Obstacle avoidance recharging method, device and storage medium

Abstract

The present application is applicable to the field of smart device technology, and provides an obstacle avoidance recharging method, device and storage medium, wherein the method is applied to the smart device to be recharged. First, during the recharging process, if there is an obstacle in the current recharging trajectory, the current recharging trajectory is updated according to the current position of the smart device to be recharged and the position of at least one navigation point, combined with the map information of the recharging area, and then the device is moved to the charging station according to the updated current recharging trajectory. The embodiment of the present application can enable the smart device to be recharged to smoothly bypass obstacles and complete the charging process during the recharging process, effectively improving the charging efficiency of the smart device to be recharged.

Description

Technical Field

[0001] This application belongs to the technical field of intelligent devices, and particularly relates to an obstacle avoidance and recharging method, device, and storage medium. Background Art

[0002] With the continuous development of technology, intelligence has gradually penetrated into various fields. Intelligent devices (such as floor cleaning robots) can, relying on a certain degree of artificial intelligence, automatically perform various functions within a specific area, facilitating people's daily work and life.

[0003] After the intelligent device completes its task, it needs to return to the charging dock for energy replenishment to form a closed loop for the entire work process. In actual application scenarios, the supporting charging dock and the intelligent device are usually placed at fixed positions against the wall. Generally, there are no obstacles within a certain range directly in front of the charging dock. However, due to the complexity of the actual usage scenario, it is necessary to consider the situation where there are obstacles in front of the charging dock. At this time, it is necessary to consider that the intelligent device can avoid the obstacles in front of the charging dock and successfully return to the charging dock for charging when there are obstacles within a specified range in front of the charging dock.

[0004] During the entire process of the intelligent device performing recharging and docking, it usually detects the signal emitted by the charging dock through the receiver carried by the intelligent device itself. Therefore, when the intelligent device detects the signal during the recharging process, it will switch to align with the charging dock for recharging. However, when there is an obstacle between the intelligent device and the charging dock after detecting the signal, the intelligent device needs to bypass the obstacle and find a suitable position for docking.

[0005] Currently, due to the interference of obstacles during the recharging process, intelligent devices usually cannot smoothly bypass the obstacles for docking, but keep colliding beside the obstacles, resulting in extremely low docking efficiency. Summary of the Invention

[0006] The embodiments of this application provide an obstacle avoidance and recharging method, device, and storage medium, which can solve the problem that intelligent devices cannot smoothly bypass obstacles for docking due to the interference of obstacles during the recharging process, but keep colliding beside the obstacles, resulting in extremely low docking efficiency.

[0007] The first aspect of the embodiments of this application provides an obstacle avoidance and recharging method, and the obstacle avoidance and recharging method includes:

[0008] During the recharging process, if there is an obstacle in the current recharging trajectory, update the current recharging trajectory according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, in combination with the map information of the recharging area;

[0009] Move to the charging dock for docking according to the updated current recharging trajectory.

[0010] Optionally, the map information includes the position of the charging dock. Before updating the current charging trajectory by combining the current position of the smart device to be recharged and the positions of at least one navigation point with the map information of the recharge area, the obstacle avoidance charging method further includes:

[0011] Determine the positions of the at least one navigation point according to the position of the charging dock and in combination with the preset positional relationship between the at least one navigation point and the charging dock.

[0012] Optionally, before updating the current charging trajectory by combining the current position of the smart device to be recharged and the positions of at least one navigation point with the map information of the recharge area, the obstacle avoidance charging method further includes:

[0013] Determine the positions of the at least one navigation point according to the position of the obstacle and the target azimuth angle of the smart device to be recharged, where the target azimuth angle is the included angle formed by the current pose orientation of the smart device to be recharged and the normal line of the plane where the charging dock is located.

[0014] Optionally, if the number of obstacles in the avoidance area corresponding to the current moment is multiple, and the multiple obstacles form at least one passage in the avoidance area, where the avoidance area corresponding to the current moment refers to: in the charging trajectory, the area after expanding the moving area of the smart device to be recharged from the current moment to the next moment. Before updating the current charging trajectory by combining the current position of the smart device to be recharged and the positions of at least one navigation point with the map information of the recharge area, it further includes:

[0015] Determine whether there is a passage in the avoidance area whose minimum inner diameter is not less than the width of the charging trajectory;

[0016] If there is, update the charging trajectory corresponding to the current avoidance area within the passage;

[0017] If not, form an avoidance trajectory according to the current positions of each obstacle, and update the charging trajectory corresponding to the current avoidance area based on the avoidance trajectory.

[0018] Optionally, before updating the current charging trajectory by combining the current position of the smart device to be recharged and the positions of at least one navigation point with the map information of the recharge area, it further includes:

[0019] Determine whether the number of target obstacles in the avoidance area corresponding to the current moment is greater than the preset upper limit of the number of target obstacles, where the avoidance area corresponding to the current moment refers to: in the charging trajectory, the area after expanding the moving area of the smart device to be recharged from the current moment to the next moment, and the target obstacle refers to an obstacle whose size is within a preset range;

[0020] If so, form an avoidance trajectory according to the current position of each of the target obstacles, and update the charging return trajectory corresponding to the current avoidance area based on the avoidance trajectory.

[0021] Optionally, the number of the navigation points is multiple. Determining the positions of the at least one navigation point by combining the preset positional relationship between at least one navigation point and the charging base includes:

[0022] Determine the position of one of the navigation points by combining the preset positional relationship between this navigation point and the charging base;

[0023] Determine the positions of the other navigation points by combining the position of this navigation point and the preset positional relationships between the other navigation points and this navigation point.

