CN115705045A - Autonomous cruising method and device of movable equipment and movable equipment - Google Patents
Autonomous cruising method and device of movable equipment and movable equipment Download PDFInfo
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Abstract
The disclosure provides an autonomous cruising method and device of a movable device and the movable device, wherein the method comprises the following steps: acquiring a navigation path; controlling the movable equipment to move according to the navigation path; if an obstacle is detected in the moving process, determining a current moving mode according to current cruise information, wherein the cruise information comprises at least one of the following items: determining a current movement mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment; controlling the mobile device according to the current movement pattern. The mobile mode of the movable equipment can be determined flexibly and pertinently through the scheme, the movable equipment can be flexibly controlled, the obstacle avoidance mode of the movable equipment is enriched, the flexibility is strong, and the autonomous cruising ability of the movable equipment is improved.
Description
Technical Field
The present disclosure relates to the field of robotics, and in particular, to an autonomous cruise method and apparatus for a mobile device, and a mobile device.
Background
With the development of science and technology, intelligent robots are applied in many scenes. For example, the intelligent floor sweeping robot can be used for sanitation and cleanness in families, and the intelligent inspection robot can be used for regular inspection in places such as districts, factories and unattended parks.
However, no matter which kind of scene the intelligent robot is used for, when the current intelligent robot meets an obstacle in the operation process, the obstacle is avoided by adopting a path replanning mode, and the obstacle avoiding mode is single.
Disclosure of Invention
The disclosure provides an autonomous cruising method and device of movable equipment and the movable equipment.
According to a first aspect of the present disclosure, there is provided an autonomous cruising method of a mobile device, comprising:
acquiring a navigation path;
controlling the movable equipment to move according to the navigation path;
if an obstacle is detected in the moving process, determining a current moving mode according to current cruise information, wherein the cruise information comprises at least one of the following items: determining a current movement mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment;
controlling the mobile device according to the current movement pattern.
Optionally, the determining the current movement pattern according to the current cruise information includes:
if the type of the obstacle is the first type, determining that the current moving mode is pause moving;
and if the type of the obstacle is the second type, determining that the current movement mode is based on the new navigation path.
Optionally, the determining a current movement mode according to the type of the obstacle, the position relationship between the obstacle and the navigation path, and/or the type of the task currently performed by the movable device includes:
if the width and the height of a vacant area between the barrier and the navigation path are respectively larger than the width and the height of the movable equipment, determining that the current movement mode is to move from the vacant area;
and if the width of the vacant area between the obstacle and the navigation path is smaller than or equal to the width of the movable equipment, and/or the height of the vacant area between the obstacle and the navigation path is smaller than or equal to the height of the movable equipment, determining that the current movement mode moves based on the new navigation path.
Optionally, the determining a current movement mode according to the type of the obstacle, the position relationship between the obstacle and the navigation path, and/or the type of a task currently performed by the movable device includes:
if the type of the barrier is a specified type and the type of the task currently executed by the movable equipment is a preset type, determining that the current moving mode is to play a specified audio file to remind the barrier to move;
and if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, determining that the current movement mode is based on the new navigation path movement.
Optionally, if the type of the obstacle is not a specific type, and/or the type of the task currently executed by the mobile device is not a preset type, determining that the current movement mode is to move based on a new navigation path includes:
if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, detecting whether a target object exists in the visible range of the movable equipment or not;
if the target object exists, determining that the current moving mode is to play a specified audio file to remind the target object to remove the obstacle;
and if the target object does not exist, determining that the current moving mode is moving based on the new navigation path.
Optionally, the controlling the mobile device according to the current moving mode includes:
in response to the current movement pattern being based on a new navigation path movement, adjusting an image acquisition module on the mobile device to acquire an image of at least one path associated with a target movement direction of the mobile device;
identifying the image of the at least one path to obtain the path length of the at least one path;
determining the path corresponding to the minimum path length as a new navigation path;
and controlling the movable equipment to move according to the new navigation path.
Optionally, after the determining the path corresponding to the minimum path length as a new navigation path, the method further includes:
acquiring the path length of the new navigation path;
according to the task type currently executed by the movable equipment, obtaining the allowable waiting time length corresponding to the task type;
determining a detour duration according to the path length of the new navigation path and the reference speed of the movable equipment;
and if the bypassing time length is greater than the allowable waiting time length, sending a notification message to a user associated with the task currently executed by the mobile equipment, wherein the notification message comprises the bypassing time length.
According to the autonomous cruising method of the movable equipment, the movable equipment is controlled to move according to the navigation path by obtaining the navigation path, and when an obstacle is detected in the moving process, the current moving mode is determined according to the current cruising information, wherein the cruising information comprises at least one of the following items: determining a current movement mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment, and further controlling the movable equipment according to the current movement mode, so that when the movable equipment meets the obstacle, the current movement mode is determined according to current cruise information, wherein the cruise information comprises at least one of the following items: the corresponding mobile mode is determined according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of the task currently executed by the mobile equipment, the mobile mode of the mobile equipment can be flexibly and pertinently determined, and then when the mobile equipment is controlled according to the determined mobile mode, the flexible control of the mobile equipment can be realized, the obstacle avoidance mode of the mobile equipment is enriched, the flexibility is strong, and the autonomous cruising ability of the mobile equipment is improved.
