Method for identifying avoidance area, method for controlling travel, device, and self-moving apparatus

Abstract

The application discloses a kind of identification method of avoidance area, travel control method, device, self-moving equipment.The application obtains the sensing blind area formed by the sensing angle of the sensing device being blocked by the obstacle in the target area by sensing device, whether the corresponding sensing blind area is avoidance area is judged according to the area, distance and other parameters of sensing blind area and the moving track of self-moving equipment.On the other hand, when the target area has avoidance area, self-moving equipment determines reaction distance according to current state, and avoidance position that may need to avoid, reduces reaction distance in advance by deceleration or improving frame rate, improves the safety of self-moving equipment through avoidance area.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent devices, in particular to a method for identifying an avoidance area, a method for controlling travel, a device, and a self-moving device. BACKGROUND

[0002] A self-moving robot can perceive the surrounding environment through sensors installed thereon and avoid obstacles. When avoiding obstacles, the robot can divide the obstacles into static obstacles and dynamic obstacles according to whether the obstacles are moving, and the robot can adopt different avoidance strategies to avoid static or dynamic obstacles.

[0003] Dynamic obstacles such as moving people, vehicles, and small animals need to be detected and determined whether they are moving according to multiple frames of data. However, if a dynamic obstacle suddenly appears from the blind area of the machine's field of view, such as the scenario of a "ghost probe", the robot will usually collide with the obstacle because the speed is too fast to brake in time. SUMMARY

[0004] The present application provides a method for identifying an avoidance area, a method for controlling travel, a device, and a self-moving device, which can effectively solve the problem that a dynamic obstacle suddenly appears from the blind area of the machine's field of view, and the robot will usually collide with the obstacle because the speed is too fast to brake in time.

[0005] According to an aspect of the present application, a method for identifying an avoidance area is provided, which includes: obtaining, by a sensing device located on the automatic device, a sensing blind area formed by a sensing angle of the sensing device being blocked by an obstacle in a target area; and determining, according to a moving track of the self-moving device and the sensing blind area or the sensing blind area, whether an avoidance area exists in the target area.

[0006] Further, before the sensing blind area formed by the sensing angle of the sensing device being blocked by the obstacle in the target area is obtained according to the sensing device located in the moving direction of the automatic device, the method includes:

[0007] Obtaining a current state of the self-moving device, the current state including one or more of a current speed of the self-moving device, a braking distance under the current speed, a frame rate of the sensing device, and a computing capability of the self-moving device; and determining an area of the target area based on the current state.

[0008] Further, the determining whether the sensing blind area in the target area is an avoidance area according to the moving track of the self-moving device and the sensing blind area or the sensing blind area comprises: calculating the area of each sensing blind area in the target area; when the area of the sensing blind area in the target area is greater than a preset area, the sensing blind area with the area greater than the preset area is the avoidance area.

[0009] Further, the determining whether the sensing blind area in the target area is an avoidance area according to the moving track of the self-moving device and the sensing blind area or the sensing blind area comprises: calculating the area of each sensing blind area in the target area; obtaining the length of each visible boundary of each sensing blind area in the target area; when the area of the sensing blind area in the target area is greater than a preset area, and the length of at least one visible boundary of the sensing blind area with the area greater than the preset area is greater than a preset length, the sensing blind area with the area greater than the preset area is the avoidance area.

[0010] Further, the determining whether the sensing blind area in the target area is an avoidance area according to the moving track of the self-moving device and the sensing blind area or the sensing blind area comprises: calculating the area of each sensing blind area in the target area; obtaining the length of each visible boundary of each sensing blind area in the target area; obtaining the minimum distance between each visible boundary of each sensing blind area in the target area and the moving track of the self-moving device; when the area of the sensing blind area in the target area is greater than a preset area, the length of at least one visible boundary of the sensing blind area with the area greater than the preset area is greater than a preset length, and the minimum distance between at least one visible boundary of the sensing blind area with the area greater than the preset area and the moving track of the self-moving device is less than a preset distance, the sensing blind area with the area greater than the preset area is the avoidance area.

[0011] According to an aspect of the present application, a travel control method is provided, which comprises: obtaining the current state of the self-moving device and the position information of an obstacle in the target area; determining the reaction distance of the self-moving device according to the current state of the self-moving device; determining whether the self-moving device enters an avoidance mode according to the reaction distance and the position information of the obstacle.

