Obstacle Avoidance Method, Device, Equipment and Storage Medium for Mobile Devices

Abstract

An embodiment of the present invention provides a method, device, equipment and storage medium for obstacle avoidance of a movable device. The method includes: obtaining the movement attribute information of a first obstacle shared by a first movable device, where the movement attribute information includes the position of the first obstacle when the first movable device detects the first obstacle, the movement direction of the first obstacle, and the movement speed of the first obstacle; obtaining the current travel route executed by a second movable device; predicting whether the second movable device can encounter the first obstacle during the process of traveling along the travel route based on the movement attribute information of the first obstacle; if it is predicted that the second movable device can encounter the first obstacle during the process of traveling along the travel route, controlling the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle. By using the present invention, it is possible to foresee possible obstacles in advance, adjust the travel route in advance, and improve the obstacle avoidance efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and particularly to an obstacle avoidance method, device, equipment and storage medium for a movable device. Background Art

[0002] In related technologies, multiple movable devices can operate as a group of cooperative working devices. Among them, the movable device can be, for example, a robot that can walk by itself. Multiple movable devices in the group of cooperative working devices can adopt a cooperative working mode to complete the same task and achieve the same goal. This cooperative working mode can be applied to scenarios such as mobile cabin hospitals and warehouses. For example, a large number of robots jointly complete the disinfection task in a mobile cabin hospital. Each robot has a different execution area for the disinfection task, and all the execution areas together can cover the entire mobile cabin hospital.

[0003] It can be understood that in the above scenarios, there are often many moving objects. These moving objects can be, for example, medical staff, warehouse managers, forklifts in the warehouse, etc. In some cases, the moving objects will constitute obstacles in the travel route for the movable device, and different movable devices may encounter the same obstacle at different time points. For example, movable device A encounters person P blocking its travel route, and person P is also going somewhere according to his own travel route. After a period of time, movable device B may encounter person P in other places. Generally speaking, when movable device A encounters person P, the movable device A can be controlled to perform obstacle avoidance processing based on the real-time obstacle avoidance logic, and when movable device B encounters person P, the movable device B is also controlled to perform obstacle avoidance processing based on the real-time obstacle avoidance logic.

[0004] However, the above real-time obstacle avoidance logic is inefficient in some scenarios. For example, after the movable device has entered a narrow space and encountered an obstacle, due to the limited space, sometimes the movable device has to stay still for a period of time and wait for other movable devices or obstacles around to pass before proceeding. Or sometimes, after the movable device encounters an obstacle, it needs to retreat a certain distance and then bypass the obstacle. Therefore, the real-time obstacle avoidance logic in related technologies has the problem of inefficiency. Summary of the Invention

[0005] Embodiments of the present invention provide an obstacle avoidance method, device, equipment and storage medium for a movable device to improve the obstacle avoidance efficiency.

[0006] In a first aspect, embodiments of the present invention provide an obstacle avoidance method for a movable device, the method including:

[0007] Obtain the movement attribute information of the first obstacle shared by the first movable device, where the movement attribute information includes the position of the first obstacle when the first movable device detects the first obstacle, the moving direction of the first obstacle, and the moving speed of the first obstacle;

[0008] Obtain the current travel route executed by the second movable device;

[0009] Based on the movement attribute information of the first obstacle, predict whether the second movable device can encounter the first obstacle during the process of traveling along the travel route;

[0010] If it is predicted that the second movable device can encounter the first obstacle during the process of traveling along the travel route, control the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle.

[0011] Optionally, the method further includes:

[0012] When detecting a second obstacle, determine the movement attribute information of the second obstacle;

[0013] Share the movement attribute information of the second obstacle.

[0014] Optionally, the sharing of the movement attribute information of the second obstacle includes:

[0015] Upload the movement attribute information of the second obstacle to the server; or,

[0016] Transmit the movement attribute information of the second obstacle to other movable devices.

[0017] Optionally, the method further includes:

[0018] When detecting a third obstacle, determine the appearance feature information of the third obstacle;

[0019] Obtain multiple reference appearance feature information, where the reference appearance feature information is the appearance feature information of the obstacles detected by the first movable device and the second movable device in the past, and corresponding movement attribute information already exists for the obstacles corresponding to each reference appearance feature information;

[0020] If there is a target appearance feature information in the multiple reference appearance feature information that matches the appearance feature information of the third obstacle, determine the movement attribute information of the third obstacle, and update the movement attribute information of the obstacle corresponding to the target appearance feature information with the currently determined movement attribute information of the third obstacle.

