Control method, control device, terminal equipment and computer readable storage medium

Abstract

The present application is applicable to the field of control technology, and provides a control method, a control device, a terminal device, and a computer-readable storage medium, which are applied to a robot, wherein a laser radar and a visual recognition device are installed on the robot, and the method comprises: when the laser radar scans an obstacle on the road in front of the robot, the horizontal distance between the robot and the obstacle is obtained by the laser radar; if the horizontal distance is less than a first preset value, the first height of the obstacle is identified by the visual recognition device; and the robot movement is controlled according to the first height of the obstacle. Through the above method, the accuracy of obstacle height identification can be effectively improved, thereby ensuring that the robot can avoid obstacles in time.

Description

Technical Field

[0001] The present application belongs to the field of control technology, and in particular relates to a control method, a control device, a terminal device, and a computer-readable storage medium. Background Art

[0002] A robot vacuum is a smart home appliance that automatically cleans the floor. It detects factors such as room size, furniture placement, and floor cleanliness, and uses its built-in simultaneous localization and mapping (SLAM) software to determine a suitable cleaning route. Due to their advanced intelligence, robot vacuums are gaining increasing user acceptance.

[0003] In existing technology, sweeping robots typically use laser radar to detect obstacles ahead. However, the detection range of laser radar is limited. If the horizontal distance between the obstacle and the sweeping robot is large, or the obstacle is high, the laser radar cannot accurately detect the obstacle's height, which puts the sweeping robot at risk of being stuck and unable to move forward or backward. Summary of the Invention

[0004] The embodiments of the present application provide a control method, a control device, a terminal device, and a computer-readable storage medium, which can improve the recognition accuracy of a sweeping robot for obstacles, thereby improving the reliability of the sweeping robot's operation.

[0005] In a first aspect, an embodiment of the present application provides a control method applied to a robot equipped with a laser radar and a visual recognition device, the method comprising:

[0006] When an obstacle on the road ahead of the robot is scanned by the laser radar, the horizontal distance between the robot and the obstacle is obtained by the laser radar;

[0007] If the horizontal distance is less than a first preset value, identifying a first height of the obstacle by the visual recognition device;

[0008] The robot is controlled to move according to a first height of the obstacle.

[0009] In the embodiment of the present application, obstacles on the road ahead of the robot are first detected using a laser radar, and the horizontal distance between the robot and the obstacle is obtained using the laser radar. If the horizontal distance is less than a first preset value, indicating that the robot is relatively close to the obstacle, the laser radar may not be able to accurately identify the height of the obstacle due to the limited detection range of the laser radar. In this case, the visual recognition device is activated to identify the first height of the obstacle. This method effectively improves the accuracy of obstacle height recognition when the robot is relatively close to the obstacle, thereby ensuring that the robot can avoid the obstacle in a timely manner.

[0010] In a possible implementation of the first aspect, after obtaining the horizontal distance between the robot and the obstacle using the laser radar, the method further includes:

[0011] If the horizontal distance is greater than the first preset value, calculating a second height of the obstacle according to the horizontal distance;

[0012] If the second height of the obstacle is greater than a second preset value, re-identifying the third height of the obstacle by the visual recognition device;

[0013] The robot is controlled to move according to the third height of the obstacle.

[0014] In a possible implementation of the first aspect, the laser radar includes a laser and an image sensor;

[0015] The second preset value is determined according to the vertical distance between the laser and the image sensor, and the downward viewing angle of the laser;

[0016] The first preset value is determined according to the second preset value, a vertical distance between the laser and the image sensor, and a downward viewing angle of the laser.

[0017] In a possible implementation of the first aspect, if the second height of the obstacle is greater than the second preset value, after re-identifying the third height of the obstacle by the visual recognition device, the method further includes:

[0018] If the third height is greater than a third preset value, marking the obstacle as a first mark in the navigation map of the robot, wherein the third preset value is determined by a vertical distance between the laser and the image sensor;

[0019] If the third height is less than a third preset value, a second mark is performed on the obstacle in the navigation map of the robot.

[0020] In a possible implementation of the first aspect, the method further includes:

[0021] When no obstacle on the road ahead of the robot is scanned by the laser radar, and there is marking information at a first position in the navigation map of the robot, deleting the marking information at the first position in the navigation map;

[0022] The first position in the navigation map represents an area in front of the current position of the robot in the navigation map, and the mark information is a first mark or a second mark.