According to a second aspect of the present disclosure, there is provided an autonomous cruise apparatus of a movable equipment, comprising:
the first acquisition module is used for acquiring a navigation path;
the control module is used for controlling the movable equipment to move according to the navigation path;
the device comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining a current moving mode according to current cruise information if an obstacle is detected in the moving process, and the cruise information comprises at least one of the following items: determining a current moving mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment;
the control module is further configured to control the mobile device according to the current movement mode.
Optionally, the first determining module is specifically configured to:
if the type of the obstacle is the first type, determining that the current moving mode is pause moving;
and if the type of the obstacle is the second type, determining that the current movement mode is based on the new navigation path.
Optionally, the first determining module is specifically configured to:
if the width and the height of a vacant area between the barrier and the navigation path are respectively larger than the width and the height of the movable equipment, determining that the current movement mode is to move from the vacant area;
and if the width of the vacant area between the obstacle and the navigation path is smaller than or equal to the width of the movable equipment, and/or the height of the vacant area between the obstacle and the navigation path is smaller than or equal to the height of the movable equipment, determining that the current movement mode is based on the movement of the new navigation path.
Optionally, the first determining module is specifically configured to:
if the type of the barrier is a specified type and the type of the task currently executed by the movable equipment is a preset type, determining that the current moving mode is to play a specified audio file to remind the barrier to move;
and if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, determining that the current movement mode is based on the new navigation path movement.
Optionally, the first determining module is specifically further configured to:
if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, detecting whether a target object exists in the visible range of the movable equipment or not;
if the target object exists, determining that the current moving mode is to play a specified audio file to remind the target object to remove the obstacle;
and if the target object does not exist, determining that the current moving mode is moving based on the new navigation path.
Optionally, the control module is specifically further configured to:
in response to the current movement pattern being based on a new navigation path movement, adjusting an image acquisition module on the mobile device to acquire an image of at least one path associated with a target movement direction of the mobile device;
identifying the image of the at least one path to obtain the path length of the at least one path;
determining the path corresponding to the minimum path length as a new navigation path;
and controlling the movable equipment to move according to the new navigation path.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring the path length of the new navigation path;
a third obtaining module, configured to obtain, according to a task type currently executed by the mobile device, an allowable waiting duration corresponding to the task type;
the second determination module is used for determining the detour duration according to the path length of the new navigation path and the reference speed of the movable equipment;
and the reminding module is used for sending a notification message to a user associated with the task currently executed by the mobile equipment if the detour duration is greater than the allowable waiting duration, wherein the notification message comprises the detour duration.
The autonomous cruise device of the movable equipment of the embodiment of the disclosure controls the movable equipment to move according to the navigation path by acquiring the navigation path, and determines the current movement mode according to the current cruise information when an obstacle is detected in the moving process, wherein the cruise information comprises at least one of the following items: determining a current movement mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment, and further controlling the movable equipment according to the current movement mode, so that when the movable equipment meets the obstacle, the current movement mode is determined according to current cruise information, wherein the cruise information comprises at least one of the following items: the corresponding mobile mode is determined according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of the task currently executed by the mobile equipment, the mobile mode of the mobile equipment can be flexibly and pertinently determined, and then when the mobile equipment is controlled according to the determined mobile mode, the mobile equipment can be flexibly controlled, the obstacle avoidance mode of the mobile equipment is enriched, the flexibility is strong, and the autonomous cruising ability of the mobile equipment is improved.
According to a third aspect of the present disclosure, there is provided a mobile device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the autonomous cruise method of a mobile device as described in the embodiments of the first aspect above.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the autonomous cruise method of a movable apparatus as described above in the embodiments of the first aspect.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the autonomous cruise method of a mobile device as described above in the embodiments of the first aspect.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic flow diagram of an autonomous cruise method of a mobile device according to a first embodiment of the present disclosure;
FIG. 2 is a diagram of an example process for a mobile device to create a map of a current scene;
fig. 3 is a schematic flow diagram of an autonomous cruising method of a mobile device according to a second embodiment of the present disclosure;
fig. 4 is a schematic flow chart of an autonomous cruise method of a mobile device according to a third embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an autonomous cruise apparatus of a movable equipment according to a fourth embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an autonomous cruise apparatus of a mobile device according to a fifth embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The autonomous cruising method and device for the movable equipment and the movable equipment provided by the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of an autonomous cruise method for a mobile device according to a first embodiment of the present disclosure, where the autonomous cruise method for a mobile device according to the first embodiment of the present disclosure may be performed by an autonomous cruise apparatus for a mobile device according to the first embodiment of the present disclosure, where the autonomous cruise apparatus for a mobile device may be configured in the mobile device according to the first embodiment of the present disclosure, and the mobile device may be, for example, a smart robot, a robot dog, or other smart devices.
As shown in fig. 1, the autonomous cruising method of a mobile device may include the steps of:
The navigation path is a path which the movable equipment needs to pass through when working, and the movable equipment moves along the navigation path.