[0021] Optionally, the second movable device belongs to a group of collaborative working devices. The method for controlling the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle includes:

[0022] Determine the travel routes of other movable devices, where the other movable devices are movable devices in the group of collaborative working devices except the second movable device;

[0023] Combine the travel routes of the other movable devices and adjust the travel route of the second movable device according to the movement attribute information of the first obstacle.

[0024] In a second aspect, an embodiment of the present invention provides a movable device obstacle avoidance device, including:

[0025] An acquisition module, configured to acquire the movement attribute information of a first obstacle shared by a first movable device, where the movement attribute information includes the position where the first obstacle is located when the first movable device detects the first obstacle, the movement direction of the first obstacle, and the movement speed of the first obstacle; acquire the current travel route executed by the second movable device;

[0026] A prediction module, configured to predict whether the second movable device can encounter the first obstacle during the process of traveling along the travel route based on the movement attribute information of the first obstacle;

[0027] An adjustment module, configured to, if it is predicted that the second movable device can encounter the first obstacle during the process of traveling along the travel route, control the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle.

[0028] Optionally, the device further includes a sharing module, and the sharing module is configured to:

[0029] When detecting a second obstacle, determine the movement attribute information of the second obstacle;

[0030] Share the movement attribute information of the second obstacle.

[0031] Optionally, the sharing module is configured to:

[0032] Upload the movement attribute information of the second obstacle to the server; or,

[0033] Transmit the movement attribute information of the second obstacle to other movable devices.

[0034] Optionally, the device further includes an update module, and the update module is configured to:

[0035] When a third obstacle is detected, determine the appearance feature information of the third obstacle;

[0036] Obtain a plurality of reference appearance feature information, where the reference appearance feature information is the appearance feature information of obstacles detected by the first movable device and the second movable device in the past, and corresponding movement attribute information already exists for the obstacles corresponding to each reference appearance feature information;

[0037] If there is target appearance feature information in the plurality of reference appearance feature information that matches the appearance feature information of the third obstacle, determine the movement attribute information of the third obstacle, and update the movement attribute information of the obstacle corresponding to the target appearance feature information with the currently determined movement attribute information of the third obstacle.

[0038] Optionally, the second movable device belongs to a group of collaborative working devices, and the adjustment module is configured to:

[0039] Determine the travel routes of other movable devices, where the other movable devices are movable devices in the group of collaborative working devices other than the second movable device;

[0040] Combine the travel routes of the other movable devices, and adjust the travel route of the second movable device according to the movement attribute information of the first obstacle.

[0041] In a third aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory. Among them, executable code is stored on the memory. When the executable code is executed by the processor, the processor can at least implement the obstacle avoidance method of the movable device in the first aspect.

[0042] In a fourth aspect, an embodiment of the present invention provides a non-transitory machine-readable storage medium, on which executable code is stored. When the executable code is executed by a processor of an electronic device, the processor can at least implement the obstacle avoidance method of the movable device in the first aspect.

[0043] By using the present invention, possible obstacles can be foreseen in advance, and then the travel route can be adjusted in advance, so that the possibility of encountering obstacles can be reduced or obstacles can be avoided. In the case of performing obstacle avoidance processing in advance, there is more space for obstacle avoidance operations, and higher obstacle avoidance efficiency can be obtained. In addition, by using the present invention, in some scenarios, it is also possible to avoid performing reverse obstacle avoidance. By planning the obstacle avoidance route in advance for obstacle avoidance, it is not necessary to perform obstacle avoidance processing only when encountering an obstacle, which can reduce the possibility of avoiding an obstacle by retreating a certain distance, thereby improving the obstacle avoidance efficiency. Description of the Drawings

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0045] Figure 1 It is a schematic flowchart of a method for an obstacle avoidance of a movable device provided by an embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of a scenario for predicting whether a movable device encounters an obstacle provided by an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of a method for adjusting the traveling route of a movable device in advance provided by an embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of a scenario for optimizing and adjusting the traveling route provided by an embodiment of the present invention;

[0049] Figure 5 It is a schematic structural diagram of an obstacle avoidance device for a movable device provided by an embodiment of the present invention;

[0050] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed Embodiments

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0052] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "said", and "the" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0053] Depending on the context, as used herein, the words "if" and "when" may be interpreted as "when", "while", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined" or "if (the stated condition or event) is detected" may be interpreted as "when it is determined", "in response to determining", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0054] In addition, the step timings in the following method embodiments are only examples and not strictly limited.