[0024] Optionally, the number of the navigation points is one. Determining the position of the at least one navigation point according to the position of the obstacle and the target azimuth angle of the intelligent device to be charged includes:

[0025] Determine the position of this navigation point according to the position of the obstacle and the target azimuth angle of the intelligent device to be charged;

[0026] Correspondingly, updating the current charging return trajectory according to the current position of the intelligent device to be charged and the positions of at least one navigation point, and combining the map information of the charging area includes:

[0027] Generate a charging return trajectory for moving the intelligent device to be charged to the navigation point according to the current position of the intelligent device to be charged and the position of the navigation point;

[0028] Replace the current charging return trajectory with the updated charging return trajectory.

[0029] Optionally, the number of the navigation points is multiple. Updating the current charging return trajectory according to the current position of the intelligent device to be charged and the positions of at least one navigation point, and combining the map information of the charging area includes:

[0030] Generate a first charging return trajectory for moving the intelligent device to be charged to one of the navigation points according to the current position of the intelligent device to be charged and the positions of at least one navigation point;

[0031] If no charging base is detected at the current navigation point position, perform an iterative operation, where the iterative operation includes generating a second charging return trajectory for moving the intelligent device to be charged to any next navigation point according to the position of the current navigation point and the position of any next navigation point until the charging base is detected;

[0032] Splice the first recharge trajectory and all second recharge trajectories to form an updated recharge trajectory, and replace the current recharge trajectory with the updated recharge trajectory.

[0033] In a second aspect of the embodiments of the present application, an obstacle avoidance recharge device is provided. The obstacle avoidance recharge device includes:

[0034] A recharge trajectory update module, configured to, during the recharge process, if there is an obstacle in the current recharge trajectory, update the current recharge trajectory according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, in combination with the map information of the recharge area;

[0035] A recharge on-pile module, configured to move to the charging seat and pile up according to the updated current recharge trajectory.

[0036] In a third aspect of the embodiments of the present application, a terminal device is provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the obstacle avoidance recharge method described in the first aspect is implemented.

[0037] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the obstacle avoidance recharge method described in the first aspect is implemented.

[0038] In a fifth aspect of the embodiments of the present application, a computer program product is provided. When the computer program product runs on a terminal device, the terminal device is caused to execute the obstacle avoidance recharge method described in the first aspect.

[0039] The beneficial effects of the embodiments of the present application compared with the prior art are:

[0040] The present application discloses an obstacle avoidance recharge method, device, and storage medium. Among them, the method is applied to an intelligent device to be recharged. First, during the recharge process, if there is an obstacle in the current recharge trajectory, the current recharge trajectory is updated according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, in combination with the map information of the recharge area. Then, it moves to the charging seat and piles up according to the updated current recharge trajectory. The embodiments of the present application can enable the intelligent device to be recharged to successfully bypass obstacles and complete piling up during the recharge process, effectively improving the piling-up efficiency of the intelligent device to be recharged. Description of the Drawings

[0041] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 It is a schematic flowchart of an obstacle avoidance and recharging method provided in Embodiment 1 of the present application;

[0043] Figure 2 It is a schematic diagram of recharging when there are multiple navigation points in Embodiment 1 of the present application;

[0044] Figure 3 It is a schematic flowchart of an obstacle avoidance and recharging method provided in Embodiment 2 of the present application;

[0045] Figure 4 It is a schematic diagram of the setting of navigation points in Embodiment 2 of the present application;

[0046] Figure 5 It is a schematic flowchart of an obstacle avoidance and recharging method provided in Embodiment 3 of the present application;

[0047] Figure 6 It is a schematic diagram of the setting of navigation points in Embodiment 3 of the present application;

[0048] Figure 7 It is a schematic flowchart of an obstacle avoidance and recharging method provided in Embodiment 4 of the present application;

[0049] Figure 8 It is a schematic diagram of an avoidance area provided in Embodiment 4 of the present application;

[0050] Figure 9 It is a schematic flowchart of an obstacle avoidance and recharging method provided in Embodiment 5 of the present application;

[0051] Figure 10 It is a schematic diagram of a smart device to be recharged inside an obstacle in Embodiment 5 of the present application;

[0052] Figure 11 It is a path diagram of a smart device to be recharged escaping from an obstacle cluster in Embodiment 5 of the present application;

[0053] Figure 12 It is a schematic diagram before the expansion of the unknown area in the embodiment of the present application;

[0054] Figure 13 It is a schematic diagram after the expansion of the unknown area in the embodiment of the present application;

[0055] Figure 14 It is a schematic structural diagram of an obstacle avoidance and recharging device provided in Embodiment 6 of the present application;

[0056] Figure 15 It is a schematic structural diagram of a terminal device provided in Embodiment 7 of the present application. Detailed implementation manners

[0057] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system architectures, technologies, etc. are presented to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also 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 unnecessary details from interfering with the description of the present application.

[0058] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0059] It should also be understood that the term "and / or" as used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0060] As used in the specification of the present application and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0061] In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0062] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that specific features, structures or characteristics described in connection with that embodiment are included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0063] It should be understood that the magnitudes of the sequence numbers of the steps in this embodiment do not imply the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0064] In the prior art, intelligent devices usually cannot smoothly bypass obstacles during the recharging process and instead keep colliding next to the obstacles, resulting in extremely low recharging efficiency.