In the embodiment of the disclosure, the navigation path may be determined according to the navigation point selected by the user. When the mobile device works in the navigation mode, whether a map of the current working scene is established or not can be judged firstly, if the map is not established, the mobile device is controlled to execute the map establishing mode firstly, and the map of the current working scene is established by adopting a Simultaneous Localization And Mapping (SLAM) technology.
The mode for establishing the map can be any one of a full-automatic mode, a semi-automatic mode and a manual mode, and in the full-automatic mode, the user does not need to participate, when the movable device detects an obstacle, the obstacle avoidance operation is automatically executed, and the obstacle avoidance operation can be, for example, bypassing the obstacle, replanning a path and the like; in the semi-automatic mode, when the movable equipment detects an obstacle, automatically executing obstacle avoidance operation, and if the obstacle avoidance fails, prompting a user to adjust the movable equipment or prompting the user to clear the obstacle; in the manual mode, when the movable device detects an obstacle, the user is prompted to adjust the movable device or to clear the obstacle. In the process of establishing the map, if the movable equipment detects an obstacle, executing corresponding obstacle avoidance operation according to the adopted mapping mode, and if the obstacle avoidance is successful, normally modeling is carried out until the mapping is completed. If the obstacle avoidance fails, whether the image construction process can be continued or not is further judged, if the image construction process cannot be continued, the image construction is stopped, and if the image construction process can be continued, the image construction is normally carried out.
For example, when the mobile device cannot avoid the obstacle and no other path is available, it is determined that the mapping process cannot be continued, the mapping is terminated, and the user is asked whether to store the currently established map, and if the user agrees to store the currently established map, the established map is stored in the storage unit. If abnormal conditions occur in the normal map building process, such as abnormal conditions of no data of the real-time sensing camera, positioning failure and the like, whether the map building can be continued is judged according to the abnormal conditions. The above mapping process is shown in fig. 2.
After the map of the current working scene is built, the map can be displayed to a user through an application program APP associated with the mobile device, the user sets navigation points on the map, and then the mobile device generates a navigation path according to the navigation points, wherein the navigation path passes through each navigation point set by the user.
It can be understood that there may be multiple paths passing through the same navigation point, in this case, the path with the shortest path length may be selected as the acquired navigation path, or one path may be randomly selected as the acquired navigation path, which is not limited in this disclosure.
And step 102, controlling the movable equipment to move according to the navigation path.
103, if an obstacle is detected in the moving process, determining a current moving mode according to current cruise information, wherein the cruise information comprises at least one of the following items: the type of obstacle, the positional relationship of the obstacle to the navigation path, and the type of task currently being performed by the movable device determine the current movement pattern.
In the embodiment of the present disclosure, after the navigation path is acquired, the movable device may be controlled to move according to the acquired navigation path. If an obstacle is detected during the movement of the movable device, the current movement pattern may be determined based on current cruise information, such as at least one of the type of obstacle, the positional relationship of the obstacle to the navigation path, and the type of task currently being performed by the movable device.
The cruise information may be information obtained by the current movable device in the moving process, which may be obstacle information detected in the moving process, such as the type of an obstacle, the size of the obstacle, the motion state of the obstacle, and the position relationship between the obstacle and the navigation path, or may also be received task type information currently executed by the movable device, such as an emergency task and a non-emergency task, which is not limited herein. It should be noted that the cruise information may be indication information with different dimensions, such as instruction information, detection information, and the like, and thus in the present disclosure, when determining the current movement pattern, one or more information in the cruise information may be used, which is not limited herein.
It can be understood that, according to the cruise information, the movable device can accurately determine the current moving mode and correspondingly react to the obstacle according to the current moving mode, so that certain apriori is provided.
As a possible implementation, the current moving mode may be determined according to the type of the obstacle, including: if the type of the obstacle is the first type, determining that the current moving mode is pause moving; and if the type of the obstacle is the second type, determining that the current movement mode is based on the new navigation path.
Wherein the first type of obstacle comprises a person, an animal and an object that is moving and the second type of obstacle comprises a static object. Since the human and animal can move autonomously, when the human and animal find that the movable device is close, the human and animal may leave autonomously, and for the moving object, such as remote control other, sweeping to a robot, etc., the human and animal may leave the movable device after a certain time, and therefore, for the obstacle of the type of human, animal and moving object, the corresponding movement mode may be set to pause the movement; since a static object cannot move autonomously, for this type of obstacle, the corresponding movement pattern can be set to move based on a new navigation path. Therefore, in this embodiment, when an obstacle is detected, the type of the obstacle may be further identified, a corresponding movement pattern may be determined according to the type of the obstacle, if the type of the obstacle is a first type, the current movement pattern may be determined to be a pause movement, and if the type of the obstacle is a second type, the current movement pattern may be determined to be a movement based on a new navigation path.
By determining that the current movement mode is the pause movement when the type of the obstacle is the first type and the new navigation path based on the type of the obstacle is the second type, the corresponding movement mode is determined according to whether the obstacle can move by itself, if the obstacle can move by itself, the movable device pauses to move to wait for the obstacle to leave, and if the obstacle cannot move by itself, the movable device is controlled to move based on the new navigation path to avoid the obstacle, so that the flexibility is strong.