[0055] Figure 1 The flowchart of a method for obstacle avoidance of a movable device provided by an embodiment of the present invention can be applied to an electronic device. Among them, the electronic device may include a movable device (which may be the second movable device described below) or a server. As Figure 1 shown, the method includes the following steps:

[0056] 101. Obtain the movement attribute information of the first obstacle shared by the first movable device. The movement attribute information includes the position where the first obstacle is located when the first movable device detects the first obstacle, the movement direction of the first obstacle, and the movement speed of the first obstacle.

[0057] 102. Obtain the current travel route executed by the second movable device.

[0058] 103. Based on the movement attribute information of the first obstacle, predict whether the second movable device can encounter the first obstacle during the process of traveling along the travel route.

[0059] 104. If it is predicted that the second movable device can encounter the first obstacle during the process of traveling along the travel route, control the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle.

[0060] In practical applications, the first movable device and the second movable device can perform tasks in the same place according to their respective travel routes. There may also be moving obstacles in the place, and the obstacles can also move according to their own travel routes. Among them, the obstacles may include the staff in the place, the tool equipment in the place, vehicles, etc. During the movement of the first movable device, the second movable device, other movable devices, and multiple obstacles, it is inevitable that their travel routes will overlap at the same time point, that is, the obstacle will block the direction in which the movable device is about to travel, so that the blocked movable device cannot immediately continue to travel according to the originally planned travel route.

[0061] The method provided by the embodiments of the present invention is precisely used to solve the above problems. By using the method provided by the embodiments of the present invention, a travel route that can avoid encountering obstacles as much as possible can be planned in advance. The obstacle avoidance method provided by the embodiments of the present invention has foresight, so the obstacle avoidance efficiency can be improved.

[0062] During the process of the first movable device traveling along its own travel route, it may encounter a first obstacle. At this time, the first movable device can detect the movement attribute information of the first obstacle through the sensors installed on itself and perform a sharing operation on the movement attribute information of the first obstacle.

[0063] Among them, the above movement attribute information includes but is not limited to the position of the first obstacle when the first movable device detects the first obstacle, the movement direction of the first obstacle, and the movement speed of the first obstacle.

[0064] Among them, the above sensors include but are not limited to cameras, infrared sensors, acoustic wave detectors, radar detectors, etc. The movement attribute information of the first obstacle can be detected through the sensors exemplified above. For example, the cameras installed around the first movable device can capture images of the first obstacle at different times, and then perform image analysis and processing on the images captured at different times. Finally, the movement attribute information of the first obstacle can be obtained.

[0065] In fact, there are at least two specific implementation manners for the above-described sharing operation of the movement attribute information of the first obstacle. The first sharing operation manner is introduced below.

[0066] In some alternative embodiments, the method provided by the embodiments of the present invention can be applied to a server. It can be understood that various sensors can be provided in the movable device, and images and depth data, etc. can be collected through these sensors. The movable device can upload the collected images and depth data, etc. to the server, and the server performs control logic operations based on the received images and depth data, etc. to obtain control instructions for the movable device. The server can send the control instructions to the movable device, and the movable device performs corresponding actions according to the control instructions.

[0067] Generally speaking, the mobile device is responsible for collecting data, the server is responsible for performing logical control based on the data, and the mobile device performs corresponding actions according to the logical control. It should be noted that the same server can implement control operations on different mobile devices. Based on this, it can be considered that the first mobile device and the second mobile device in this embodiment are both controlled by the same server. In this way, the above sharing operation can be interpreted as the first mobile device uploading the movement attribute information of the first obstacle to the server. Furthermore, after the server obtains the movement attribute information of the first obstacle uploaded by the first mobile device, it can implement obstacle avoidance control on the second mobile device and other mobile devices based on the movement attribute information of the first obstacle.