[0065] In view of this, this application provides an obstacle avoidance recharging method, device and storage medium. By updating the current recharging trajectory according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, and combining with the map information of the recharging area, and moving to the charging station for docking according to the updated current recharging trajectory, the above problems can be solved, and the intelligent device to be recharged can smoothly bypass obstacles to complete docking, improving the docking efficiency.

[0066] In order to illustrate the technical solution of this application, specific embodiments will be used for illustration below.

[0067] Refer to Figure 1 , which shows a schematic flow chart of an obstacle avoidance recharging method provided by Embodiment 1 of this application. As Figure 1 shown, this obstacle avoidance recharging method is applied to an intelligent device to be recharged and may include the following steps:

[0068] Step S101, during the recharging process, if there is an obstacle in the current recharging trajectory, update the current recharging trajectory according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, and combining with the map information of the recharging area.

[0069] Among them, the entire working process of the intelligent device to be recharged can be roughly divided into three parts: working, recharging, and charging. This embodiment optimizes and expands the recharging process. During the recharging process, the receiver carried by the intelligent device itself is usually used to detect the signal emitted by the charging dock. Therefore, when the intelligent device detects the signal during the recharging process, it will switch to align with the charging dock for recharging. Among them, the intelligent device can carry an infrared receiver, and correspondingly, the charging dock can emit an infrared signal.

[0070] When recharging, a default current recharging trajectory will be generated between the current position of the intelligent device to be recharged and the position of the charging dock. It can be a recharging trajectory in an arc or a straight-line recharging trajectory. In the absence of obstacles, the intelligent device to be recharged docks based on this current recharging trajectory. However, when there are obstacles within the current recharging trajectory, the intelligent device to be recharged cannot achieve recharging based on the default current recharging trajectory. At this time, it is necessary to combine the map information of the recharging area to find a recharging trajectory that can successfully bypass the obstacles and update the current recharging trajectory, so as to successfully complete the docking.

[0071] In the embodiment of the present application, the number of the navigation points is multiple, and the current recharging trajectory is updated according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, in combination with the map information of the recharging area.

[0072] According to the current position of the intelligent device to be recharged and the positions of at least one navigation point, a first recharging trajectory for moving the intelligent device to be recharged to one of the navigation points is generated.

[0073] If the charging dock is not detected at the current navigation point position, an iterative operation is performed. The iterative operation includes generating a second recharging trajectory for moving the intelligent device to be recharged to any next navigation point according to the position of the current navigation point and the position of any next navigation point, until the charging dock is detected.

[0074] The first recharging trajectory and all the second recharging trajectories are spliced to form an updated recharging trajectory, and the current recharging trajectory is replaced with the updated recharging trajectory.

[0075] Exemplarily, refer to Figure 2, there are two navigation points with known positions. The intelligent device to be recharged first moves to one of the navigation points through the first recharge trajectory 1. Since no charging dock is detected at the current navigation point, it then moves to the next navigation point through the second recharge trajectory 2 and detects the charging dock, and then docks. The first recharge trajectory 1 and the second recharge trajectory 2 are spliced to form an updated recharge trajectory to replace the original recharge trajectory. It should be understood that this example only shows the situation of two navigation points and does not limit the number of navigation points. When there are more navigation points, the above operations are performed in sequence until the charging dock is detected. At this time, all the recharge trajectories generated in this process are spliced to generate an updated recharge trajectory to replace the current recharge trajectory.

[0076] In a possible implementation manner, when the intelligent device to be recharged reaches any navigation point through the recharge trajectory, the intelligent device to be recharged needs to rotate to face the charging dock so that a stronger signal can be detected. To ensure sufficient reception of the signal emitted by the charging dock, after the intelligent device to be recharged reaches any navigation point, it can start rotating from the strongest signal angle, that is, the direction facing the charging dock, to complete a 360° signal search. When no signal is found at all navigation points, it is determined that recharging is not possible.

[0077] Preferably, this embodiment is applied when a signal is detected and there are obstacles in the current recharge trajectory. When no signal is detected, this method is not executed, so as to ensure higher search efficiency.

[0078] Step S102, move to the charging dock along the updated current recharge trajectory and dock.

[0079] The above embodiment of the present application discloses an obstacle avoidance recharge method. During the recharge process, if there are obstacles in the current recharge trajectory, the current recharge trajectory is updated by combining the current position, the setting of at least one navigation point, and the map information of the recharge area to obtain a recharge trajectory that can bypass the obstacles. The intelligent device to be recharged moves along the updated recharge trajectory, so as to successfully bypass the obstacles and move to the charging dock to dock, which can effectively improve the docking efficiency of the intelligent device to be recharged.

[0080] See Figure 3 , which shows a schematic flowchart of an obstacle avoidance recharge method provided in Embodiment 2 of the present application. As Figure 3 shown, this obstacle avoidance recharge method is applied to an intelligent device to be recharged and may include the following steps:

[0081] Step S301, the map information of the recharge area includes the position of the charging dock. According to the position of the charging dock and in combination with the preset position relationship between at least one navigation point and the charging dock, the positions of the at least one navigation point are determined.

[0082] In an embodiment of the present application, the number of the navigation points is multiple. Determining the positions of the at least one navigation point by combining the preset positional relationships between at least one navigation point and the charging dock includes:

[0083] Determining the position of one of the navigation points by combining the preset positional relationship between this navigation point and the charging dock.

[0084] Determining the positions of the other navigation points by combining the position of this navigation point and the preset positional relationships between the other navigation points and this navigation point.