[0012] Further, the determining the self-moving device to enter the avoidance mode according to the reaction distance and the position information of the obstacle comprises: determining an intersection between a visual boundary of a sensing blind area in a target area and a moving track of the self-moving device as an avoidance position; determining a starting position on the moving track of the self-moving device according to the reaction distance of the self-moving device and the avoidance position; and when the self-moving device passes the starting position, the self-moving device enters the avoidance mode.

[0013] Further, the avoidance mode comprises: controlling a current speed of the self-moving device within a preset speed.

[0014] Further, the avoidance mode further comprises: improving a frame rate of a sensing device of the self-moving device to a preset frame rate.

[0015] According to another aspect of the present application, there is provided an avoidance area identification device, comprising: a blind area identification unit configured to obtain a sensing blind area formed by a sensing angle of a sensing device on the self-moving device being blocked by an obstacle in a target area; and an avoidance identification unit configured to determine whether an avoidance area exists in the target area according to a moving track of the self-moving device and the sensing blind area, or the sensing blind area.

[0016] According to another aspect of the present application, there is provided a travel control device, comprising: a data acquisition unit configured to acquire a current state of the self-moving device and position information of an obstacle in a target area; a data calculation unit configured to determine a reaction distance of the self-moving device according to the current state of the self-moving device; and a mode switching unit configured to determine whether the self-moving device enters an avoidance mode according to the reaction distance and the position information of the obstacle.

[0017] According to another aspect of the present application, there is provided a self-moving device, comprising a rack executing device arranged on the rack for executing a work task; a driving device arranged on the rack for driving the self-moving device to move; a sensing device arranged on the rack for sensing obstacles around the self-moving device; an identifying device arranged on the rack for identifying an avoiding area in a target area of the self-moving device, the target area being located in a moving direction of the self-moving device and moving with the self-moving device, the identifying device comprising: a blind area identifying unit for obtaining a sensing blind area of the sensing device according to the sensing device arranged on the self-moving device, the sensing blind area being formed by the sensing angle of the sensing device being blocked by the obstacles in the target area; an avoiding identifying unit for determining whether there is an avoiding area in the target area according to the moving track of the self-moving device and the sensing blind area or the sensing blind area; and a moving control device arranged on the rack for controlling the self-moving device to pass through the avoiding area, the moving control device comprising: a data obtaining unit for obtaining the current state of the self-moving device and the position information of the obstacles in the target area; a data calculating unit for determining the reaction distance of the self-moving device according to the current state of the self-moving device; and a mode switching unit for determining whether the self-moving device enters the avoiding mode according to the reaction distance and the position information of the obstacles.

[0018] The present application has the advantage that the sensing blind area of the sensing device is obtained by the sensing device according to the sensing angle of the sensing device being blocked by the obstacles in the target area, and whether the corresponding sensing blind area is an avoiding area is determined according to the area, distance and other parameters of the sensing blind area and the moving track of the self-moving device. On the other hand, when there is an avoiding area in the target area, the self-moving device determines the reaction distance according to the current state and the avoiding position that may need to be avoided, and the self-moving device slows down or increases the frame rate to reduce the reaction distance in advance, thereby improving the safety of the self-moving device passing through the avoiding area. BRIEF DESCRIPTION OF DRAWINGS

[0019] The technical scheme and other beneficial effects of the present application will become apparent from the following detailed description of the embodiments of the present application, taken in conjunction with the accompanying drawings.

[0020] Figure 1 The step flow chart of the avoiding area identifying method provided for the embodiments of the present application.

[0021] Figure 2 The scene diagram of the avoiding area identification provided for the embodiments of the present application.

[0022] Figure 3 The step flow chart of the moving control method provided for the embodiments of the present application.

[0023] Figure 4A scene diagram of the travel control provided by the embodiment of the present application.

[0024] Figure 5 A structural schematic diagram of the avoidance area identification device provided by the embodiment of the present application.

[0025] Figure 6 A structural schematic diagram of the travel control device provided by the embodiment of the present application.

[0026] Figure 7 A structural schematic diagram of the self-moving device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0028] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting” should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] Now refer to Figure 1 , Figure 1 The avoidance area identification method provided by the embodiment of the present application is used for the self-moving device to identify the avoidance area in a target area, and the target area is located in the moving direction of the self-moving device and moves with the self-moving device.