[0068] Alternatively, in another implementation manner of the sharing operation, each mobile device can perform its own control operation, and the server no longer performs control operations on each mobile device. In this scenario, when the first mobile device detects the movement attribute information of the first obstacle, it can distribute the movement attribute information of the first obstacle to the second mobile device and other mobile devices through the communication module set by itself, so as to achieve the sharing operation.

[0069] After obtaining the movement attribute information of the first obstacle, the current travel route executed by the second mobile device can be obtained. If the method provided by the embodiment of the present invention is executed by the server, the server can determine the travel route executed by the second mobile device from the travel routes respectively executed by each mobile device. If the method provided by the embodiment of the present invention is executed by the second mobile device itself, the second mobile device can obtain the current travel route from the local.

[0070] After obtaining the current travel route executed by the second mobile device, it can be predicted whether the second mobile device can encounter the first obstacle during the process of traveling along the travel route based on the movement attribute information of the first obstacle.

[0071] In practical applications, by comprehensively analyzing the current position of the second mobile device in the travel route, the travel speed of the second mobile device, the travel route of the second mobile device, the position of the first obstacle, the moving direction of the first obstacle, and the moving speed of the first obstacle, it is predicted whether the second mobile device can encounter the first obstacle during the process of traveling along the travel route. Encountering the first obstacle here means that at a certain moment, the first obstacle just blocks the traveling direction of the second mobile device.

[0072] In practical applications, it is possible to predict whether the second movable device can encounter the first obstacle during its movement along the travel route through machine learning. Specifically, a neural network model can be pre-trained to predict whether a movable device can encounter a certain obstacle during its movement along the travel route. Then, information such as the current position of the second movable device on the travel route, the travel speed of the second movable device, the travel route of the second movable device, the position of the first obstacle, the moving direction of the first obstacle, and the moving speed of the first obstacle is input into the neural network model, and it is determined whether the second movable device can encounter the first obstacle during its movement along the travel route based on the output result of the neural network model.

[0073] Alternatively, it is also possible to predict whether the second movable device can encounter the first obstacle during its movement along the travel route through algorithm analysis. Take Figure 2 the following example to illustrate the prediction process of predicting whether the second movable device can encounter the first obstacle during its movement along the travel route through algorithm analysis. In Figure 2 , assume that at time t1, the movable device A discovers that the person P is exactly blocking the moving direction of the movable device A. At this time, the movable device A can detect the movement attribute information of the person P and share the movement attribute information of the person P with the movable device B, and at the same time, the movable device A performs obstacle avoidance processing. The movable device B predicts based on the information shared by the movable device A that if it maintains its original travel route without change, then at time t2, the movable device B will encounter the person P.

[0074] The process of predicting that the movable device B will encounter the person P at time t2 can be as follows: Assume that the person P is at position S1 at time t1 and walks eastward at a speed of V1. The distance that this person P walks at a speed of V1 at time t2 is (t2 - t1) × V1, and the position that is (t2 - t1) × V1 eastward from the position S1 is S2. And the position of the movable device B at time t1 is S3, and the movable device B is moving northward at a speed of V2. The distance that the movable device B travels at a speed of V2 at time t2 is (t2 - t1) × V2, and the position that is (t2 - t1) × V2 northward from the position S3 is also S2, that is, if the movable device B does not adjust its travel route, it will reach the same position S2 as the person P at time t2.

[0075] When it is predicted that the second movable device can encounter the first obstacle during its movement along the travel route, the second movable device can be controlled to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle.

[0076] In some alternative embodiments, the process of controlling the second movable device to avoid the first obstacle in advance can be implemented as follows: adjusting the traveling route of the second movable device according to the movement attribute information of the first obstacle so that the second movable device can avoid the first obstacle in advance. Alternatively, controlling the second movable device to stay still at a certain position in the traveling route, or controlling the second movable device to go to a specified position and stay still for a certain period of time to avoid the first obstacle.

[0077] In practical applications, optionally, the obstacle avoidance efficiency of the above two methods can also be comprehensively judged, and the method with higher obstacle avoidance efficiency can be selected for obstacle avoidance processing. For example, the time and the detour distance required for each of the two methods can be calculated. The longer the time spent, the lower the obstacle avoidance efficiency, and the farther the detour distance, the lower the obstacle avoidance efficiency. After calculating the obstacle avoidance efficiency corresponding to each of the two methods, the method with higher obstacle avoidance efficiency can be selected for obstacle avoidance processing.