[0085] Among them, for the case where the intelligent device to be recharged starts from the charging dock, when the intelligent device to be recharged starts to work, there is no obstacle in front of the charging dock. However, when it finishes the cleaning task and starts to recharge, there may be dynamic obstacles in front of the charging dock, blocking the original recharging path. At this time, in order to avoid multiple failures in finding the charging dock, multiple navigation points in front of the charging dock are used to perform signal search.

[0086] Exemplarily, referring to Figure 4 , where the position of the charging dock is known, and three navigation points are set, namely navigation point A, navigation point B, and navigation point C. Navigation point A is set at a preset distance directly in front of the charging dock, which can be 40 cm. After the intelligent device to be recharged reaches navigation point A, it rotates to the angle facing the charging dock, and a relatively strong signal can be fully detected. For navigation points B and C adjacent to navigation point A, the lines formed by the three navigation points need to be parallel to the wall where the charging dock is located. The preset distance is maintained between navigation point A and navigation point B, and between navigation point A and navigation point C, which can also be 40 cm. After reaching navigation points B and C, rotate to the direction of the charging dock to search for signals. Among them, if a signal is detected at any navigation point, the subsequent steps of updating the recharging trajectory and docking are performed. When no signal is found at all three navigation points, it is determined that recharging cannot be performed.

[0087] It should be noted that in this embodiment, too many navigation points should not be set to avoid excessive recharging time caused by failure to successfully dock under signal interference.

[0088] Step S302, during the recharging process, if there is an obstacle in the current recharging trajectory, update the current recharging trajectory according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, in combination with the map information of the recharging area.

[0089] Step S303, move to the charging dock according to the updated current recharging trajectory and dock.

[0090] Steps S302 - S303 in this embodiment are the same as steps S101 - S102 in an embodiment of the present application and can be referred to each other. This embodiment will not be elaborated here.

[0091] Compared with the first embodiment, when at the position of the charging dock, this embodiment combines the preset positional relationship between at least one navigation point and the charging dock to specifically set the positions of the at least one navigation point, thereby updating the current recharge trajectory and moving to the charging dock for docking according to the updated current recharge trajectory.

[0092] See Figure 5 , which shows a schematic flowchart of an obstacle avoidance recharge method provided by the third embodiment of the present application. As Figure 5 shown, this obstacle avoidance recharge method is applied to a smart device to be recharged and may include the following steps:

[0093] Step S501, determine the positions of the at least one navigation point according to the position of the obstacle and the target azimuth angle of the smart device to be recharged, where the target azimuth angle is the included angle formed by the current pose orientation of the smart device to be recharged and the normal line of the plane where the charging dock is located.

[0094] In the embodiment of the present application, the number of the navigation points is one, and determining the positions of the at least one navigation point according to the position of the obstacle and the target azimuth angle of the smart device to be recharged includes:

[0095] Determine the position of this navigation point according to the position of the obstacle and the target azimuth angle of the smart device to be recharged. Wherein, in a horizontal plane, the target azimuth angle of the smart device to be recharged may refer to: the included angle formed by the current pose orientation of the smart device to be recharged and the plane perpendicular to the wall where the charging dock is located, or the included angle formed by the current pose orientation of the smart device to be recharged and the wall where the charging dock is located. The target azimuth angle of the smart device to be recharged can be directly obtained through an angle sensor carried on the smart device to be recharged.

[0096] Considering the minimum spatial distance required during the docking process of the smart device to be recharged, the position of this navigation point can be calculated using similar triangles and used as the navigation point that the smart device to be recharged plans to reach after encountering an obstacle.

[0097] Exemplarily, see Figure 6, Point A’ represents the position of the obstacle detected during the charging process of the intelligent device to be recharged. The direction from point A’ to point B’ represents the current pose orientation of the intelligent device to be recharged. The straight line where points D’ and E’ are located represents the wall where the charging dock is located. θ represents the target azimuth angle of the intelligent device to be recharged, that is, the angle formed by the current pose orientation of the intelligent device to be recharged and the plane perpendicular to the wall where the charging dock is located. The navigation point at a preset distance in front of the wall is calculated using similar triangles. The preset distance between point C’ and point E’ can be 50 cm. Among them, the positions of point A’ and point E’ can be directly obtained from the map information, the target azimuth angle θ of the intelligent device to be recharged can be directly obtained through the angle sensor carried on the intelligent device to be recharged, the distance between point C’ and point E’ is preset in advance, and finally the position of point B’, that is, the position of the navigation point, is calculated using the similarity of ΔA’B’C’ and ΔA’D’E’.

[0098] Correspondingly, updating the current charging trajectory according to the current position of the intelligent device to be recharged and the position of at least one navigation point, in combination with the map information of the charging area, includes:

[0099] Generating a charging trajectory for moving the intelligent device to be recharged to the navigation point according to the current position of the intelligent device to be recharged and the position of the navigation point.

[0100] Replacing the current charging trajectory with the updated charging trajectory.

[0101] During the process of the intelligent device to be recharged moving from the position of the obstacle to the navigation point in front of the charging dock, as much as possible, do not consider the influence of weak signals on the navigation process, and only consider the influence of strong signals on the intelligent device to be recharged. When a strong signal is detected, perform docking. For example, for an infrared signal, the signal searched within a circular range with a radius of 0 - 0.2 m centered on the charging dock is a short-range close-guard signal; the infrared signal searched within a circular range of 0.2 - 0.5 m is a medium-range close-guard signal; the long-range close-guard signal is searched within a circular range of 0.5 - 1.0 m; the circular range of 1.0 - 1.5 is a weak close-guard signal other than the close-guard signal. If no strong signal is detected when reaching point B, the charging dock can be searched again later, or it can be determined that charging cannot be performed.