As a possible implementation manner, the determining the current moving mode according to the position relationship between the obstacle and the navigation path includes: if the width and the height of the vacant area between the barrier and the navigation path are respectively greater than the width and the height of the movable equipment, determining that the current moving mode is moving from the vacant area; and if the width of the vacant area between the obstacle and the navigation path is smaller than or equal to the width of the movable equipment, and/or the height of the vacant area between the obstacle and the navigation path is smaller than or equal to the height of the movable equipment, determining that the current movement mode moves based on the new navigation path.
That is, when an obstacle appears on the navigation path, it may be determined whether the obstacle blocks the navigation path, and if not, it may be determined whether the width and height of a free area between the obstacle and the navigation path are large enough to allow the mobile device to pass through, and if the width and height of the free area are larger than the width and height of the mobile device, respectively, the mobile device may be allowed to pass through, and the current movement mode may be a movement from the free area, in which the mobile device may move from the free area to bypass the obstacle; otherwise, the current movement pattern may be determined to move based on the new navigation path. And if an obstacle blocks the navigation path, it can move based on the new navigation path.
The current moving mode is determined according to the position relation between the obstacle and the navigation path, the obstacle can be flexibly bypassed on the basis of the original navigation path or the obstacle can be avoided by selecting a mode of replanning the navigation path, and the flexibility is strong.
As a possible implementation manner, the determining the current movement mode according to the task type currently executed by the movable device includes: if the task type currently executed by the movable equipment is an emergency task type, the current moving mode can be determined to be that people nearby are reminded to clear obstacles, and if the task type currently executed is not the emergency task type, the current moving mode can be determined to be that the movable equipment moves based on a new navigation path. The emergency task type is a task type with a high requirement on execution time limit, such as emergency tasks of fire scene rescue, earthquake scene rescue and the like. The corresponding moving mode is determined according to the type of the executed task, different types of tasks are enabled to select different moving modes to avoid the barrier, and flexibility is high.
As a possible implementation, the determining the current movement mode according to the type of the obstacle and the type of the task currently performed by the movable device may include: if the type of the barrier is the designated type and the type of the task currently executed by the movable equipment is the preset type, determining the current moving mode as playing the designated audio file to remind the barrier to move; and if the type of the obstacle is not a specified type and/or the type of the task currently executed by the mobile equipment is not a preset type, determining that the current moving mode is moving based on the new navigation path.
The specified type of obstacles refers to obstacles such as people and animals capable of moving by themselves, the preset type of tasks refers to tasks with high requirements for execution time limit, and the specified audio files can be stored in the mobile device in advance.
For example, when the movable device is used for rescuing on a fire scene, the rescuing speed affects the life and property safety of people and needs to compete for seconds, and the task can be set as a preset type task. In the process that the movable device executes tasks, if fire fighters block the movable device from advancing, the movable device can be controlled to play a designated audio file to remind the fire fighters to give way.
By determining the current movement pattern in conjunction with the type of obstacle and the type of task currently being performed by the mobile device, the ability of the mobile device to autonomously cruise may be advantageously increased by determining the accuracy of the movement pattern.
Further, in a possible implementation manner of the embodiment of the present disclosure, when the current movement mode is determined according to the type of the obstacle and the type of the task currently executed by the mobile device, if the type of the obstacle is not a specific type and/or the type of the task currently executed by the mobile device is not a preset type, it may be detected whether a target object exists within a visual range of the mobile device, and if the target object exists, it is determined that the current movement mode is to play a specific audio file to remind the target object to remove the obstacle; and if the target object does not exist, determining that the current moving mode is moving based on the new navigation path.
Wherein the target object is a human.
That is, when the type of the obstacle is not a specified type, and/or the type of the task currently performed by the mobile device is not a preset type, it may be detected whether there is a person nearby, if there is a person, the current movement mode is determined to play a specified audio file to remind the person to remove the obstacle, and if there is no person nearby, the current movement mode is determined to move based on a new navigation path.
It should be noted that, when the type of the obstacle is the specified type, and the task type currently executed by the mobile device is not the preset type, the corresponding movement mode may also be set as the pause movement, and the embodiment of the present disclosure only takes the type of the obstacle as the specified type, and takes the corresponding movement mode when the task type currently executed by the mobile device is not the preset type as an example of playing the specified audio file to remind the target object to remove the obstacle, which is not taken as a limitation to the present disclosure.
Moreover, it can be understood that, when the type of the obstacle is the designated type and the type of the task currently executed by the mobile device is not the preset type, if the obstacle is a person, the current moving mode is determined to play the designated audio file to remind the target object to remove the obstacle, which may mean to remind the person to leave by himself (the target object and the obstacle may be the same person) or mean to remind the target object to leave (the target object and the obstacle are different persons); if the obstacle is an animal, the current moving mode is determined to be playing of a specified audio file to remind the target object to remove the obstacle, which can be to remind the target object (person) to drive the obstacle away.
When the type of the obstacle is not a specified type and/or the type of a task currently executed by the mobile equipment is not a preset type, whether a target object exists in a visual range is detected, if the target object exists, the mobile mode is determined to be a playing specified audio file to remind the target object to remove the obstacle, and if the target object does not exist, the mobile mode is determined to move based on a new navigation path, so that the obstacle is avoided in a mode of preferentially selecting the target object to help to remove the obstacle, the probability of replanning the navigation path by the mobile equipment is reduced, and the speed of executing the task by the mobile equipment is improved.