[0023] In a possible implementation of the first aspect, if the horizontal distance is within a first preset value, identifying the first height of the obstacle by the visual recognition device includes:

[0024] If the horizontal distance is less than the first preset value, identifying the type of the obstacle through the visual recognition device;

[0025] If the category of the obstacle belongs to the preset category, the first height of the obstacle is identified by the visual recognition device.

[0026] In a possible implementation of the first aspect, controlling the movement of the robot according to the first height of the obstacle includes:

[0027] If the first height is greater than a fourth preset value, controlling the robot to move to avoid obstacles, wherein the fourth preset value is determined by a vertical distance between the laser and the image sensor;

[0028] If the first height is less than a fourth preset value, the robot is controlled to move over the obstacle.

[0029] In a second aspect, an embodiment of the present application provides a control device for a robot equipped with a laser radar and a visual recognition device, the device comprising:

[0030] a distance acquisition unit, configured to acquire a horizontal distance between the robot and an obstacle on a road ahead of the robot when the obstacle is scanned by the laser radar;

[0031] a visual recognition unit, configured to identify a first height of the obstacle through the visual recognition device if the horizontal distance is less than a first preset value;

[0032] A motion control unit is used to control the movement of the robot according to the first height of the obstacle.

[0033] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the control method as described in any one of the first aspects above is implemented.

[0034] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the control method as described in any one of the above-mentioned first aspects.

[0035] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the control method described in any one of the above-mentioned first aspects.

[0036] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 It is a flowchart of the control method provided in the embodiment of the present application;

[0039] Figure 2 This is a schematic diagram of the laser radar ranging principle provided in an embodiment of the present application;

[0040] Figure 3 This is a schematic diagram of the sweeping process provided by an embodiment of the present application;

[0041] Figure 4 is a structural block diagram of a control device provided in an embodiment of the present application;

[0042] Figure 5 It is a structural diagram of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0044] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0045] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context.

[0046] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0047] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized.

[0048] The control method provided in the embodiment of the present application can be applied to a sweeping robot. In one application scenario, when the sweeping robot performs a task for the first time in a certain venue, it first performs the SLAM mapping task; after establishing the navigation map of the venue, the navigation map is imported into the sweeping robot system so that the sweeping robot can call it in real time when working; then the sweeping robot performs the sweeping task according to the stored navigation map. In this application scenario, when the sweeping robot performs the SLAM mapping task and the sweeping task, the sweeping robot's processor can use the control method provided in the embodiment of the present application to identify the height of the obstacle and control the sweeping robot according to the height of the identified obstacle.

[0049] In another application scenario, a robot vacuum can simultaneously sweep the floor while building a SLAM map during its first sweep. After completing a sweep, a navigation map of the site is created. This map is imported into the robot vacuum system, allowing it to be used in real time during a second sweep.

[0050] The control method provided in the embodiment of the present application is applied to a robot, which is equipped with a laser radar and a visual recognition device. The laser radar may include a laser and an image sensor, and the visual recognition device may include a camera. The visual recognition device sends the image of the obstacle captured to the robot's processor, and the processor identifies the height of the obstacle based on the image. Of course, the visual recognition device may also include an independent processing unit, which identifies the height of the obstacle based on the image captured by the camera and then sends the identified height to the robot's processor.

[0051] See also Figure 1 , is a flow chart of the control method provided in an embodiment of the present application. As an example and not a limitation, the method may include the following steps:

[0052] S101, when an obstacle on the road ahead of the robot is scanned by the laser radar, the horizontal distance between the robot and the obstacle is obtained by the laser radar.

[0053] See also Figure 2 , is a schematic diagram of the laser radar ranging principle provided in the embodiment of the present application. Figure 2 As shown, the laser and image sensor in the lidar (such as Figure 2 The vertical distance of the CMOS image sensor is s, and the downward viewing angle of the laser is β. Figure 2 The height of the obstacle's light image in the image sensor's light-sensitive film is x. The horizontal distance f from the image sensor's receiving hole to the light-sensitive film is a known parameter, and s and β are determined when the laser radar is installed. According to the formula The horizontal distance between the lidar and the obstacle (i.e. the horizontal distance between the robot and the obstacle) can be calculated.