[0102] Step S502, during the charging process, if there is an obstacle in the current charging trajectory, update the current charging trajectory according to the current position of the intelligent device to be recharged and the position of at least one navigation point, in combination with the map information of the charging area.

[0103] Step S503, move to the charging dock according to the updated current charging trajectory and perform docking.

[0104] The steps S502 - S503 in this embodiment are the same as the steps S101 - S102 in the first embodiment of the present application and can be referred to each other, so they will not be elaborated herein.

[0105] Compared with the first embodiment, when there is no charging dock, in this embodiment, the position of a navigation point is determined based on the position of the obstacle and the target azimuth angle of the intelligent device to be recharged, so as to update the current recharging trajectory in combination with the map information of the recharging area, and move to the charging dock for docking according to the updated current recharging trajectory.

[0106] See Figure 7 , which shows a schematic flow chart of an obstacle avoidance recharging method provided in the fourth embodiment of the present application. As Figure 7 shown, this obstacle avoidance recharging method is applied to an intelligent device to be recharged and may include the following steps:

[0107] Step S701, if the number of obstacles in the avoidance area corresponding to the current moment is multiple, and the multiple obstacles form at least one passage in the avoidance area, determine whether there is a passage in the avoidance area whose minimum inner diameter is not less than the width of the recharging trajectory. Wherein, the avoidance area corresponding to the current moment refers to: in the recharging trajectory, the area after expanding the moving area of the intelligent device to be recharged from the current moment to the next moment.

[0108] See Figure 8 , during the movement of the intelligent device to be recharged, due to the too low accuracy of the sensors carried by the intelligent device to be recharged, the actual calculated points and the real - world points cannot be perfectly matched. The most direct impact is that the navigation point in front of the charging dock calculated by the intelligent device to be recharged can be passed through, but it cannot be passed through in the actual scenario. Therefore, it is necessary to determine the avoidance area corresponding to the current moment. The avoidance area corresponding to the current moment needs to be determined after expanding the moving area from the current moment to the next moment, and this time period can be determined according to the actual application scenario, so as to determine in advance whether to move along the original recharging route.

[0109] The intelligent device to be recharged moves based on the recharging trajectory. The width of the recharging trajectory refers to the width of the recharging trajectory, and the width of the recharging trajectory can be determined according to the body size of the intelligent device to be recharged in the horizontal direction. The moving area refers to the area where the intelligent device to be recharged actually moves based on the recharging trajectory.

[0110] Because some obstacles may appear at the edge of the moving area, it is necessary to expand the moving area to obtain the avoidance area, and the expansion range can be flexibly determined according to the size of the obstacles in the actual application scenario.

[0111] Step S702, if there is such a passage, update the recharging trajectory corresponding to the current avoidance area within the passage.

[0112] Step S703: If not, form an avoidance trajectory based on the current positions of each of the obstacles, and update the charging return trajectory corresponding to the current avoidance area based on the avoidance trajectory.

[0113] Among them, it is judged whether there is a passage in the avoidance area with a minimum inner diameter not less than the width of the charging return trajectory. If so, it means that the intelligent device to be charged can update the charging return trajectory in the passage formed by the obstacles. If not, it means that the navigation point in front of the charging dock calculated by the intelligent device to be charged can be passed, but the actual scenario is impassable. At this time, the intelligent device to be charged cannot move in the passage formed by the obstacles. Therefore, it is necessary to re-determine an avoidance trajectory that can bypass the obstacles outside the original passage according to the positions of the obstacles.

[0114] Step S704: During the charging return process, if there is an obstacle in the current charging return trajectory, update the current charging return trajectory according to the current position of the intelligent device to be charged and the positions of at least one navigation point, in combination with the map information of the charging area.

[0115] Step S705: Move to the charging dock and dock according to the updated current charging return trajectory.

[0116] Steps S704 - S705 in this embodiment are the same as steps S101 - S102 in Embodiment 1 of the present application and can be referred to each other. This embodiment will not be elaborated here.

[0117] Compared with Embodiment 1, when the intelligent device accidentally enters a relatively complex obstacle environment during the charging return process, the charging return process is temporarily abnormal. In this embodiment, by determining whether there is a passage in the avoidance area with a minimum inner diameter not less than the width of the charging return trajectory, it is judged whether an avoidance trajectory needs to be formed to update the charging return trajectory corresponding to the current avoidance area, reducing the probability of being trapped in abnormal charging return and improving the charging return efficiency.

[0118] See Figure 9 , which shows a schematic flowchart of an obstacle avoidance charging return method provided in Embodiment 5 of the present application. As Figure 9 shown, this obstacle avoidance charging return method is applied to an intelligent device to be charged and may include the following steps:

[0119] Step S901: Determine whether the number of target obstacles in the avoidance area corresponding to the current moment is greater than the preset upper limit of the number of the target obstacles, where the avoidance area corresponding to the current moment refers to: in the charging return trajectory, the area obtained by expanding the moving area of the intelligent device to be charged from the current moment to the next moment, and the target obstacle refers to: an obstacle with a size within a preset range.