As a possible implementation manner, the current moving mode may be determined according to the type of the obstacle and the position relationship between the obstacle and the navigation path, and the method includes: if the type of the obstacle is a first type, determining that the current moving mode is pause moving, if the type of the obstacle is not the first type, further judging that a vacant area between the obstacle and the navigation path can allow the movable equipment to pass through according to the position relation between the obstacle and the navigation path, if the vacant area is allowed, determining that the current moving mode is moving from the vacant area, if the vacant area is not allowed, determining that the current moving mode is moving based on a new navigation path, wherein the obstacle of the first type comprises people, animals and moving objects. Therefore, the accuracy of the determined moving mode can be improved, the obstacle avoidance modes of the movable equipment are enriched, and the flexibility is improved.
As a possible implementation manner, determining the current movement mode according to the position relationship between the obstacle and the navigation path and the type of the task currently executed by the movable device may include: if the free area between the barrier and the navigation path is determined to allow the movable equipment to pass through according to the position relation between the barrier and the navigation path, the current moving mode is determined to be moving from the free area, if the free area is not allowed to pass through, the current moving mode is determined according to the task type currently executed by the movable equipment, if the task type currently executed is a preset type, the current moving mode can be determined to remind people nearby to remove the barrier, and if the task type currently executed is not the preset type, the current moving mode can be determined to move based on a new navigation path. The preset type of task refers to a task with a high requirement on execution time limit. Therefore, the current moving mode is determined by combining the position relation between the obstacle and the movable equipment and the task type currently executed by the movable equipment, the accuracy of the determined moving mode can be improved, the obstacle avoidance modes of the movable equipment are enriched, and the flexibility is improved.
As a possible implementation manner, determining a current movement mode according to the type of the obstacle, the position relationship between the obstacle and the navigation path, and the type of the task currently executed by the movable device includes: if the type of the barrier is the designated type, determining that the current moving mode is to play the designated audio file to remind the barrier to move; if the type of the obstacle is not a specified type, determining a moving mode according to the position relation between the obstacle and the navigation path, if the movable equipment is operated in a vacant area between the obstacle and the navigation path to pass through, determining that the current moving mode is moving from the vacant area, if the movable equipment is not allowed to pass through, further judging whether the type of a task currently executed by the movable equipment is a preset type, if so, determining that the current moving mode is used for reminding nearby people to remove the obstacle, and if the type of the task currently executed is not the preset type, determining that the current moving mode is moving based on a new navigation path. The specified type of obstacles refers to obstacles capable of moving by themselves, such as people and animals, and the preset type of tasks refers to tasks with high requirements for execution time limit. Therefore, the current moving mode is determined by combining multiple factors, the accuracy of the moving mode is improved, and the accuracy of obstacle avoidance mode selection is improved.
And 104, controlling the movable equipment according to the current movement mode.
In the embodiment of the present disclosure, after the movement mode when the movable device encounters an obstacle is determined, the movable device may be controlled according to the determined movement mode.
For example, if the determined movement mode is a pause movement, the movable device may be controlled to operate after waiting for a preset time period; and if the determined movement mode is based on the new navigation path, controlling the movable equipment to re-plan the navigation path according to the map of the current scene and moving along the newly planned navigation path.
According to the autonomous cruise method of the mobile equipment, the navigation path is obtained, the mobile equipment is controlled to move according to the navigation path, when an obstacle is detected in the moving process, the current moving mode is determined according to the current cruise information, wherein the cruise information comprises at least one of the following items: determining a current movement mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment, and further controlling the movable equipment according to the current movement mode, so that when the movable equipment encounters the obstacle, the current movement mode is determined according to current cruise information, wherein the cruise information comprises at least one of the following items: the corresponding mobile mode is determined according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of the task currently executed by the mobile equipment, the mobile mode of the mobile equipment can be flexibly and pertinently determined, and then when the mobile equipment is controlled according to the determined mobile mode, the flexible control of the mobile equipment can be realized, the obstacle avoidance mode of the mobile equipment is enriched, the flexibility is strong, and the autonomous cruising ability of the mobile equipment is improved.
As described above, when an obstacle is detected, the determined current movement mode includes movement based on a new navigation path, and a specific implementation process for controlling the movable device according to the movement mode when the determined movement mode is movement based on the new navigation path is described in detail below with reference to fig. 3.
Fig. 3 is a schematic flow chart of an autonomous cruising method for a mobile device according to a second embodiment of the present disclosure, as shown in fig. 3, and step 104 may include the following steps based on the embodiment shown in fig. 1:
and step 201, responding to the current movement mode that the mobile device moves based on the new navigation path, and adjusting an image acquisition module on the mobile device to acquire an image of at least one path associated with the target movement direction of the mobile device.
In the embodiments of the present disclosure, when it is determined that the current movement mode is moving based on the new navigation path, the image capturing module on the movable device may be adjusted to obtain an image of at least one path associated with the target movement direction of the movable device. For example, the image capturing module may be controlled to rotate to capture a plurality of images of the front and the periphery of the mobile device, where each captured image includes at least one path associated with a target moving direction of the mobile device.