[0078] The following takes a specific example to illustrate the specific implementation process of avoiding obstacles by adjusting the traveling route of the second movable device as described above. Taking Figure 3 the example shown, it is predicted that the movable device B will reach the same position S2 as the person P at time t2. Therefore, the traveling route can be adjusted in advance to perform obstacle avoidance processing in advance, thereby reducing the possibility of encountering the person P at time t2. The adjusted traveling route can be seen as the dotted line shown in Figure 3 .

[0079] By adopting the above method, possible obstacles can be foreseen in advance, and then the traveling route can be adjusted in advance, so that the possibility of encountering an obstacle can be reduced or the encounter with an obstacle can be avoided. In the case of performing obstacle avoidance processing in advance, there is more space for obstacle avoidance operations.

[0080] For example, continuing with the previous example, the position S2 is exactly in a narrow aisle, and there are other movable devices that also need to pass through this narrow aisle one after another. Therefore, the movable device B has to stay still for a certain period of time to wait for the person P and other movable devices to pass through in turn before continuing to move forward. If the obstacle avoidance method provided by the embodiment of the present invention is adopted, the movable device B can choose to complete the obstacle avoidance processing in advance in a relatively wide space before entering the narrow space, so that the efficiency of the obstacle avoidance processing obtained is higher.

[0081] In addition, by adopting the obstacle avoidance method provided by the embodiments of the present invention, in some scenarios, it is also possible to avoid performing reverse obstacle avoidance. For example, continuing with the above example, if the travel route is not adjusted, after encountering the person P, since there is no space for obstacle avoidance on both the left and right sides, the movable device B has to reverse a certain distance for obstacle avoidance processing. However, by adopting the obstacle avoidance method provided by the embodiments of the present invention, an obstacle avoidance route for obstacle avoidance can be planned in advance so that obstacle avoidance processing is not performed only when an obstacle is encountered, which can reduce the possibility of avoiding obstacles by reversing a certain distance, thereby improving the obstacle avoidance efficiency.

[0082] To further improve the obstacle avoidance efficiency, optionally, the second movable device belongs to a group of cooperative working devices. The process of adjusting the travel route according to the movement attribute information of the first obstacle can be implemented as: determining the travel routes of other movable devices, where the other movable devices are movable devices in the group of cooperative working devices except the second movable device; and combining the travel routes of the other movable devices, adjusting the travel route of the second movable device according to the movement attribute information of the first obstacle.

[0083] In practical applications, the second movable device can adopt a cooperative working mode to jointly complete a certain operation task with other movable devices. In this way, the second movable device and other movable devices can be regarded as the same group of cooperative working devices. Based on this, in addition to considering how to travel to avoid the first obstacle, it is also possible to consider avoiding the travel routes of other movable devices for obstacle avoidance processing.

[0084] In practical applications, if the group of cooperative working devices is centrally controlled by a server, the travel routes of each movable device in the group of cooperative working devices can be stored in the server. In this way, the travel route of the second movable device can be adjusted according to the movement attribute information of the first obstacle by combining the travel routes of other movable devices.

[0085] If each movable device in the group of cooperative working devices is controlled independently, the second movable device can obtain their travel routes from other movable devices, and then combine the travel routes of other movable devices to adjust the travel route of the second movable device according to the movement attribute information of the first obstacle.

[0086] Take Figure 4 the example shown. It is predicted that at time t2, the movable device B will reach the same position S2 as the person P. If the movable device B bypasses from the left in advance, and the movable device C is also about to pass from the left, then the obstacle avoidance processing of the movable device B will block the normal travel of the movable device C. Furthermore, when controlling the movable device B to bypass the person P from the left, the position that will be reached simultaneously with the movable device C can also be avoided, so that both the movable device B and the movable device C can travel smoothly.

[0087] Optionally, the method provided by the embodiments of the present invention may further include: when a second obstacle is detected, determining the movement attribute information of the second obstacle; sharing the movement attribute information of the second obstacle.

[0088] Generally speaking, the process of sharing the movement attribute information of the second obstacle can be implemented as: uploading the movement attribute information of the second obstacle to the server; or, transmitting the movement attribute information of the second obstacle to other movable devices.

