近距离内的未知障碍物发生碰撞。
下面结合附图详细说明本公开的可选实施例。
对本公开提供的第一实施例，即一种检测未知障碍物的方法的实施例。
如图2所示，行走机器人通过摄像头对行走方向的障碍物进行检测，并通过检测结果进行导航。但是由于摄像头的局限性，行走机器人无法对一定距离内出现的未知类型障碍物进行有效检测，因而，也就无法通过检测结果进行导航，导致行走机器人与障碍物发生碰撞。针对上述问题，本公开实施例提供了一种检测未知障碍物的方法。
下面结合图1和图2对本公开实施例进行详细说明。
如图1所示，步骤S101，在行走过程中，如检测到与一障碍物之间的第一距离小于预设检测距离、且所述障碍物类型未知时，向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置。
预设检测距离与设置在行走机器人上用于检测行走方向上未知类型障碍物的传感器有关，传感器在一定检测范围内能够准确检测到未知类型障碍物，如果超出该检测范围传感器将无法有效检测未知类型障碍物。例如，传感器为摄像头，行走机器人通过测距装置测量出与未知类型障碍物的距离，并通过摄像头对障碍物类型进行检测；当摄像头与障碍物的物距小于摄像头焦距时，摄像头只能采集到障碍物的虚像或障碍物局部图像，无法检测障碍物类型；因此，对于通过摄像头检测障碍物的行走机器人，预设检测距离至少大于或等于摄像头的焦距，比如，所述预设检测距离不少于30厘米。
而未知类型的障碍物通常是突然出现在行走机器人行走方向且与行走机器人的距离小于预设检测距离的障碍物，或是行走机器人的行走方向发生变化时进入检测范围内与行走机器人的距离小于预设检测距离的障碍物。
可选的，所述向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置，包括以下步骤：
步骤S101-1，向远离所述障碍物的方向后退至距离所述障碍物不小于所述预设检测距离的第二位置。
步骤S101-2，在所述第二位置旋转90度后向前移动预设第一距离，至所述第一位置。
上述步骤保证行走机器人的传感器的测量方向始终与目标方向保持一致。例如，前述 的摄像头，当行走机器人远离障碍物时，通过后退的方式使其摄像头的摄像方向与目标障碍物所处的方向保持一致；当行走机器人到达第二位置后旋转90度，摄像头也跟随旋转90度，摄像头的摄像方向与目标位置的方向保持一致，从而保证了行走机器人远离过程中测量距离的准确性。
步骤S102，在所述第一位置对所述障碍物进行检测，并根据检测结果进行导航。
当行走机器人到达能够有效检测障碍物的类型后，通过检测结果便可实现有效导航，从而避免与未知类型的障碍物发生碰撞。
可选的，所述在所述第一位置对所述障碍物进行检测，包括以下步骤：
步骤S102-1，在所述第一位置旋转至面向所述障碍物并对所述障碍物进行检测。
进一步的，所述对所述障碍物进行检测，包括以下步骤：
步骤S102-1-1，在预设检测时间长度内，对所述障碍物进行检测。
为了保证行走机器人在行走后能够稳定的检测未知类型的障碍物，本公开实施例提供了预设检测时间长度的稳定检测时间，例如，针对前述采用摄像头作为传感器的行走机器人，预设检测时间长度为500毫秒。
进一步的，所述根据检测结果进行导航，至少包括以下步骤：
步骤S102-2，根据检测结果导航至第三位置，所述第三位置为向远离所述障碍物的方向移动的起始位置。
对于有些行走机器人在脱离原规划的行走路线后，重新规划的行走路线需要在原规划行走路线的基础上绕过未知类型的障碍物。例如，行走机器人是扫地机器人，其重新规划的行走路线是返回远离所述障碍物的起始位置，并从该位置开始绕过该障碍物，目的是保证扫地机器人不遗漏清扫的地面。
可选的，所述在所述第一位置对所述障碍物进行检测并根据检测结果进行导航后，还包括以下步骤：
步骤S103，基于所述检测结果生成标记信息。
生成标记信息的目的是将所述标记信息传送到地图显示终端。地图显示终端用于显示数字化的轨迹地图。地图显示终端获取标记信息后在该轨迹地图中提示障碍物，以便行走机器人能够在下次行走时及时避开该障碍物，从而节省了检测时间，提高了行走效率。
本公开实施例行走机器人在行走过程中，如在无法检测的距离内检测到未知类型的障碍物，则远离该障碍物至有效检测距离内，然后通过有效检测结果进行导航。解决了近距离无法检测未知障碍物的问题，避免了在行走过程中，与近距离内的未知障碍物发生碰撞。
与本公开提供的第一实施例相对应，本公开还提供了第二实施例，即一种检测未知障碍物的装置。由于第二实施例基本相似于第一实施例，所以描述得比较简单，相关的部分请参见第一实施例的对应说明即可。下述描述的装置实施例仅仅是示意性的。
图3示出了本公开提供的一种检测未知障碍物的装置的实施例。
如图3所示，本公开提供一种检测未知障碍物的装置，包括：
检测单元301，用于在行走过程中，如检测到与一障碍物之间的第一距离小于预设检测距离、且所述障碍物类型未知时，向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置；
导航单元302，用于在所述第一位置对所述障碍物进行检测，并根据检测结果进行导航。
可选的，在所述检测单元301中，包括：