The target moving direction is related to the current position of the movable device and a destination to be reached, for example, if the destination is in the front right of the movable device, the target moving direction is the front right, and the acquired image is an image including a path which can reach the destination from the front right of the movable device.
And step 203, determining the path corresponding to the minimum path length as a new navigation path.
In this embodiment of the present disclosure, after the image of the at least one path is acquired, the acquired image may be identified to identify each path and the path length corresponding to each path from the image, and then, the path lengths of each path are compared, and the path with the minimum path length is determined as a new navigation path.
And step 204, controlling the movable equipment to move according to the new navigation path.
In the embodiment of the disclosure, after the new navigation path is determined, the movable device may be controlled to move according to the new navigation path.
According to the autonomous cruising method of the mobile device, the image acquisition module on the mobile device is adjusted to acquire the image of at least one path associated with the target moving direction of the mobile device by responding to the current moving mode based on the new navigation path, the image of the at least one path is identified to acquire the path length of the at least one path, the path corresponding to the minimum path length is determined as the new navigation path, and the mobile device is controlled to move according to the new navigation path, so that the time of the destination to which the mobile device arrives can be shortened as much as possible by selecting the path with the shortest path length to enable the mobile device to pass through, and the autonomous cruising efficiency of the mobile device is improved.
When a user uses a mobile device, the user generally wants the mobile device to complete a task in a short time, and when the mobile device moves based on a new navigation path, the time required for the user to complete may exceed the time required for the user to complete, in which case the user may be informed in advance of the time required for the user to move based on the new navigation path. This is described in detail below with reference to fig. 4.
Fig. 4 is a schematic flowchart of an autonomous cruising method for a mobile device according to a third embodiment of the present disclosure, as shown in fig. 4, based on the embodiment shown in fig. 3, after step 203, the following steps may be further included:
As an example, the path length of the new navigation path may be measured by a ranging unit on the movable device, such as any one of a laser ranging unit, an ultrasonic ranging unit, and a visual ranging unit.
As an example, the corresponding relationship between different task types and the allowable waiting time may be pre-established and stored, and when necessary, the allowable waiting time corresponding to the currently executed task type may be determined by querying the pre-established corresponding relationship according to the currently executed task type of the mobile device.
It can be appreciated that the more urgent the task, the shorter the corresponding allowable wait period. For example, for a fire rescue task, the corresponding allowable waiting time is shorter than that for a sanitary cleaning task.
Wherein the reference velocity of the movable device may be determined based on the moving velocity of the movable device. For example, if the mobile device can only move at a fixed speed, the reference speed is the fixed speed; if the moving speed of the mobile device can be adjusted according to different road conditions, the reference speed can be an average speed of the historical moving speeds of the mobile device.
In the embodiment of the present disclosure, after the path length of the new navigation path is obtained, the detour duration may be determined according to the path length of the new navigation path and the reference speed of the mobile device, where the detour duration is a ratio of the path length of the new navigation path to the reference speed.
And step 304, if the bypassing time is longer than the allowable waiting time, sending a notification message to a user associated with the task currently executed by the mobile device, wherein the notification message comprises the bypassing time.
In the embodiment of the disclosure, after the detour duration is determined, the detour duration may be compared with the obtained allowable waiting duration, and if the detour duration is greater than the allowable waiting duration, it indicates that it takes a long time for the mobile device to execute the current task, a notification message may be sent to a user associated with the task currently executed by the mobile device, where the notification message includes the detour duration, so that the user knows the duration that it takes for the mobile device to reach the destination to execute the task. Wherein the removable device can send a notification message to the associated application APP to notify the user. If the detour duration is less than or equal to the allowed wait duration, indicating that the mobile device may arrive at the destination within the user's expected time to perform the task, the user may not be notified.
According to the autonomous cruising method of the mobile equipment, the path length of the new navigation path is obtained, the allowed waiting time corresponding to the task type is obtained according to the task type currently executed by the mobile equipment, the bypassing time is determined according to the path length of the new navigation path and the reference speed of the mobile equipment, if the bypassing time is greater than the allowed waiting time, a notification message is sent to a user related to the task currently executed by the mobile equipment, and the bypassing time is included in the notification message, so that the bypassing time is notified to the user in advance when the bypassing time of the mobile equipment moving according to the new navigation path is long, and the user can conveniently know the operation condition of the mobile equipment.
In order to realize the above embodiments, the present disclosure also provides an autonomous cruise apparatus of a mobile device. Fig. 5 is a schematic structural diagram of an autonomous cruise apparatus of a mobile device according to a fourth embodiment of the present disclosure, where, as shown in fig. 5, the autonomous cruise apparatus 50 of the mobile device includes: a first acquisition module 510, a control module 520, and a first determination module 530.
The first obtaining module 510 is configured to obtain a navigation path.
And a control module 520 for controlling the movable device to move according to the navigation path.
A first determining module 530, configured to determine a current moving mode according to current cruise information if an obstacle is detected during moving, where the cruise information includes at least one of: the type of the obstacle, the position relation of the obstacle and the navigation path, and the type of the task currently executed by the movable equipment determine the current movement mode.