[0030] The execution subject of the avoidance area identification method can be an avoidance area identification device, or a self-moving device, a server device, a physical host or a user equipment (UE) and other different types of devices integrated with the identification of the avoidance area, wherein the avoidance area identification device can be realized in the form of hardware or software, and the UE can be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palm computer or a desktop computer. The identification method comprises:

[0031] Step S110: obtaining a sensing blind area formed by the sensing visual angle of the sensing device being blocked by an obstacle in the target region according to the sensing device located on the self-moving device.

[0032] Exemplarily, the sensing device is used to sense the environment around the self-moving device, for example, to sense the obstacle in the surrounding environment. The obstacle in the surrounding environment is generally divided into dynamic obstacle and static obstacle. The identification method of the present application is mainly aimed at identifying the dynamic obstacle that may exist.

[0033] As described above, the sensing device is located in front of the self-moving device, which is the direction of the self-moving device. The sensing visual angle refers to the visual angle of the sensing device collecting data. It can be understood that the sensing visual angle usually covers the front of the self-moving device. Further, the target region mentioned above is located in the moving direction of the self-moving device, which can be understood as a part of the maximum region that can be sensed by the sensing visual angle of the sensing device.

[0034] For example, refer to Figure 2 Preferably, the target region is arranged in front of the self-moving device and close to the self-moving device. The target region is symmetrically distributed on both sides of the symmetry axis with the advancing direction of the self-moving device as the symmetry axis. Preferably, the target region is quadrangular.

[0035] The sensing blind area formed by the sensing visual angle of the sensing device being blocked by an obstacle in the target region refers to the static obstacle, and can also be a dynamic obstacle. For example, when it is a dynamic obstacle, the sensing blind area refers to the sensing blind area formed by the position of the dynamic obstacle in the current frame of the sensing device.

[0036] In some embodiments, before the sensing blind area formed by the sensing visual angle of the sensing device being blocked by an obstacle in the target region is obtained according to the sensing device located in the moving direction of the self-moving device, the method further comprises: obtaining the current state of the self-moving device, and determining the area of the target region based on the current state.

[0037] The current state includes one or more of the current speed of the self-moving device, the braking distance under the current speed, the frame rate of the sensing device and the computing capability of the self-moving device. It can be understood that the greater the current speed of the self-moving device, the greater the area of the target region. The greater the braking distance under the current speed, the greater the area of the target region. The greater the frame rate of the sensing device, the smaller the area of the target region. The computing capability of the self-moving device refers to the processing device with computing function in the self-moving device. The greater the computing capability of the self-moving device, the smaller the area of the target region.

[0038] Step S120: determining whether an avoidance area exists in the target area according to the moving track of the self-moving device and the sensing blind area, or the sensing blind area.

[0039] Exemplarily, the sensing blind area refers to an area blocked by an obstacle, and one obstacle forms one corresponding sensing blind area, and the avoidance area is one or more of all the sensing blind areas in the target area, that is, one avoidance area is determined according to the corresponding sensing blind area.

[0040] Step S120 only limits the avoidance area to be determined according to the moving track of the self-moving device and the sensing blind area, or the sensing blind area, and the specific determination manner has various forms which will be described in detail below.

[0041] Exemplarily, the moving track of the self-moving device is a moving track planned according to a current destination obtained by the self-moving device, and in the present application, the moving track of the self-moving device can be obtained according to the moving track planned according to the destination.

[0042] In some embodiments, the determining whether the sensing blind area in the target area is an avoidance area according to the moving track of the self-moving device and the sensing blind area, or the sensing blind area comprises:

[0043] calculating the area of each sensing blind area located in the target area.

[0044] When the area of the sensing blind area located in the target area is greater than a preset area, the sensing blind area with the area greater than the preset area is the avoidance area.

[0045] Exemplarily, the area of the sensing blind area is greater than a preset area, and the size of the preset area is usually determined according to the number of dynamic obstacles such as small vehicles, people and animals in the scene. For example, when vehicles are the main dynamic obstacles in the scene, a larger preset area can be set, and when people or animals are the main dynamic obstacles in the scene, a smaller preset area can be set.

[0046] In some embodiments, the determining whether the sensing blind area in the target area is an avoidance area according to the moving track of the self-moving device and the sensing blind area, or the sensing blind area comprises:

[0047] calculating the area of each sensing blind area located in the target area.

[0048] obtaining the length of each visible boundary of each sensing blind area in the target area.

[0049] When the area of the sensing blind area located in the target area is greater than the preset area, and the length of at least one visible boundary of the sensing blind area with the area greater than the preset area is greater than the preset length, the sensing blind area with the area greater than the preset area is the avoidance area.