后退子单元，用于向远离所述障碍物的方向后退至距离所述障碍物不小于所述预设检测距离的第二位置；
旋转子单元，用于在所述第二位置旋转90度后向前移动预设第一距离，至所述第一位置。
可选的，在所述导航单元302中，包括：
面对子单元，用于在所述第一位置旋转至面向所述障碍物并对所述障碍物进行检测。
可选的，在所述面对子单元中，包括：
稳定检测子单元，用于在预设检测时间长度内，对所述障碍物进行检测。
可选的，在所述导航单元302中，至少包括：
返回子单元，用于根据检测结果导航至第三位置，所述第三位置为向远离所述障碍物的方向移动的起始位置。
可选的，所述预设检测距离不少于30厘米。
可选的，所述装置，还包括：
生成单元，用于基于所述检测结果生成标记信息。
本公开实施例行走机器人在行走过程中，如在无法检测的距离内检测到未知类型的障碍物，则远离该障碍物至有效检测距离内，然后通过有效检测结果进行导航。解决了近距离无法检测未知障碍物的问题，避免了在行走过程中，与近距离内的未知障碍物发生碰撞。
本公开实施例提供了第三实施例，即一种电子设备，该设备用于检测未知障碍物的方法，所述电子设备，包括：至少一个处理器；以及，与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如第一实施例所述检测未知障碍物的方法。
本公开实施例提供了第四实施例，即一种检测未知障碍物的计算机存储介质，所述计算机存储介质存储有计算机可执行指令，该计算机可执行指令可执行如第一实施例中所述检测未知障碍物的方法。
下面参考图4，其示出了适于用来实现本公开实施例的电子设备的结构示意图。本公开实施例中的终端设备可以包括但不限于诸如移动电话、笔记本电脑、数字广播接收器、PDA(个人数字助理)、PAD(平板电脑)、PMP(便携式多媒体播放器)、车载终端(例如车载导航终端)等等的移动终端以及诸如数字TV、台式计算机等等的固定终端。图4 示出的电子设备仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图4所示，电子设备可以包括处理装置(例如中央处理器、图形处理器等)401，其可以根据存储在只读存储器(ROM)402中的程序或者从存储装置408加载到随机访问存储器(RAM)403中的程序而执行各种适当的动作和处理。在RAM 403中，还存储有电子设备操作所需的各种程序和数据。处理装置401、ROM 402以及RAM 403通过总线404彼此相连。输入/输出(I/O)接口405也连接至总线404。
通常，以下装置可以连接至I/O接口405：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置406；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置407；包括例如磁带、硬盘等的存储装置408；以及通信装置409。通信装置409可以允许电子设备与其他设备进行无线或有线通信以交换数据。虽然图4示出了具有各种装置的电子设备，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在非暂态计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信装置409从网络上被下载和安装，或者从存储装置408被安装，或者从ROM 402被安装。在该计算机程序被处理装置401执行时，执行本公开实施例的方法中限定的上述功能。
需要说明的是，本公开上述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。
在一些实施方式中，客户端、服务器可以利用诸如HTTP(HyperText Transfer Protocol，超文本传输协议)之类的任何当前已知或未来研发的网络协议进行通信，并且可以与任意 形式或介质的数字数据通信(例如，通信网络)互连。通信网络的示例包括局域网(“LAN”)，广域网(“WAN”)，网际网(例如，互联网)以及端对端网络(例如，ad hoc端对端网络)，以及任何当前已知或未来研发的网络。
上述计算机可读介质可以是上述电子设备中所包含的；也可以是单独存在，而未装配入该电子设备。
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的操作的计算机程序代码，上述程序设计语言包括但不限于面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本公开实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。其中，单元的名称在某种情况下并不构成对该单元本身的限定。
本文中以上描述的功能可以至少部分地由一个或多个硬件逻辑部件来执行。例如，非限制性地，可以使用的示范类型的硬件逻辑部件包括：现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、片上系统(SOC)、复杂可编程逻辑设备(CPLD)等等。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光 学储存设备、磁储存设备、或上述内容的任何合适组合。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的公开范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述公开构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。