[0089] It should be noted that if the method provided by the embodiments of the present invention is executed by the server, when the second movable device encounters the second obstacle, the detected movement attribute information of the second obstacle can be uploaded to the server to achieve the purpose of sharing the movement attribute information of the second obstacle.

[0090] Or, if the method provided by the embodiments of the present invention is executed by the second movable device, when the second movable device encounters the second obstacle, the detected movement attribute information of the second obstacle can be distributed to other movable devices to achieve the purpose of sharing the movement attribute information of the second obstacle.

[0091] The specific implementation manner of the sharing operation has been described in detail when introducing the sharing of the movement attribute information of the first obstacle by the first movable device above. The implementation of sharing the movement attribute information of the second obstacle can be completed with reference to the previous description and will not be elaborated here.

[0092] Optionally, the embodiments of the present invention further provide an update solution for updating the movement attribute information of the obstacle. The update solution may include: when a third obstacle is detected, determining the appearance feature information of the third obstacle; obtaining a plurality of reference appearance feature information, where the reference appearance feature information is the appearance feature information of the obstacles detected by the first movable device and the second movable device in the past, and there is corresponding movement attribute information for the obstacles corresponding to each reference appearance feature information; if there is a target appearance feature information in the plurality of reference appearance feature information that matches the appearance feature information of the third obstacle, determining the movement attribute information of the third obstacle, and updating the movement attribute information of the obstacle corresponding to the target appearance feature information with the currently determined movement attribute information of the third obstacle.

[0093] In practical applications, assume that the first movable device detects a third obstacle and shares the movement attribute information of the third obstacle with other movable devices. In theory, if the third obstacle moves strictly in accordance with the detected movement attribute information and each movable device has performed obstacle avoidance processing in advance, then no movable device will encounter the third obstacle again. However, in practical applications, the third obstacle may adjust its movement attribute information at any time. For example, the third obstacle suddenly changes its original moving direction, speeds up, slows down, etc., then correspondingly, the movement attribute information of the third obstacle will change.

[0094] In the above situation, after the movement attribute information of the third obstacle changes, then it is possible that a certain movable device will encounter the third obstacle again. Furthermore, taking the fact that a certain movable device encounters the third obstacle again as a trigger condition, the movement attribute information of the third obstacle can be detected again. At the same time, since there are a large number of obstacles in the venue, in order to know whether the currently detected third obstacle has been detected before, and if the third obstacle has been detected before, which obstacle the third obstacle corresponds to in the previous detection, then the appearance feature information of the third obstacle can be obtained while detecting the third obstacle. This appearance feature information can reflect the visual appearance and appearance characteristics of the third obstacle.

[0095] By comparing and matching the appearance feature information of the third obstacle among multiple reference appearance feature information, it is detected whether there is target appearance feature information in the multiple reference appearance feature information that matches the appearance feature information of the third obstacle. If there is target appearance feature information in the multiple reference appearance feature information that matches the appearance feature information of the third obstacle, then the movement attribute information of the obstacle corresponding to the target appearance feature information is updated with the currently determined movement attribute information of the third obstacle. In this way, based on the updated movement attribute information of the third obstacle, it can be predicted again whether each movable device can encounter the third obstacle during travel. If it is predicted that the third obstacle can be encountered, then the travel route can be adjusted in advance. On the contrary, if it is predicted that the third obstacle will not be encountered, then the original travel route can be continued.

[0096] By adopting the present invention, possible obstacles can be foreseen in advance, and then the travel route can be adjusted in advance, so that the possibility of encountering an obstacle can be reduced or the encounter with an obstacle can be avoided. In the case of performing obstacle avoidance processing in advance, there is more space for obstacle avoidance operations, and a higher obstacle avoidance efficiency can be obtained. In addition, by adopting the present invention, in some scenarios, it is also possible to avoid performing reverse obstacle avoidance. By planning the obstacle avoidance route for obstacle avoidance in advance, it is not necessary to perform obstacle avoidance processing only when encountering an obstacle, so that the possibility of avoiding an obstacle by retreating a certain distance can be reduced, thereby improving the obstacle avoidance efficiency.

[0097] The obstacle avoidance device for a movable device according to one or more embodiments of the present invention will be described in detail below. Those skilled in the art can understand that these obstacle avoidance devices for movable devices can all be configured by using commercially available hardware components through the steps taught by this solution.