[0050] Exemplarily, each sensing blind area can include a plurality of visible boundaries, which refer to the boundaries of the sensing blind area visible from the sensing device on the self-moving device, for example Figure 2 In the middle L b That is, a visible boundary, the visible boundary in the present application refers to the visible boundary in the target area.

[0051] Exemplarily, for the convenience of understanding, when the area of the sensing blind area located in the target area is greater than the preset area, and the length of at least one visible boundary of the sensing blind area with the area greater than the preset area is greater than the preset length, the sensing blind area with the area greater than the preset area is the avoidance area. For example Figure 2 , for example, the sensing blind area S b is greater than the preset area, and the corresponding visible boundary L b is greater than the preset length, there is enough length in the target area to provide for the obstacle to pass, and the sensing blind area formed by the obstacle b is the avoidance area.

[0052] In some embodiments, the determination of whether the sensing blind area in the target area is the avoidance area according to the moving track of the self-moving device and the sensing blind area, or the sensing blind area includes:

[0053] Calculating the area of each sensing blind area located in the target area.

[0054] Obtaining the length of each visible boundary of each sensing blind area in the target area.

[0055] Obtaining the minimum distance between each visible boundary of each sensing blind area in the target area and the moving track of the self-moving device.

[0056] When the area of the sensing blind area located in the target area is greater than the preset area, the length of at least one visible boundary of the sensing blind area with the area greater than the preset area is greater than the preset length, and the minimum distance between at least one visible boundary of the sensing blind area with the area greater than the preset area and the moving track of the self-moving device is less than the preset distance, the sensing blind area with the area greater than the preset area is the avoidance area.

[0057] Exemplarily, continuing to refer to Figure 2 , Figure 2 the sensing blind area S aIf the area is less than the preset area, the sensing area is a non-avoidance area. The sensing area S formed by the obstacle b b If the area is greater than the preset area, and the visible boundary L b of the obstacle b is also greater than the preset length. The minimum distance between each visible boundary of each sensing blind area in the target area and the moving track of the self-moving device is obtained, in which Figure 2 D b is the minimum distance between the visible boundary and the moving track of the self-moving device. When the minimum distance between the visible boundary and the moving track of the self-moving device is greater than the preset distance, it indicates that the obstacle is far away from the moving track, and the self-moving device has enough time to slow down when the obstacle is discovered. Otherwise, the sensing blind area formed by the obstacle b is an avoidance area.

[0058] The application obtains the sensing blind area formed by the sensing angle of the sensing device being blocked by the obstacle in the target area, and determines whether the corresponding sensing blind area is an avoidance area according to the area, distance and other parameters of the sensing blind area and the moving track of the self-moving device.

[0059] Figure 3 The application provides a travel control method for controlling the avoidance area identified by the identification method of the avoidance area. The travel control method comprises the following steps.

[0060] Step S310: obtaining the current state of the self-moving device and the position information of the obstacle in the target area.

[0061] For example, the current state includes one or more of the current speed of the self-moving device, the braking distance under the current speed, the frame rate of the sensing device and the computing capability of the self-moving device. The position information of the obstacle includes the position coordinate set of the obstacle in the world coordinate system, the size of the obstacle and the like.

[0062] Step S320: determining the reaction distance of the self-moving device according to the current state of the self-moving device.

[0063] For example, the greater the current speed of the self-moving device, the greater the reaction distance. The greater the braking distance under the current speed, the greater the reaction distance. The greater the frame rate of the sensing device, the smaller the reaction distance. The computing capability of the self-moving device refers to the processing device with computing function in the self-moving device. The greater the computing capability of the self-moving device, the smaller the reaction distance.

[0064] Step S330: determining whether the self-moving device enters the avoidance mode according to the reaction distance and the position information of the obstacle.

[0065] Specifically, step S330 is realized by the following steps.

[0066] For example, determining that the self-moving device enters avoidance mode based on the reaction distance and the obstacle's position information includes:

[0067] The intersection point on the movement trajectory of the line connecting the visible boundary of the sensing blind zone within the target area and the shortest distance between them is determined as the obstacle avoidance position.

[0068] The starting position is determined on the movement trajectory of the mobile device based on the reaction distance of the self-moving device and the obstacle avoidance position.

[0069] When the self-moving device passes the starting position, the self-moving device enters the avoidance mode.