此外，虽然采用特定次序描绘了各操作，但是这不应当理解为要求这些操作以所示出的特定次序或以顺序次序执行来执行。在一定环境下，多任务和并行处理可能是有利的。同样地，虽然在上面论述中包含了若干具体实现细节，但是这些不应当被解释为对本公开的范围的限制。在单独的实施例的上下文中描述的某些特征还可以组合地实现在单个实施例中。相反地，在单个实施例的上下文中描述的各种特征也可以单独地或以任何合适的子组合的方式实现在多个实施例中。
尽管已经采用特定于结构特征和/或方法逻辑动作的语言描述了本主题，但是应当理解所附权利要求书中所限定的主题未必局限于上面描述的特定特征或动作。相反，上面所描述的特定特征和动作仅仅是实现权利要求书的示例形式。
。

Claims (16)

  1. 一种检测未知障碍物的方法，包括：
    在行走过程中，如检测到与一障碍物之间的第一距离小于预设检测距离、且所述障碍物类型未知时，向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置；以及
    在所述第一位置对所述障碍物进行检测，并根据检测结果进行导航。
  2. 根据权利要求1所述的方法，其中，所述向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置，包括：
    向远离所述障碍物的方向后退至距离所述障碍物不小于所述预设检测距离的第二位置；以及
    在所述第二位置旋转90度后向前移动预设第一距离，至所述第一位置。
  3. 根据权利要求1-2任一项所述的方法，其中，所述在所述第一位置对所述障碍物进行检测，包括：
    在所述第一位置旋转至面向所述障碍物的方向并对所述障碍物进行检测。
  4. 根据权利要求3所述的方法，其中，所述对所述障碍物进行检测，包括：
    在预设检测时间长度内，对所述障碍物进行检测。
  5. 根据权利要求1所述的方法，其中，所述根据检测结果进行导航，至少包括：
    根据检测结果导航至第三位置，所述第三位置为向远离所述障碍物的方向移动的起始位置。
  6. 根据权利要求1所述的方法，其中，所述预设检测距离不小于30厘米。
  7. 根据权利要求4所述的方法，其中，所述在所述第一位置对所述障碍物进行检测并根据检测结果进行导航后，还包括：
    基于所述检测结果生成标记信息。
  8. 一种检测未知障碍物的装置，其中，包括：
    检测单元，用于在行走过程中，如检测到与一障碍物之间的第一距离小于预设检测距离、且所述障碍物类型未知时，向远离所述障碍物的方向移动至距离所述障碍物不小于所述预设检测距离的第一位置；以及
    导航单元，用于在所述第一位置对所述障碍物进行检测，并根据检测结果进行导航。
  9. 根据权利要求8所述的装置，其中，所述检测单元301，包括：
    后退子单元，用于向远离所述障碍物的方向后退至距离所述障碍物不小于所述预设检测距离的第二位置；以及
    旋转子单元，用于在所述第二位置旋转90度后向前移动预设第一距离，至所述第一位置。
  10. 根据权利要求8-9任一项所述的装置，其中，所述导航单元302，包括：
    面对子单元，用于在所述第一位置旋转至面向所述障碍物的方向并对所述障碍物进行检测。
  11. 根据权利要求10所述的装置，其中，所述面对子单元，包括：
    稳定检测子单元，用于在预设检测时间长度内，对所述障碍物进行检测。
  12. 根据权利要求8所述的装置，其中，所述导航单元302，包括：
    返回子单元，用于根据检测结果导航至第三位置，所述第三位置为向远离所述障碍物的方向移动的起始位置。
  13. 根据权利要求8所述的装置，其中，所述预设检测距离不小于30厘米。
  14. 根据权利要求11所述的装置，其中，所述装置，还包括：
    生成单元，用于基于所述检测结果生成标记信息。
  15. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1至7中任一项所述的方法。
  16. 一种电子设备，包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如权利要求1至7中任一项所述的方法。
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US20240012420A1 (en) 2024-01-11
US12443193B2 (en) 2025-10-14
CN112401752A (zh) 2021-02-26
EP4241644A1 (en) 2023-09-13

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