[0054] S102: If the horizontal distance is less than a first preset value, the visual recognition device identifies a first height of the obstacle.

[0055] from Figure 2As can be seen from the figure, due to the influence of s and β, the horizontal distance that the laser radar can detect and the height of the obstacle are constrained within a certain range. If the obstacle is close to the laser radar or the height of the obstacle is high, the laser radar cannot accurately identify the height of the obstacle. To solve this problem, a visual recognition device is introduced in the embodiment of the present application. That is, as described in S102, if the horizontal distance is less than the first preset value, the first height of the obstacle is identified by the visual recognition device. Through the above method, when the robot is close to the obstacle, the accuracy of obstacle height recognition can be effectively improved, thereby ensuring that the robot can avoid the obstacle in time.

[0056] The method of identifying the height of an obstacle by a visual recognition device may adopt an existing monocular / binocular camera ranging algorithm, which is not specifically limited here.

[0057] Optionally, identifying the first height of the obstacle by a visual recognition device may include the following steps:

[0058] If the horizontal distance is less than the first preset value, the category of the obstacle is identified by the visual recognition device; if the category of the obstacle belongs to the preset category, the first height of the obstacle is identified by the visual recognition device.

[0059] In actual applications, lidar may mistakenly identify people or animals as obstacles. The location of people or animals changes at any time. Therefore, in the process of creating a navigation map described in the subsequent embodiments, it is not necessary to mark people or animals on the navigation map. In the above embodiment, the type of obstacle is first identified by the visual recognition device. Once it is determined to belong to the preset category (i.e., it is indeed an obstacle), its first height is then identified. This method can effectively reduce the probability of misidentification.

[0060] Furthermore, after identifying the category, the robot vacuum's processor can use the category information to assist in identifying the obstacle's first height, effectively improving obstacle identification efficiency. For example, if the obstacle is identified as a refrigerator of brand A and model B, the robot vacuum's processor can obtain the refrigerator's dimensions via the internet and determine the obstacle's first height based on this data, eliminating the time required to calculate the height.

[0061] In the embodiment of the present application, the first preset value can be determined based on the second preset value, the vertical distance s between the laser and the image sensor, and the downward viewing angle β of the laser. The second preset value is used to represent a threshold value for the height of an obstacle, and the second preset value can be determined based on the vertical distance s between the laser and the image sensor, and the downward viewing angle β of the laser.

[0062] like Figure 2In the schematic diagram shown, the second preset value h0 = ss × cotβ. When the obstacle's height is greater than the second preset value, the LiDAR may not be able to identify the obstacle's true height. The first preset value q0 = tanβ × (s-h0). When the horizontal distance between the obstacle and the LiDAR is less than q0, the LiDAR may also not be able to identify the obstacle's true height. For example, s = 5.5 cm, β = 25°, the calculated second preset value is approximately 3.2 cm, and the first preset value is approximately 5.4 cm.

[0063] Alternatively, the height of the obstacle may be used to determine whether to activate the visual recognition device. Specifically, if the height of the obstacle identified by the laser radar is greater than a second preset value, the visual recognition device is activated to re-identify the height of the obstacle.

[0064] like Figure 2 As shown in the schematic diagram, the method for identifying obstacle height using LiDAR calculates the obstacle's height based on the horizontal distance q between the obstacle and the LiDAR and the laser's downward viewing angle β. Therefore, if the visual recognition device is activated based on the obstacle's height, additional calculation steps will be required. However, according to the method in S102, the visual recognition device is activated based on the horizontal distance between the LiDAR and the obstacle. This eliminates the obstacle height calculation step, improves computational efficiency, reduces obstacle identification time, and ensures that the robot can avoid obstacles in a timely manner.

[0065] S103: Control the movement of the robot according to the first height of the obstacle.

[0066] In practical applications, the robot's obstacle-crossing height has certain limitations. Accordingly, optionally, S103 includes: if the first height is greater than a fourth preset value, controlling the robot to avoid obstacles; if the first height is less than the fourth preset value, controlling the robot to cross obstacles.

[0067] The fourth preset value is determined by the vertical distance between the laser and the image sensor. For example, as described in the embodiment of S102, s = 5.5 cm, and the fourth preset value can be set to 5.5 cm. Of course, the fourth preset value can also fluctuate based on the value of s, such as 5.4 cm or 5.6 cm.