[0120] Among them, during the movement of the intelligent device to be recharged, due to the too low accuracy of the sensors carried by the intelligent device to be recharged, the actual calculated points and the real points cannot be perfectly matched. The most direct impact is that the navigation point in front of the charging stand obtained by calculating the intelligent device to be recharged is passable, but the actual scenario is not passable. Therefore, it is necessary to determine the avoidance area corresponding to the current moment. The avoidance area corresponding to the current moment needs to be determined after expanding the moving area from the current moment to the next moment, and this time period can be determined according to the actual application scenario, so as to determine in advance whether to move along the original recharge route.

[0121] It is possible to judge whether it is necessary to "escape along the wall" according to whether the number of target obstacles in the avoidance area corresponding to the current moment is greater than the preset number upper limit of the target obstacles.

[0122] Step S902, if so, form an avoidance trajectory according to the current positions of each of the target obstacles, and update the recharge trajectory corresponding to the current avoidance area based on the avoidance trajectory.

[0123] Exemplarily, refer to Figure 10 , after the intelligent device to be recharged detects a signal within the obstacle, the navigation point in the direction of the charging stand obtained by calculation cannot be reached by navigation. At this time, first determine the navigation point in the direction of the charging stand, switch to the "escape along the wall" mode, and determine the obstacle cluster around the device body. Specifically, with the intelligent device to be recharged as the center and the body diameter length of the intelligent device to be recharged as the radius, when there are target obstacles within this range, count the number of target obstacles. If the number of target obstacles is greater than the preset number upper limit of the target obstacles, there is an obstacle cluster around the intelligent device to be recharged. If the number of target obstacles is less than the preset number upper limit, the intelligent device to be recharged has escaped from the obstacle cluster. Among them, the target obstacle can be an obstacle with a diameter of 5-10 cm, and the preset number upper limit of the target obstacle can be 2.

[0124] Exemplarily, refer to Figure 11 , where the route of the A”B” segment is the avoidance trajectory of the intelligent device to be recharged in the "escape along the wall" mode, and the C” point is the navigation point in front of the charging stand. After reaching the C” point, perform the operation of winding around the arc to reach the charging stand.

[0125] Step S903, during the recharge process, if there are obstacles in the current recharge trajectory, update the current recharge trajectory according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, in combination with the map information of the recharge area.

[0126] Step S904, move to the charging stand according to the updated current recharge trajectory and perform the operation of reaching the charging stand.

[0127] Steps S903 - S904 in this embodiment are the same as steps S101 - S102 in Embodiment 1 of the present application and can be referred to each other. This embodiment will not be elaborated herein.

[0128] Compared with Embodiment 1, when the intelligent device to be recharged accidentally enters a relatively complex obstacle environment during the recharge process, causing the recharge process to be temporarily abnormal, this embodiment determines whether to form an avoidance trajectory to enable the intelligent device to escape from the obstacle cluster by judging whether the number of target obstacles in the avoidance area corresponding to the current moment is greater than the preset upper limit of the number of the target obstacles, and then performs subsequent docking operations, reducing the probability of being trapped due to abnormal recharge and improving the recharge efficiency.

[0129] In some embodiments of the present application, in special cases, sometimes it is necessary to enable the intelligent device to be recharged to have the function of finding the charging dock without complete map information. If the charging dock is placed in an unknown environment that the intelligent device to be recharged has not reached, after the intelligent device to be recharged detects the signal emitted by the charging dock, it still needs to complete the docking action. Considering the obstacle situation at this time, it is necessary to expand the map. After expanding the map, re - select the navigation point in the visible environment in front of the charging dock, so as to update the current recharge trajectory and finally realize the successful docking process.

[0130] See Figure 12 and Figure 13 , the shaded area in the figure is the unknown area, Figure 13 The pentagram in is the navigation point for expanding the map. First, extract the edge of the unknown area, then fit the extracted edge into a straight line, and finally use the mid - point on the straight line as the navigation point for expanding the map. Then, based on the navigation point for expanding the map, combine the map information and the position of the navigation point for expanding the map to generate a navigation route for map expansion. Finally, move to the navigation point for map expansion according to the navigation route for map expansion to complete the expansion of the map in the unknown environment. In this embodiment, exploratory search is performed without complete map information, searching for signals while expanding the map. After having relatively complete map information after completing the map expansion, re - combine the map information to determine a suitable navigation point to update the recharge trajectory for avoiding obstacles, and finally realize the recharge and docking.

[0131] See Figure 14 , which shows a schematic structural diagram of an obstacle - avoidance recharge device provided in Embodiment 6 of the present application. For the sake of convenience of description, only the parts related to this embodiment of the present application are shown.

[0132] The obstacle - avoidance recharge device may specifically include the following modules:

[0133] A recharge trajectory update module 1401, configured to update the current recharge trajectory according to the current position of the intelligent device to be recharged and the positions of at least one navigation point, in combination with the map information of the recharge area, if there is an obstacle in the current recharge trajectory during the recharge process.

[0134] A recharge on-pile module 1402, configured to move to the charging dock according to the updated current recharge trajectory and get on the pile.

[0135] In the embodiments of the present application, the number of the navigation points is multiple. The recharge on-pile module 1401 may specifically include the following sub-modules:

[0136] A first recharge trajectory generation sub-module, configured to generate a first recharge trajectory for moving the intelligent device to be recharged to one of the navigation points according to the current position of the intelligent device to be recharged and the positions of at least one navigation point.