The control module 520 is further configured to control the mobile device according to the current moving mode.
In a possible implementation manner of the embodiment of the present disclosure, the first determining module 530 is specifically configured to: if the type of the obstacle is the first type, determining that the current moving mode is pause moving; and if the type of the obstacle is a second type, determining that the current movement mode is based on the new navigation path movement.
In a possible implementation manner of the embodiment of the present disclosure, the first determining module 530 is specifically configured to: if the width and the height of a vacant area between the barrier and the navigation path are respectively larger than the width and the height of the movable equipment, determining that the current movement mode is to move from the vacant area; and if the width of the vacant area between the obstacle and the navigation path is smaller than or equal to the width of the movable equipment, and/or the height of the vacant area between the obstacle and the navigation path is smaller than or equal to the height of the movable equipment, determining that the current movement mode moves based on the new navigation path.
In a possible implementation manner of the embodiment of the present disclosure, the first determining module 530 is specifically configured to: if the type of the barrier is a designated type and the type of the task currently executed by the movable equipment is a preset type, determining that the current moving mode is to play a designated audio file to remind the barrier to move; and if the type of the barrier is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, determining that the current moving mode is based on the new navigation path.
Further, in a possible implementation manner of the embodiment of the present disclosure, the first determining module 530 is specifically further configured to: if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, detecting whether a target object exists in the visible range of the movable equipment or not; if the target object exists, determining that the current moving mode is to play a specified audio file to remind the target object to remove the obstacle; and if the target object does not exist, determining that the current moving mode is moving based on the new navigation path.
In a possible implementation manner of the embodiment of the present disclosure, the control module 520 is further specifically configured to: in response to the current movement pattern being based on a new navigation path movement, adjusting an image acquisition module on the mobile device to acquire an image of at least one path associated with a target movement direction of the mobile device; identifying the image of the at least one path to obtain the path length of the at least one path; determining the path corresponding to the minimum path length as a new navigation path; and controlling the movable equipment to move according to the new navigation path.
In a possible implementation manner of the embodiment of the present disclosure, as shown in fig. 6, on the basis of the foregoing embodiment, the autonomous cruise apparatus 50 of the mobile device further includes:
a second obtaining module 540, configured to obtain a path length of the new navigation path.
A third obtaining module 550, configured to obtain, according to the task type currently executed by the mobile device, an allowed waiting duration corresponding to the task type.
And a second determining module 560, configured to determine the detour duration according to the path length of the new navigation path and the reference speed of the mobile device.
A reminding module 570, configured to send a notification message to a user associated with a task currently executed by the mobile device if the detour duration is longer than the allowable waiting duration, where the notification message includes the detour duration.
It should be noted that the foregoing explanation of the embodiment of the autonomous cruising method for the mobile device is also applicable to the autonomous cruising device for the mobile device of this embodiment, and the implementation principle thereof is similar, and is not described herein again.
The autonomous cruise device of the movable equipment of the embodiment of the disclosure controls the movable equipment to move according to the navigation path by acquiring the navigation path, and determines the current movement mode according to the current cruise information when an obstacle is detected in the moving process, wherein the cruise information comprises at least one of the following items: determining a current movement mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment, and further controlling the movable equipment according to the current movement mode, so that when the movable equipment meets the obstacle, the current movement mode is determined according to current cruise information, wherein the cruise information comprises at least one of the following items: the corresponding mobile mode is determined according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of the task currently executed by the mobile equipment, the mobile mode of the mobile equipment can be flexibly and pertinently determined, and then when the mobile equipment is controlled according to the determined mobile mode, the flexible control of the mobile equipment can be realized, the obstacle avoidance mode of the mobile equipment is enriched, the flexibility is strong, and the autonomous cruising ability of the mobile equipment is improved.
In order to implement the above embodiments, the present disclosure also provides a mobile device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the autonomous cruise method of a mobile device as described in previous embodiments.
In order to achieve the above embodiments, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the autonomous cruise method of a movable device according to the foregoing embodiments.
To achieve the above embodiments, the present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, implements the autonomous cruise method of a movable apparatus as described in the previous embodiments.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (17)
1. An autonomous cruise method of a mobile device, the method comprising:
acquiring a navigation path;
controlling the movable equipment to move according to the navigation path;
if an obstacle is detected in the moving process, determining a current moving mode according to current cruise information, wherein the cruise information comprises at least one of the following items: the type of the obstacle, the position relation of the obstacle and the navigation path, and the type of a task currently executed by the movable equipment;
controlling the mobile device according to the current movement pattern.
2. The method of claim 1, wherein determining a current movement pattern based on current cruise information comprises:
if the type of the obstacle is the first type, determining that the current moving mode is pause moving;
and if the type of the obstacle is a second type, determining that the current movement mode is based on the new navigation path movement.
3. The method of claim 1, wherein said determining a current movement pattern based on a type of said obstacle, a positional relationship of said obstacle to said navigation path, and/or a type of task currently being performed by said movable device comprises:
if the width and the height of a vacant area between the barrier and the navigation path are respectively larger than the width and the height of the movable equipment, determining that the current movement mode is to move from the vacant area;
and if the width of the vacant area between the obstacle and the navigation path is smaller than or equal to the width of the movable equipment, and/or the height of the vacant area between the obstacle and the navigation path is smaller than or equal to the height of the movable equipment, determining that the current movement mode moves based on the new navigation path.