[0068] In the embodiment of the present application, obstacles on the road ahead of the robot are first detected using a laser radar, and the horizontal distance between the robot and the obstacle is obtained using the laser radar. If the horizontal distance is less than a first preset value, indicating that the robot is relatively close to the obstacle, the laser radar may not be able to accurately identify the height of the obstacle due to the limited detection range of the laser radar. In this case, the visual recognition device is activated to identify the first height of the obstacle. This method effectively improves the accuracy of obstacle height recognition when the robot is relatively close to the obstacle, thereby ensuring that the robot can avoid the obstacle in a timely manner.

[0069] In one embodiment, after obtaining the horizontal distance between the robot and the obstacle by using the laser radar, the method may further include the following steps:

[0070] S104: If the horizontal distance is greater than the first preset value, calculate a second height of the obstacle according to the horizontal distance.

[0071] As described in the above embodiment, when the horizontal distance between the laser radar and the obstacle is greater than the first preset value, the laser radar can usually accurately identify the height of the obstacle. The specific method is as follows: Figure 2 As shown in the schematic diagram, the height h of the obstacle is calculated according to the formula h = q × tanβ.

[0072] S105: If the second height of the obstacle is greater than the second preset value, re-identify the third height of the obstacle through the visual recognition device.

[0073] Since the downward viewing angle of the laser radar is fixed, the detection height of the laser radar has limitations. In other words, if the height of the obstacle exceeds the limit of the detection height of the laser radar, even if the second height of the obstacle is detected by the laser radar, this value may be inaccurate. In order to solve this problem, in S105, it is continued to determine whether the second height is greater than the second preset value (this value can be considered as the limit of the laser radar detection height). If the second height is greater than the second preset value, it means that the second height may be inaccurate. At this time, the visual recognition device is started to re-identify the third height of the obstacle. Through the above method, the accuracy of obstacle height recognition can be further improved.

[0074] S106 , controlling the movement of the robot according to the third height of the obstacle.

[0075] The control method in this step is the same as the control method in S103. For details, please refer to the description in the embodiment of S103, which will not be repeated here.

[0076] If the second height of the obstacle is less than or equal to the second preset value, it means that the height of the obstacle does not exceed the detection height limit of the laser radar, that is, the second height of the obstacle detected by the laser radar is more accurate. At this time, there is no need to start the visual recognition device, and the robot movement can be controlled according to the second height of the obstacle.

[0077] In one embodiment, in the application scenario described above, when the sweeping robot performs the SLAM mapping task, it can also mark different obstacles in the navigation map according to their heights. Optionally, it can include:

[0078] If the third height is greater than a third preset value, marking the obstacle in a navigation map of the robot;

[0079] If the third height is less than a third preset value, a second mark is performed on the obstacle in the navigation map of the robot.

[0080] The third preset value is determined by the vertical distance between the laser and the image sensor. For example, as described in the S102 embodiment, s=5.5 cm, and the fourth preset value can be set to 5.5 cm. Of course, the fourth preset value can also fluctuate up and down according to the value of s, such as 5.4 cm or 5.6 cm. It should be noted that in the embodiment of the present application, the third preset value and the fourth preset value can be set to the same value or different values, and can be set according to actual needs, and are not specifically limited here.

[0081] For example, the third preset value is equal to 5.5 cm, the first mark is a solid line, and the second mark is a dashed line. Specifically, if the height of the identified obstacle is greater than 5.5 cm, the obstacle is marked as a solid line on the navigation map; if the height of the identified obstacle is less than 5.5 cm, the obstacle is marked as a dashed line on the navigation map. If the height of the identified obstacle is equal to 5.5 cm, the obstacle can be marked as a solid line or a dashed line on the navigation map.

[0082] When the sweeping robot performs a sweeping task, it can also update the marking information on the established navigation map according to the height of the identified obstacles.

[0083] Optionally, when the laser radar does not scan out obstacles on the road ahead of the robot, and there is marking information at the first position in the navigation map of the robot, the marking information at the first position in the navigation map is deleted; wherein, the first position in the navigation map represents the area ahead of the current position of the robot in the navigation map, and the marking information is the first mark or the second mark.