[0137] An iterative operation sub-module, configured to perform an iterative operation if the charging dock is not detected at the current navigation point position. The iterative operation includes generating a second recharge trajectory for moving the intelligent device to be recharged to any next navigation point according to the position of the current navigation point and the position of any next navigation point until the charging dock is detected.

[0138] A first recharge trajectory update sub-module, configured to splice the first recharge trajectory and all the second recharge trajectories to form an updated recharge trajectory, and replace the current recharge trajectory with the updated recharge trajectory.

[0139] The obstacle avoidance recharge device may specifically further include:

[0140] A first navigation point position determination module 1403, configured to determine the positions of the at least one navigation point according to the position of the charging dock, in combination with the preset positional relationship between the at least one navigation point and the charging dock.

[0141] In the embodiments of the present application, the number of the navigation points is multiple. The first navigation point position determination module 1403 may specifically include the following sub-modules:

[0142] A first navigation point position determination sub-module, configured to determine the position of one of the navigation points in combination with the preset positional relationship between the navigation point and the charging dock.

[0143] A second navigation point position determination sub-module, configured to determine the positions of the other navigation points in combination with the position of this navigation point and the preset positional relationships between the other navigation points and this navigation point.

[0144] The obstacle avoidance recharge device may specifically further include:

[0145] The second navigation point position determination module 1404 is configured to determine the position of the at least one navigation point according to the position of the obstacle and the target azimuth angle of the intelligent device to be recharged, where the target azimuth angle is the included angle formed by the current pose orientation of the intelligent device to be recharged and the normal line of the plane where the charging dock is located.

[0146] In an embodiment of the present application, the number of the navigation points is one. The second navigation point position determination module 1404 may specifically include the following sub-modules:

[0147] The third navigation point position determination sub-module is configured to determine the position of the navigation point according to the position of the obstacle and the target azimuth angle of the intelligent device to be recharged.

[0148] Correspondingly, the recharging onto-pile module 1401 may specifically include the following sub-modules:

[0149] The second recharging trajectory generation sub-module is configured to generate a recharging trajectory for moving the intelligent device to be recharged to the navigation point according to the current position of the intelligent device to be recharged and the position of the navigation point.

[0150] The second recharging trajectory update sub-module is configured to replace the current recharging trajectory with the updated recharging trajectory.

[0151] The obstacle avoidance recharging device may specifically further include:

[0152] The first avoidance module 1405 is configured to, if the number of obstacles in the avoidance area corresponding to the current moment is multiple, and the multiple obstacles form at least one passage in the avoidance area, where the avoidance area corresponding to the current moment refers to: in the recharging trajectory, in the area from the current moment to the next moment, the area after expanding the moving area of the intelligent device to be recharged. Before updating the current recharging trajectory according to the current position of the intelligent device to be recharged and the position of at least one navigation point, in combination with the map information of the recharging area, determine whether there is a passage in the avoidance area whose minimum inner diameter is not less than the width of the recharging trajectory. If there is, update the recharging trajectory corresponding to the current avoidance area in the passage; if not, form an avoidance trajectory according to the current position of each obstacle, and update the recharging trajectory corresponding to the current avoidance area based on the avoidance trajectory.

[0153] The obstacle avoidance recharging device may specifically further include:

[0154] The second avoidance module 1406 is configured to determine whether the number of target obstacles in the avoidance area corresponding to the current moment is greater than the preset upper limit of the number of the target obstacles before updating the current charging trajectory by combining the current position of the intelligent device to be recharged and the positions of at least one navigation point with the map information of the charging area, where the avoidance area corresponding to the current moment refers to: in the charging trajectory, within the current moment to the next moment, the area after expanding the moving area of the intelligent device to be recharged, and the target obstacle refers to: an obstacle with a size within a preset range; if so, form an avoidance trajectory according to the current position of each target obstacle, and update the charging trajectory corresponding to the current avoidance area based on the avoidance trajectory.

[0155] The obstacle avoidance and charging device provided by the embodiments of the present application can be applied to the foregoing method embodiments. For details, refer to the description of the foregoing method embodiments and will not be elaborated here.

[0156] Figure 15 It is a schematic structural diagram of a terminal device provided in Embodiment 7 of the present application. As Figure 15 shown, the terminal device 1500 of this embodiment includes: at least one processor 1510 ( Figure 15 only one is shown in the figure), a processor, a memory 1520, and a computer program 1521 stored in the memory 1520 and executable on the at least one processor 1510. When the processor 1510 executes the computer program 1521, the steps in the foregoing method embodiments of the obstacle avoidance and charging method are implemented.

[0157] The terminal device 1500 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 1510 and a memory 1520. Those skilled in the art can understand that Figure 15 merely examples of the terminal device 1500 do not constitute a limitation to the terminal device 1500, and may include more or fewer components than shown in the figure, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0158] The so-called processor 1510 may be a Central Processing Unit (CPU), and this processor 1510 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0159] In some embodiments, the memory 1520 may be an internal storage unit of the terminal device 1500, such as the hard disk or memory of the terminal device 1500. In other embodiments, the memory 1520 may also be an external storage device of the terminal device 1500, such as a plug-in hard disk equipped on the terminal device 1500, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 1520 may also include both the internal storage unit of the terminal device 1500 and the external storage device. The memory 1520 is used to store an operating system, application programs, a BootLoader, data, and other programs, such as the program code of the computer program, etc. The memory 1520 may also be used to temporarily store data that has been output or is to be output.