4. The method of claim 1, wherein said determining a current movement pattern based on a type of said obstacle, a positional relationship of said obstacle to said navigation path, and/or a type of task currently being performed by said movable device comprises:
if the type of the barrier is a designated type and the type of the task currently executed by the movable equipment is a preset type, determining that the current moving mode is to play a designated audio file to remind the barrier to move;
and if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, determining that the current movement mode is based on the new navigation path movement.
5. The method as claimed in claim 4, wherein the determining that the current movement mode is based on a new navigation path movement if the type of the obstacle is not a specified type and/or the type of the task currently performed by the movable device is not a preset type comprises:
if the type of the barrier is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, detecting whether a target object exists in the visible range of the movable equipment or not;
if the target object exists, determining that the current moving mode is to play a specified audio file to remind the target object to remove the obstacle;
and if the target object does not exist, determining that the current moving mode is moving based on the new navigation path.
6. The method of any of claims 2-5, wherein said controlling said mobile device in accordance with said current movement pattern comprises:
in response to the current movement mode being based on a new navigation path movement, adjusting an image acquisition module on the movable device to acquire an image of at least one path associated with a target movement direction of the movable device;
identifying the image of the at least one path to obtain the path length of the at least one path;
determining the path corresponding to the minimum path length as a new navigation path;
and controlling the movable equipment to move according to the new navigation path.
7. The method of claim 6, wherein after determining the path corresponding to the minimum path length as the new navigation path, further comprising:
acquiring the path length of the new navigation path;
according to the task type currently executed by the movable equipment, obtaining the allowable waiting time corresponding to the task type;
determining a detour duration according to the path length of the new navigation path and the reference speed of the movable equipment;
and if the bypassing time length is greater than the allowable waiting time length, sending a notification message to a user associated with the task currently executed by the mobile equipment, wherein the notification message comprises the bypassing time length.
8. An autonomous cruise apparatus of a mobile device, comprising:
the first acquisition module is used for acquiring a navigation path;
the control module is used for controlling the movable equipment to move according to the navigation path;
the device comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining a current movement mode according to current cruise information if an obstacle is detected in the movement process, and the cruise information comprises at least one of the following items: determining a current movement mode according to the type of the obstacle, the position relation between the obstacle and the navigation path and the type of a task currently executed by the movable equipment;
the control module is further configured to control the mobile device according to the current movement mode.
9. The apparatus of claim 8, wherein the first determining module is specifically configured to:
if the type of the barrier is a first type, determining that the current moving mode is a suspended moving mode;
and if the type of the obstacle is the second type, determining that the current movement mode is based on the new navigation path.
10. The apparatus of claim 8, wherein the first determining module is specifically configured to:
if the width and the height of a vacant area between the barrier and the navigation path are respectively larger than the width and the height of the movable equipment, determining that the current movement mode is to move from the vacant area;
and if the width of the vacant area between the obstacle and the navigation path is smaller than or equal to the width of the movable equipment, and/or the height of the vacant area between the obstacle and the navigation path is smaller than or equal to the height of the movable equipment, determining that the current movement mode moves based on the new navigation path.
11. The apparatus of claim 8, wherein the first determining module is specifically configured to:
if the type of the barrier is a specified type and the type of the task currently executed by the movable equipment is a preset type, determining that the current moving mode is to play a specified audio file to remind the barrier to move;
and if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, determining that the current movement mode is based on the new navigation path movement.
12. The apparatus of claim 11, wherein the first determining module is further specifically configured to:
if the type of the obstacle is not a specified type and/or the type of the task currently executed by the movable equipment is not a preset type, detecting whether a target object exists in the visible range of the movable equipment or not;
if the target object exists, determining that the current moving mode is to play a specified audio file to remind the target object to remove the obstacle;
and if the target object does not exist, determining that the current moving mode is moving based on the new navigation path.
13. The apparatus of claims 9-12, wherein the control module is further specifically configured to:
in response to the current movement mode being based on a new navigation path movement, adjusting an image acquisition module on the movable device to acquire an image of at least one path associated with a target movement direction of the movable device;
identifying the image of the at least one path to obtain the path length of the at least one path;
determining the path corresponding to the minimum path length as a new navigation path;
and controlling the movable equipment to move according to the new navigation path.
14. The apparatus of claim 13, wherein the apparatus further comprises:
the second acquisition module is used for acquiring the path length of the new navigation path;
a third obtaining module, configured to obtain, according to a task type currently executed by the mobile device, an allowable wait duration corresponding to the task type;
the second determination module is used for determining the detour duration according to the path length of the new navigation path and the reference speed of the movable equipment;
and the reminding module is used for sending a notification message to a user associated with the task currently executed by the mobile equipment if the detour duration is greater than the allowable waiting duration, wherein the notification message comprises the detour duration.
15. A mobile device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the autonomous cruise method of the mobile device according to any of claims 1-7.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the autonomous cruise method of a mobile device according to any of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements an autonomous cruise method of a mobile device according to any of claims 1-7.
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