[0098] Figure 5 The following is a schematic structural diagram of an obstacle avoidance device for a movable device provided by an embodiment of the present invention, as Figure 5 shown, the device includes:

[0099] An acquisition module 51, configured to acquire the movement attribute information of a first obstacle shared by a first movable device, where the movement attribute information includes the position of the first obstacle when the first movable device detects the first obstacle, the movement direction of the first obstacle, and the movement speed of the first obstacle; acquire the current travel route executed by a second movable device;

[0100] A prediction module 53, configured to predict whether the second movable device can encounter the first obstacle during the process of traveling along the travel route based on the movement attribute information of the first obstacle;

[0101] An adjustment module 54, configured to, if it is predicted that the second movable device can encounter the first obstacle during the process of traveling along the travel route, control the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle.

[0102] Optionally, the device further includes a sharing module, and the sharing module is configured to:

[0103] When a second obstacle is detected, determine the movement attribute information of the second obstacle;

[0104] Share the movement attribute information of the second obstacle.

[0105] Optionally, the sharing module is configured to:

[0106] Upload the movement attribute information of the second obstacle to the server; or,

[0107] Transmit the movement attribute information of the second obstacle to other movable devices.

[0108] Optionally, the device further includes an update module, and the update module is configured to:

[0109] When a third obstacle is detected, determine the appearance feature information of the third obstacle;

[0110] Obtain multiple pieces of reference appearance feature information, where the reference appearance feature information is the appearance feature information of obstacles detected by the first movable device and the second movable device in the past, and corresponding to each piece of reference appearance feature information, there is already corresponding movement attribute information for the obstacle.

[0111] If there is target appearance feature information in the multiple pieces of reference appearance feature information that matches the appearance feature information of the third obstacle, determine the movement attribute information of the third obstacle, and update the movement attribute information of the obstacle corresponding to the target appearance feature information with the currently determined movement attribute information of the third obstacle.

[0112] Optionally, the second movable device belongs to a group of collaborative working devices, and the adjustment module 54 is configured to:

[0113] Determine the travel routes of other movable devices, where the other movable devices are movable devices in the group of collaborative working devices other than the second movable device;

[0114] Combine the travel routes of the other movable devices, and adjust the travel route of the second movable device according to the movement attribute information of the first obstacle.

[0115] Figure 5 The device shown can execute the obstacle avoidance method for a movable device provided in the foregoing Figures 1 to 4 For the detailed execution process and technical effects, refer to the description in the foregoing embodiments, and details are not elaborated here.

[0116] In a possible design, the structure of the above-mentioned Figure 5 shown movable device obstacle avoidance device can be implemented as an electronic device. As Figure 6 shown, the electronic device may include: a processor 91 and a memory 92. Among them, executable code is stored on the memory 92. When the executable code is executed by the processor 91, the processor 91 can at least implement the obstacle avoidance method for a movable device provided in the foregoing Figures 1 to 4 shown embodiments.

[0117] Optionally, the electronic device may further include a communication interface 93 for communicating with other devices.

[0118] In addition, an embodiment of the present invention provides a non-transitory machine-readable storage medium, on which executable code is stored. When the executable code is executed by a processor of an electronic device, the processor can at least implement the obstacle avoidance method for a movable device provided in the foregoing Figures 1 to 4 shown embodiments.

[0119] The device embodiments described above are merely illustrative, where the units described as separate components may or may not be physically separated. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0120] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of adding a necessary general hardware platform, and of course, it can also be implemented by a combination of hardware and software. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a computer product. The present invention can be implemented in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0121] The obstacle avoidance method for a movable device provided by the embodiments of the present invention can be executed by a certain program / software, which can be provided by the network side. The electronic device mentioned in the foregoing embodiments can download the program / software to a local non-volatile storage medium, and when it needs to execute the foregoing obstacle avoidance method for a movable device, the program / software is read into the memory by the CPU, and then the CPU executes the program / software to implement the obstacle avoidance method for a movable device provided in the foregoing embodiments. The execution process can refer to the illustration in the foregoing Figures 1 to 4 above.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for obstacle avoidance of a movable device, characterized in that, Including: Obtaining movement attribute information of a first obstacle shared by a first movable device, where the movement attribute information includes the position of the first obstacle when the first movable device detects the first obstacle, the movement direction of the first obstacle, and the movement speed of the first obstacle; Obtaining the current travel route executed by a second movable device; Based on the movement attribute information of the first obstacle, predicting whether the second movable device can encounter the first obstacle during the process of traveling along the travel route; If it is predicted that the second movable device can encounter the first obstacle during the process of traveling along the travel route, controlling the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle; The method further includes: When detecting a third obstacle, determining the appearance feature information of the third obstacle; Obtaining a plurality of reference appearance feature information, where the reference appearance feature information is the appearance feature information of obstacles detected by the first movable device and the second movable device in the past, and corresponding movement attribute information already exists for the obstacles corresponding to each reference appearance feature information; If there is a target appearance feature information in the plurality of reference appearance feature information that matches the appearance feature information of the third obstacle, determining the movement attribute information of the third obstacle, and updating the movement attribute information of the obstacle corresponding to the target appearance feature information with the currently determined movement attribute information of the third obstacle.