[0070] Referring to reference 4, the shortest distance connection is... Figure 4 D in b D b The intersection point with the movement trajectory of the self-moving device is O. Point O is the obstacle avoidance position described in this invention. It can be understood that, due to the existence of obstacle b, the closest point where the dynamic obstacle may collide with the self-moving device through obstacle b is O. Although all points on the movement trajectory after point O have the possibility of colliding with the self-moving device, their importance is less than that of point O.

[0071] The starting position is determined on the movement trajectory of the mobile device based on the reaction distance of the self-moving device and the obstacle avoidance position. The starting position is... Figure 4 Point P in the equation, the distance between point P and point O along the trajectory of the self-moving device is equal to the reaction distance of the self-moving device.

[0072] In some embodiments, when the self-moving device passes the starting position, the self-moving device enters an avoidance mode. This also includes real-time detection of whether an avoidance zone associated with point O (i.e., the starting position) exists within the target area during the movement of the self-moving device. This is because the target area changes, the obstacles within the target area change, and the sensing blind spots formed by the obstacles also change during the movement of the self-moving device. When the self-moving device is at its current position, there is a avoidance zone within the target area. The starting position associated with the avoidance zone is calculated. When the self-moving device reaches the starting position, the sensing blind spot area may decrease, and if the conditions for an avoidance zone are no longer met, the self-moving device continues to move normally from the starting position.

[0073] In some embodiments, the avoidance mode includes: controlling the current speed of the self-moving device within a preset speed.

[0074] In some embodiments, the evading mode further comprises: increasing a frame rate of a sensing device of the self-moving device to a preset frame rate.

[0075] It can be understood that the braking distance of the self-moving device is related to the current speed, and the computing capability of the self-moving device is inherent to the self-moving device and changes little. The current speed of the self-moving device can be changed, or the frame rate of the sensing device of the self-moving device can be changed. When the frame rate of the self-moving device is increased, the self-moving device can discover the dynamic obstacle suddenly appearing in the field of view in a more timely manner, so that the self-moving device can make corresponding evading actions earlier.

[0076] The application improves the safety of the self-moving device passing through the evading area by determining the reaction distance and the evading position that may need to be evaded according to the current state of the self-moving device when the target area has the evading area, and reducing the reaction distance by decelerating or increasing the frame rate in advance.

[0077] As shown in Figure 5 The identification device for the evading area provided by the embodiment of the application comprises a blind area identification unit 10 and an evading identification unit 20.

[0078] The blind area identification unit 10 is used to obtain a sensing blind area formed by the sensing angle of the sensing device being blocked by the obstacle in the target area according to the sensing device located on the self-moving device.

[0079] Exemplarily, the sensing device is used to sense the environment around the self-moving device, for example, to sense the obstacle in the surrounding environment. The obstacle in the surrounding environment is generally divided into a dynamic obstacle and a static obstacle. The identification method of the application mainly identifies the dynamic obstacle that may exist.

[0080] As described above, the sensing device is located in the front of the self-moving device, which is the direction in which the self-moving device advances. The sensing vision refers to the angle of view of the data collected by the sensing device. It can be understood that the sensing angle usually covers the front of the self-moving device. Furthermore, the target area mentioned above is located in the moving direction of the self-moving device. It can be understood that the target area is a part of the maximum area that can be sensed by the sensing vision of the sensing device.

[0081] The evading identification unit 20 is used to determine whether the sensing blind area in the target area is an evading area according to the moving track of the self-moving device and the sensing blind area, or the sensing blind area.

[0082] Exemplarily, the sensing blind area refers to an area blocked by an obstacle, one obstacle forms one corresponding sensing blind area, and the avoidance area is one or more of all the sensing blind areas in the target area, that is, one avoidance area is determined by the corresponding sensing blind area.

[0083] As shown in the figure, the travel control device provided by the embodiment of the application comprises a data acquisition unit 30, a data calculation unit 40 and a mode switching unit 50. Figure 6

[0084] The data acquisition unit 30 is configured to acquire the current state of the self-moving device and the position information of the obstacles in the target area.

[0085] Exemplarily, the current state comprises one or more of the current speed of the self-moving device, the braking distance under the current speed, the frame rate of the sensing device and the computing capability of the self-moving device. The position information of the obstacles comprises a set of position coordinates of the obstacles in the world coordinate system, the size of the obstacles and the like.

[0086] The data calculation unit 40 is configured to determine the reaction distance of the self-moving device according to the current state of the self-moving device.