[0084] For example, see Figure 3 , is a schematic diagram of the sweeping process provided by the embodiment of the present application. Figure 3 As shown, the sweeping process may include the following steps:

[0085] S301: The sweeping robot determines whether the marking information of the front area is a solid line or a dotted line based on the established navigation map.

[0086] If it is a solid line, execute S302, and the laser radar scans whether there is an obstacle in front; if not, execute S303, and delete the solid line mark in the navigation map; if it exists, execute S304, and calculate the height of the obstacle by the method in the above embodiment (such as S102 or S104-S105); if the height of the obstacle is greater than 5.5cm, execute S305, and control the sweeping robot to avoid obstacles; if the height of the obstacle is less than or equal to 5.5cm, execute S306, update the solid line mark in the navigation map to a dotted line mark, and execute S305.

[0087] If it is a dotted line, execute S307, and the laser radar scans whether there is an obstacle in front; if not, execute S308, and delete the dotted line mark in the navigation map; if it exists, execute S309, and calculate the height of the obstacle by the method in the above embodiment (such as S102 or S104-S105); if the height of the obstacle is greater than 5.5 cm, execute S310, update the dotted line mark in the navigation map to a solid line mark, and execute S311 to control the sweeping robot to move over the obstacle; if the height of the obstacle is less than or equal to 5.5 cm, execute S311.

[0088] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0089] Corresponding to the control method described in the above embodiment, Figure 4 This is a structural block diagram of the control device provided in an embodiment of the present application. For the sake of convenience, only the parts related to the embodiment of the present application are shown.

[0090] Reference Figure 4 , the device comprises:

[0091] The distance acquisition unit 41 is used to acquire the horizontal distance between the robot and the obstacle through the laser radar when the obstacle on the road in front of the robot is scanned through the laser radar.

[0092] The visual recognition unit 42 is configured to identify a first height of the obstacle through the visual recognition device if the horizontal distance is less than a first preset value.

[0093] The motion control unit 43 is configured to control the motion of the robot according to the first height of the obstacle.

[0094] Optionally, the device 4 further includes:

[0095] The radar identification unit 44 is configured to calculate a second height of the obstacle based on the horizontal distance if the horizontal distance is greater than the first preset value.

[0096] The visual recognition unit 42 is further configured to re-identify the third height of the obstacle through the visual recognition device if the second height of the obstacle is greater than a second preset value.

[0097] The motion control unit 43 is further configured to control the motion of the robot according to the third height of the obstacle.

[0098] Optionally, the laser radar includes a laser and an image sensor;

[0099] The second preset value is determined according to the vertical distance between the laser and the image sensor, and the downward viewing angle of the laser;

[0100] The first preset value is determined according to the second preset value, a vertical distance between the laser and the image sensor, and a downward viewing angle of the laser.

[0101] Optionally, the device 4 further includes:

[0102] The marking unit 45 is configured to perform a first marking on the obstacle in the navigation map of the robot if the third height is greater than a third preset value, wherein the third preset value is determined by the vertical distance between the laser and the image sensor; and perform a second marking on the obstacle in the navigation map of the robot if the third height is less than the third preset value.

[0103] Optionally, the device 4 further includes:

[0104] The map updating unit 46 is configured to delete the marking information at the first position in the navigation map of the robot when the laser radar does not scan out any obstacles on the road ahead of the robot and there is marking information at the first position in the navigation map of the robot; wherein the first position in the navigation map represents the area ahead of the current position of the robot in the navigation map, and the marking information is the first marking or the second marking.

[0105] Optionally, the visual recognition unit 42 is further configured to:

[0106] If the horizontal distance is less than the first preset value, identifying the type of the obstacle through the visual recognition device;

[0107] If the category of the obstacle belongs to the preset category, the first height of the obstacle is identified by the visual recognition device.

[0108] Optionally, the motion control unit 43 is further configured to:

[0109] If the first height is greater than a fourth preset value, controlling the robot to move to avoid obstacles, wherein the fourth preset value is determined by a vertical distance between the laser and the image sensor;

[0110] If the first height is less than a fourth preset value, the robot is controlled to move over the obstacle.