[0160] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments 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 integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0161] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0162] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in the form of hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0163] In the embodiments provided in this application, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0164] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0165] In addition, the functional units in the various embodiments of this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0166] When the integrated module / 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, to implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0167] To implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by a computer program product. When the computer program product runs on a terminal device, the terminal device can execute the steps of the above-described method embodiments when executed.

[0168] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit them. Although this application 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 cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. An obstacle avoidance recharging method, characterized in that: Applied to a smart device to be recharged, the obstacle avoidance recharging method includes: When the map information includes the location of the charging base, the location of the at least one navigation point is determined according to the location of the charging base and in combination with a preset positional relationship between the at least one navigation point and the charging base; when the map information does not include the location of the charging base, the location of the at least one navigation point is determined according to the location of the obstacle and the target azimuth of the smart device to be recharged, wherein the target azimuth is the angle formed by the current posture orientation of the smart device to be recharged and the normal of the plane where the charging base is located; During the recharging process, if there is an obstacle in the current recharging trajectory, the current recharging trajectory is updated according to the current position of the smart device to be recharged and the position of at least one navigation point, combined with the map information of the recharging area; Move to the charging station according to the updated current recharging trajectory.

2. The obstacle avoidance recharging method according to claim 1, characterized in that: If there are multiple obstacles in the avoidance area corresponding to the current moment, and the multiple obstacles form at least one channel in the avoidance area, the avoidance area corresponding to the current moment refers to: in the recharging trajectory, from the current moment to the next moment, the area after the diameter of the moving area of ​​the smart device to be recharged is expanded, and before the current recharging trajectory is updated according to the current position of the smart device to be recharged and the position of at least one navigation point in combination with the map information of the recharging area, it also includes: Determine whether there is a channel in the avoidance area whose minimum inner diameter is not less than the width of the recharging trajectory; If so, updating the recharging trajectory corresponding to the current avoidance area in the channel; If not, an avoidance trajectory is formed according to the current position of each obstacle, and the recharging trajectory corresponding to the current avoidance area is updated based on the avoidance trajectory.

3. The obstacle avoidance recharging method according to claim 1, characterized in that: Before updating the current recharging track according to the current position of the smart device to be recharged and the position of at least one navigation point in combination with map information of the recharging area, the method further includes: Determine whether the number of target obstacles in the avoidance area corresponding to the current moment is greater than a preset upper limit of the number of target obstacles, wherein the avoidance area corresponding to the current moment refers to: the area after the diameter of the moving area of ​​the to-be-recharged smart device is expanded from the current moment to the next moment in the recharging trajectory, and the target obstacle refers to: an obstacle whose size is within a preset range; If so, an avoidance trajectory is formed according to the current position of each target obstacle, and the recharging trajectory corresponding to the current avoidance area is updated based on the avoidance trajectory.

4. The obstacle avoidance recharging method according to claim 1, characterized in that: The number of the navigation points is multiple, and the determining the position of the at least one navigation point in combination with a preset position relationship between the at least one navigation point and the charging base includes: Determine the position of one of the navigation points in combination with the preset position relationship between the navigation point and the charging base; The positions of other navigation points are determined by combining the position of the navigation point and the preset position relationship between other navigation points and the navigation point.

5. The obstacle avoidance recharging method according to claim 1, characterized in that: The number of the navigation point is one, and determining the position of the at least one navigation point according to the position of the obstacle and the target azimuth of the smart device to be recharged includes: Determine the location of the navigation point according to the location of the obstacle and the target azimuth of the smart device to be recharged; Correspondingly, updating the current recharging track according to the current position of the smart device to be recharged and the position of at least one navigation point in combination with map information of the recharging area includes: Generate a recharging trajectory for moving the smart device to be recharged to the navigation point according to the current position of the smart device to be recharged and the position of the navigation point; The current refill trajectory is replaced with the updated refill trajectory.

6. The obstacle avoidance recharging method according to claim 1, characterized in that: The number of the navigation points is multiple, and the updating of the current recharging track according to the current position of the smart device to be recharged and the position of at least one navigation point in combination with map information of the recharging area includes: Generate a first recharging trajectory for moving the smart device to be recharged to one of the navigation points according to the current position of the smart device to be recharged and the position of at least one navigation point; If the charging base is not detected at the current navigation point, an iterative operation is performed, wherein the iterative operation includes generating a second recharging trajectory for moving the smart device to be recharged to any next navigation point according to the position of the current navigation point and the position of any next navigation point until the charging base is detected; The first refill trajectory and all second refill trajectories are spliced ​​to form an updated refill trajectory, and the current refill trajectory is replaced by the updated refill trajectory.

7. An obstacle avoidance and recharging device, characterized in that: Applied to a smart device to be recharged, the obstacle avoidance recharging device comprises: A first navigation point position determination module, configured to determine the position of the at least one navigation point according to the position of the charging base and a preset position relationship between the at least one navigation point and the charging base when the map information includes the position of the charging base; A second navigation point location determination module, configured to determine the location of the at least one navigation point according to the location of the obstacle and the target azimuth of the smart device to be recharged when the map information does not include the location of the charging base, wherein the target azimuth is the angle formed by the current posture orientation of the smart device to be recharged and the normal of the plane where the charging base is located; A recharging trajectory updating module, used to update the current recharging trajectory according to the current position of the smart device to be recharged and the position of at least one navigation point in combination with map information of the recharging area during the recharging process if there is an obstacle in the current recharging trajectory; The recharging pile module is used to move to the charging base and pile according to the updated current recharging trajectory.

8. 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 7 is implemented.

Images