2. The method according to claim 1, wherein The method further includes: When detecting a second obstacle, determining the movement attribute information of the second obstacle; Sharing the movement attribute information of the second obstacle.

3. The method according to claim 2, characterized in that, The sharing of the movement attribute information of the second obstacle includes: Uploading the movement attribute information of the second obstacle to a server; or, Transmitting the movement attribute information of the second obstacle to other movable devices.

4. The method according to claim 1, characterized in that The second movable device belongs to a group of collaborative working devices. The controlling the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle includes: Determining the travel routes of other movable devices, where the other movable devices are movable devices in the group of collaborative working devices other than the second movable device; Combining the travel routes of the other movable devices, and adjusting the travel route of the second movable device according to the movement attribute information of the first obstacle.

5. A mobile device obstacle avoidance device, characterized in that, Including: An obtaining module, configured to obtain movement attribute information of a first obstacle shared by a first movable device, where the movement attribute information includes the position of the first obstacle when the first movable device detects the first obstacle, the movement direction of the first obstacle, and the movement speed of the first obstacle; Obtaining the current travel route executed by a second movable device; A predicting module, configured to predict whether the second movable device can encounter the first obstacle during the process of traveling along the travel route based on the movement attribute information of the first obstacle; An adjustment module, configured to, if it is predicted that the second movable device can encounter the first obstacle during the process of traveling along the traveling route, control the second movable device to perform obstacle avoidance processing on the first obstacle in advance according to the movement attribute information of the first obstacle; The device further includes an update module, and the update module is configured to: When detecting a third obstacle, determine the appearance feature information of the third obstacle; Obtain a plurality of reference appearance feature information, where the reference appearance feature information is the appearance feature information of the obstacles detected by the first movable device and the second movable device in the past, and corresponding movement attribute information already exists for the obstacles corresponding to each reference appearance feature information; If there is target appearance feature information in the plurality of reference appearance feature information that matches the appearance feature information of the third obstacle, determine the movement attribute information of the third obstacle, and update the movement attribute information of the obstacle corresponding to the target appearance feature information with the currently determined movement attribute information of the third obstacle.

6. The device according to claim 5, characterized in that, The device further includes a sharing module, and the sharing module is configured to: When detecting a second obstacle, determine the movement attribute information of the second obstacle; Share the movement attribute information of the second obstacle.

7. The device according to claim 6, characterized in that The sharing module is configured to: Upload the movement attribute information of the second obstacle to the server; or, Transmit the movement attribute information of the second obstacle to other movable devices.

8. The device according to claim 5, characterized in that, The second movable device belongs to a group of collaborative working devices, and the adjustment module is configured to: Determine the traveling routes of other movable devices, where the other movable devices are movable devices in the group of collaborative working devices except the second movable device; Combine the traveling routes of the other movable devices, and adjust the traveling route of the second movable device according to the movement attribute information of the first obstacle.

9. An electronic device, characterized in that, Includes: A memory and a processor; wherein, an executable code is stored on the memory, and when the executable code is executed by the processor, the processor executes the movable device obstacle avoidance method according to any one of claims 1-4.

10. A non-transitory machine-readable storage medium, characterized in that, An executable code is stored on the non-transitory machine-readable storage medium, and when the executable code is executed by the processor of the electronic device, the processor executes the movable device obstacle avoidance method according to any one of claims 1-4.

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