[0087] Exemplarily, the greater the current speed of the self-moving device, the greater the reaction distance. The greater the braking distance under the current speed, the greater the reaction distance. The greater the frame rate of the sensing device, the smaller the reaction distance. The computing capability of the self-moving device refers to the processing device with computing function in the self-moving device, and the greater the computing capability of the self-moving device, the smaller the reaction distance.

[0088] The mode switching unit 50 is configured to determine whether the self-moving device enters the avoidance mode according to the reaction distance and the position information of the obstacles.

[0089] The application further provides a self-moving device, which comprises a rack, an execution device, a driving device, a sensing device, an identification device and a travel control device.

[0090] The execution device is arranged on the rack and is configured to execute a work task. The work task comprises weeding, cleaning and the like.

[0091] The driving device is arranged on the rack and is configured to drive the self-moving device to move.

[0092] ​The sensing device is mounted on the rack to sense obstacles around the self-moving device.

[0093] An identification device is mounted on the frame and is used by the self-moving device to identify avoidance zones within a target area. The target area is located in the direction of movement of the self-moving device and moves with it. The identification device includes a blind spot identification unit 10 and an avoidance identification unit 20. The blind spot identification unit 10 is used to obtain a sensing blind spot formed by the sensing angle of a sensing device located on the automated device being blocked by an obstacle in the target area. The avoidance identification unit 20 is used to determine whether an avoidance zone exists within the target area based on the movement trajectory of the self-moving device and the sensing blind spot, or the sensing blind spot.

[0094] A travel control device, mounted on the frame, is used to control the self-moving device to pass through the avoidance area. The travel control device includes a data acquisition unit 30, a data calculation unit 40, and a mode switching unit 50.

[0095] The data acquisition unit 30 is used to acquire the current state of the self-moving device and the location information of obstacles within the target area. The data calculation unit 40 is used to determine the reaction distance of the self-moving device based on its current state. The mode switching unit 50 is used to determine whether the self-moving device should enter an avoidance mode based on the reaction distance and the location information of the obstacles.

[0096] like Figure 7 As shown, it illustrates a structural diagram of the self-moving device involved in this application, specifically:

[0097] The self-moving device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will understand that... Figure 7 The device structure shown does not constitute a limitation on the device. Self-moving devices may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0098] The processor 401 is the control center of the device, which connects the whole device through various interfaces and lines, and performs various functions and processes data of the device by running or executing software programs and / or unit modules stored in the memory 402 and calling data stored in the memory 402, thereby overall monitoring the self-moving device. Optionally, the processor 401 can include one or more processing cores; the processor 401 can be a central processing unit (CPU), and can 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 gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like, preferably, the processor 401 can integrate an application processor and a modem processor, wherein the application processor mainly processes operating systems, user interfaces and application programs, and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 401.

[0099] The memory 402 can be used to store software programs and modules, and the processor 401 executes various functions and data processing by running the software programs and modules stored in the memory 402. The memory 402 can mainly include a program storage area and a data storage area, wherein the program storage area can store operating systems, application programs required by at least one function, etc.; the data storage area can store data created according to the use of the self-moving device, etc. In addition, the memory 402 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory 402 can also include a memory controller to provide access of the processor 401 to the memory 402.

[0100] The self-moving device can also include a power supply 403 for powering various components, and preferably the power supply 403 can be logically connected to the processor 401 through a power management system, so as to realize functions such as management of charging, discharging and power consumption management through the power management system. The power supply 403 can also include one or more direct or alternating current power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and any other components.

[0101] The self-moving device can further include an input unit 404 and an output unit 405, the input unit 404 being configured to receive inputted digital or character information, and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0102] Although not shown, the self-moving device can further include a display unit and the like, which will not be described herein. In particular in the present application, the processor 401 in the self-moving device is configured to load executable files corresponding to processes of one or more application programs into the memory 402, and to run the application programs stored in the memory 402 by the processor 401, so as to implement various functions, as follows:

[0103] acquiring, according to a sensing device located on the self-moving device, a sensing blind area formed by a sensing angle of the sensing device being blocked by an obstacle in the target area;

[0104] determining, according to the moving track of the self-moving device and the sensing blind area, or the sensing blind area, whether the sensing blind area in the target area is an avoidance area.

[0105] Alternatively, acquiring a current state of the self-moving device and position information of the obstacle in the target area;

[0106] determining a reaction distance of the self-moving device according to the current state of the self-moving device;

[0107] determining whether the self-moving device enters an avoidance mode according to the reaction distance and the position information of the obstacle.