[0111] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0112] in addition, Figure 4 The control device shown may be a software unit, a hardware unit, or a combination of software and hardware units built into an existing terminal device, or may be integrated into the terminal device as an independent accessory, or may exist as an independent terminal device.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0114] Figure 5 This is a schematic diagram of the structure of the terminal device provided in the embodiment of the present application. Figure 5 As shown, the terminal device 5 of this embodiment includes: at least one processor 50 ( Figure 5Only one is shown in the figure) a processor, a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, wherein the processor 50 implements the steps of any of the above-mentioned control method embodiments when executing the computer program 52.

[0115] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 5 It is only an example of the terminal device 5 and does not constitute a limitation on the terminal device 5. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0116] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0117] In some embodiments, the memory 51 may be an internal storage unit of the terminal device 5, such as a hard disk or memory of the terminal device 5. In other embodiments, the memory 51 may also be an external storage device of the terminal device 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 5. Furthermore, the memory 51 may also include both an internal storage unit of the terminal device 5 and an external storage device. The memory 51 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory 51 may also be used to temporarily store data that has been output or is about to be output.

[0118] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0119] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0120] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, a computer-readable medium cannot be an electric carrier signal or a telecommunication signal.

[0121] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0122] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0123] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0125] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A control method, characterized in that: Applied to a robot, the robot is equipped with a laser radar and a visual recognition device, and the method comprises: When an obstacle on the road ahead of the robot is scanned by the laser radar, the horizontal distance between the robot and the obstacle is obtained by the laser radar; If the horizontal distance is less than a first preset value, the type of the obstacle is identified by the visual recognition device; wherein, when the horizontal distance is less than the first preset value, the laser radar cannot detect the height of the obstacle; If the category of the obstacle belongs to the preset category, identifying a first height of the obstacle by the visual recognition device; The robot is controlled to move according to a first height of the obstacle.

2. The control method according to claim 1, characterized in that: After acquiring the horizontal distance between the robot and the obstacle by using the laser radar, the method further includes: If the horizontal distance is greater than the first preset value, calculating a second height of the obstacle according to the horizontal distance; If the second height of the obstacle is greater than the second preset value, re-identifying the third height of the obstacle by the visual recognition device; The robot is controlled to move according to the third height of the obstacle.

3. The control method according to claim 2, characterized in that: The laser radar includes a laser and an image sensor; The second preset value is determined according to the vertical distance between the laser and the image sensor, and the downward viewing angle of the laser; The first preset value is determined according to the second preset value, a vertical distance between the laser and the image sensor, and a downward viewing angle of the laser.

4. The control method according to claim 3, characterized in that: If the second height of the obstacle is greater than the second preset value, after re-identifying the third height of the obstacle by the visual recognition device, the method further includes: If the third height is greater than a third preset value, a first mark is performed on the obstacle in the navigation map of the robot, wherein the third preset value is determined by a vertical distance between the laser and the image sensor; If the third height is less than a third preset value, a second mark is performed on the obstacle in the navigation map of the robot.

5. The control method according to claim 1, characterized in that: The method further comprises: When no obstacle on the road ahead of the robot is scanned by the laser radar, and there is marking information at a first position in the navigation map of the robot, deleting the marking information at the first position in the navigation map; The first position in the navigation map represents the area in front of the current position of the robot in the navigation map, and the marking information is the first mark or the second mark.

6. The control method according to claim 3, characterized in that: The controlling the movement of the robot according to the first height of the obstacle comprises: If the first height is greater than a fourth preset value, controlling the robot to move to avoid obstacles, wherein the fourth preset value is determined by a vertical distance between the laser and the image sensor; If the first height is less than a fourth preset value, the robot is controlled to move over the obstacle.

7. A control device, characterized in that: Applied to a robot, the robot is equipped with a laser radar and a visual recognition device, the device comprising: A distance acquisition unit, configured to acquire a horizontal distance between the robot and the obstacle by using the laser radar when an obstacle on the road ahead of the robot is scanned by the laser radar; a visual recognition unit, configured to identify the category of the obstacle through the visual recognition device if the horizontal distance is less than a first preset value; and identify the first height of the obstacle through the visual recognition device if the category of the obstacle belongs to a preset category; wherein the laser radar cannot detect the height of the obstacle when the horizontal distance is less than the first preset value; A motion control unit is used to control the movement of the robot according to the first height of the obstacle.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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