[0108] It is understood by those skilled in the art that all or part of the steps in the above-mentioned various methods can be completed by instructions, or by relevant hardware controlled by the instructions, which can be stored in a computer readable storage medium and loaded and executed by the processor 401.

[0109] To this end, the present application provides a computer readable storage medium, which can include a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, etc. The computer readable storage medium has computer instructions stored thereon, which are loaded by the processor 401 to execute steps in any avoidance area identification control method or steps in any travel control method provided by the present application. For example, the computer instructions are executed by the processor 401 to implement the following functions:

[0110] According to a sensing device located on the automatic device, a sensing blind area formed by a sensing visual angle of the sensing device being blocked by an obstacle in the target area is acquired;

[0111] According to the moving track of the self-moving device and the sensing blind area, or the sensing blind area, whether the sensing blind area in the target area is an avoiding area is determined.

[0112] Alternatively, a current state of the self-moving device and position information of the obstacle in the target area are acquired;

[0113] According to the current state of the self-moving device, a reaction distance of the self-moving device is determined.

[0114] According to the reaction distance and the position information of the obstacle, whether the self-moving device enters an avoiding mode is determined.

[0115] In the above embodiments, the description of each embodiment has its own focus, and the part not described in detail in a certain embodiment can be referred to the detailed description of other embodiments above, which will not be repeated here.

[0116] In the implementation, each unit or structure above can be realized as an independent entity, or can be combined as the same or several entities, and the specific implementation of each unit or structure above can be referred to the previous embodiments, which will not be repeated here.

[0117] To sum up, although the present application has been disclosed as above with preferred embodiments, the above preferred embodiments are not used to limit the present application, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, therefore the protection scope of the present application is subject to the scope defined by the claims.

Claims

1. A method for identifying avoidance areas, characterized in that, The method for identifying avoidance zones within a target area for a self-moving device, wherein the target area is located in the direction of movement of the self-moving device and moves with the self-moving device, the identification method includes: The sensing blind spot formed by the sensing field of the sensing device being blocked by obstacles in the target area is obtained based on the sensing device located on the self-moving device; Based on the movement trajectory of the self-moving device and the blind zone parameter of the sensing blind zone, or the blind zone parameter of the sensing blind zone, it is determined whether the sensing blind zone in the target area is an avoidance area, wherein the blind zone parameter includes the area of ​​the sensing blind zone, or the area of ​​the sensing blind zone and the length of each visible boundary.

2. The method for identifying avoidance areas according to claim 1, characterized in that, Before obtaining the sensing blind zone formed by the obstruction of the sensing field of view of the sensing device in the target area based on the sensing device located in the movement direction of the self-moving device, the process includes: The current state of the self-moving device is obtained, and the current state includes one or more of the following: the current speed of the self-moving device, the braking distance at the current speed, the frame rate of the sensing device, and the computing power of the self-moving device. The area of ​​the target region is determined based on the current state.

3. The method for identifying avoidance areas according to claim 1, characterized in that, The step of determining whether the sensing blind zone within the target area is an avoidance zone based on the movement trajectory of the self-moving device and the blind zone parameter of the sensing blind zone, or the blind zone parameter of the sensing blind zone, includes: Calculate the area of ​​each sensing blind zone located within the target area; When the area of ​​the sensing blind zone within the target area is greater than a preset area, the sensing blind zone with an area greater than the preset area is the avoidance area.

4. The method for identifying avoidance areas according to claim 1, characterized in that, The step of determining whether the sensing blind zone within the target area is an avoidance zone based on the movement trajectory of the self-moving device and the blind zone parameter of the sensing blind zone, or the blind zone parameter of the sensing blind zone, includes: Calculate the area of ​​each sensing blind zone located within the target area; Obtain the length of each visible boundary of each sensing blind zone within the target area; When the area of ​​a sensing blind zone located within the target area is greater than a preset area, and the length of at least one visible boundary of the sensing blind zone with an area greater than the preset area is greater than a preset length, then the sensing blind zone with an area greater than the preset area is the avoidance area.

5. The method for identifying avoidance areas according to claim 1, characterized in that, The step of determining whether the sensing blind zone within the target area is an avoidance zone based on the movement trajectory of the self-moving device and the blind zone parameter of the sensing blind zone, or the blind zone parameter of the sensing blind zone, includes: Calculate the area of ​​each sensing blind zone located within the target area; Obtain the length of each visible boundary of each sensing blind zone within the target area; Obtain the minimum distance between the visible boundary of each sensing blind zone within the target area and the movement trajectory of the self-moving device; When the area of ​​the sensing blind zone located within the target area is greater than a preset area, the length of at least one visible boundary of the sensing blind zone with an area greater than the preset area is greater than a preset length, and the minimum distance between at least one visible boundary of the sensing blind zone with an area greater than the preset area and the movement trajectory of the self-moving device is less than a preset distance, then the sensing blind zone with an area greater than the preset area is the avoidance area.

6. A method for controlling movement, characterized in that, The travel control method is used to control the avoidance area identified by the avoidance area identification method according to any one of claims 1-5, the travel control method comprising: Obtain the current state of the self-moving device and the location information of obstacles within the target area; The reaction distance of the self-moving device is determined based on its current state. The self-moving device is determined to enter avoidance mode based on the reaction distance and the location information of the obstacle.

7. The travel control method according to claim 6, characterized in that, The step of determining that the self-moving device enters avoidance mode based on the reaction distance and the location information of the obstacle includes: The intersection of the line connecting the visible boundary of the sensing blind zone within the target area and the shortest distance on the movement trajectory of the self-moving device is determined as the obstacle avoidance position on the movement trajectory. The starting position is determined on the movement trajectory of the mobile device based on the reaction distance of the self-moving device and the obstacle avoidance position; When the self-moving device passes the starting position, the self-moving device enters the avoidance mode.

8. The travel control method according to claim 6, characterized in that, The avoidance modes include: The current speed of the self-moving device is controlled within a preset speed.

9. The travel control method according to claim 6, characterized in that, The avoidance mode also includes: Increase the frame rate of the sensing device of the self-moving device to a preset frame rate.

10. A device for identifying avoidance areas, characterized in that, For identifying avoidance zones within a target area of ​​a self-moving device, the target area being located in the direction of movement of the self-moving device and moving with the self-moving device, the identification device includes: A blind spot recognition unit is used to obtain, based on the sensing device located on the self-moving device, the sensing blind spot formed by the sensing angle of the sensing device being blocked by an obstacle in the target area; The obstacle avoidance identification unit is used to determine whether the sensing blind zone in the target area is an avoidance area based on the movement trajectory of the self-moving device and the blind zone parameter of the sensing blind zone, or the blind zone parameter of the sensing blind zone, wherein the blind zone parameter includes the area of ​​the sensing blind zone, or the area of ​​the sensing blind zone and the length of each visible boundary.

11. A travel control device, characterized in that, The travel control device is used to control the avoidance area identified by the avoidance area identification device according to claim 10, the travel control device comprising: The data acquisition unit is used to acquire the current state of the self-moving device and the location information of obstacles in the target area; A data calculation unit is used to determine the reaction distance of the self-moving device based on the current state of the self-moving device; The mode switching unit is used to determine whether the self-moving device should enter the avoidance mode based on the reaction distance and the position information of the obstacle.

12. A self-moving device, characterized in that, include: frame; An actuator, mounted on the frame, is used to perform work tasks; A drive unit, mounted on the frame, is used to drive the self-moving device to move. A sensing device, mounted on the frame, is used to sense obstacles around the self-moving device; An identification device, mounted on the rack, is used by the self-moving device to identify a avoidance area within a target area. The target area is located in the direction of movement of the self-moving device and moves with the self-moving device. The identification device includes: A blind spot recognition unit is used to obtain, based on the sensing device located on the self-moving device, the sensing blind spot formed by the sensing angle of the sensing device being blocked by an obstacle in the target area; The obstacle avoidance identification unit is used to determine whether there is an obstacle avoidance area in the target area based on the movement trajectory of the self-moving device and the blind zone parameter of the sensing blind zone, or the blind zone parameter of the sensing blind zone, wherein the blind zone parameter includes the area of ​​the sensing blind zone, or the area of ​​the sensing blind zone and the length of each visible boundary; A travel control device, mounted on the frame, is used to control the self-moving device to pass through the avoidance area. The travel control device includes: The data acquisition unit is used to acquire the current state of the self-moving device and the location information of obstacles in the target area; A data calculation unit is used to determine the reaction distance of the self-moving device based on the current state of the self-moving device; The mode switching unit is used to determine whether the self-moving device should enter the avoidance mode based on the reaction distance and the position information of the obstacle.

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