Method, device, equipment and medium for determining sensor mounting position

Abstract

The application discloses a kind of sensor installation position determination methods, comprising: obtaining sensor detection distance threshold, and the candidate horizontal installation position of sensor on target mobile device shell;From the target boundary corresponding to the candidate horizontal installation position in the candidate boundary of the target mobile device shell, and determine the candidate distance value between candidate horizontal installation position and target boundary;According to candidate distance value and sensor detection distance threshold, determine target horizontal installation position from candidate horizontal installation position.The application determines target horizontal installation position from candidate horizontal installation position according to sensor detection distance threshold and candidate distance value between candidate horizontal installation position and target boundary, so that when installing sensor on target horizontal installation position, the detection blind area of sensor can be reduced, and the driving safety of target mobile device is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, device, and medium for determining the installation location of a sensor. Background Technology

[0002] With the development of robotics technology, more and more intelligent robots are being applied to human life and work. When moving, intelligent robots typically rely on their own installed sensors to perceive their surroundings, thereby planning their routes and avoiding collisions with obstacles.

[0003] However, there is currently no specific solution in the industry to determine the appropriate installation location for sensors on intelligent robots. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for determining the installation location of a sensor, in order to avoid the problem of a large detection blind zone caused by improper sensor installation location.

[0005] According to one aspect of the present invention, a method for determining the installation location of a sensor is provided, comprising:

[0006] Obtain the sensor detection distance threshold and the candidate horizontal mounting positions of the sensor on the target mobile device casing;

[0007] The target boundary corresponding to the candidate horizontal mounting position is determined from the candidate boundaries of the target mobile device casing, and the candidate distance value between the candidate horizontal mounting position and the target boundary is determined;

[0008] The target horizontal installation position is determined from the candidate horizontal installation positions based on the candidate distance values ​​and the sensor detection distance threshold.

[0009] According to another aspect of the present invention, a sensor installation location determination device is provided, comprising:

[0010] The data acquisition module is used to acquire the sensor detection distance threshold and the candidate horizontal mounting position of the sensor on the target mobile device casing;

[0011] The target boundary determination module is used to determine the target boundary corresponding to the candidate horizontal mounting position from the candidate boundaries of the target mobile device shell, and to determine the candidate distance value between the candidate horizontal mounting position and the target boundary;

[0012] The horizontal installation position determination module is used to determine the target horizontal installation position from the candidate horizontal installation positions based on the candidate distance value and the sensor detection distance threshold.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robot identification method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the robot identification method according to any embodiment of the present invention.

[0018] The technical solution of this invention determines the target horizontal installation position from the candidate horizontal installation positions based on the sensor detection distance threshold and the candidate distance value between the candidate horizontal installation position and the target boundary. This reduces the sensor's detection blind zone and improves the driving safety of the target mobile device when the sensor is installed at the target horizontal installation position.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1A This is a schematic diagram of a sensor detection blind zone provided in Embodiment 1 of the present invention;

[0022] Figure 1B A flowchart illustrating a method for determining the installation location of a sensor according to Embodiment 1 of the present invention;

[0023] Figure 1C This is a schematic diagram of the detection angle of a candidate sensor provided in Embodiment 1 of the present invention;

[0024] Figure 2AA flowchart illustrating a method for determining the installation location of a sensor according to Embodiment 2 of the present invention;

[0025] Figure 2B This is a schematic diagram of a candidate sensor detection angle provided in Embodiment 2 of the present invention;

[0026] Figure 3 A flowchart illustrating a method for determining the installation location of a sensor according to Embodiment 3 of the present invention;

[0027] Figure 4 This is a structural schematic diagram of an intelligent robot provided in Embodiment 4 of the present invention;

[0028] Figure 5 This is a schematic diagram of a sensor installation position determination device provided in Embodiment Six of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the sensor installation position determination method of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "candidate," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Currently, there is no specific solution in the industry to determine the appropriate installation location of sensors on intelligent robots in order to reduce the blind zone of sensor detection. This undoubtedly means that when the sensor is installed in an inappropriate location on the intelligent robot, the blind zone of sensor detection will be large, which will seriously affect the safety of the intelligent robot.

[0033] Figure 1A This is a schematic diagram of a sensor detection blind zone provided in Embodiment 1 of the present invention, as shown below. Figure 1A As shown, 100 represents a bird's-eye view of the intelligent robot, 101 represents the extended plane of the left boundary of the intelligent robot in the direction of its travel, 102 represents the extended plane of the right boundary of the intelligent robot in the direction of its travel, and 103 represents the sensors installed on the intelligent robot.

[0034] To avoid interference from obstacles outside the robot's driving direction, the sensor's detection range is typically limited to the robot's direction of travel. For example, sector 104 represents the detection range of sensor 103, determined by a sensor detection distance threshold. It can be clearly seen that the blind spot for sensor 103 is the shadowed area 105.

[0035] Example 1

[0036] Figure 1B This is a flowchart of a method for determining the installation position of a sensor according to Embodiment 1 of the present invention. This embodiment is applicable to determining a suitable horizontal installation position of the sensor to reduce blind spots in sensor detection. This method can be executed by a sensor installation position determination device, which can be implemented in hardware and / or software. Figure 1B As shown, the method includes:

[0037] S101. Obtain the sensor detection distance threshold and the candidate horizontal mounting position of the sensor on the target mobile device casing.

[0038] The target mobile device refers to any intelligent terminal device that can move and has the ability to avoid obstacles, including but not limited to autonomous vehicles and intelligent robots. The types of intelligent robots include but are not limited to industrial robots, manipulator robots, numerical control robots, programmable robots, household robots, or search and rescue robots, etc.

[0039] The sensor detection distance threshold represents the farthest distance at which the sensor can detect obstacles. It is set and adjusted based on the current operating scenario of the target mobile device. For example, when the target mobile device is an intelligent robot, assuming its current operating scenario is hotel delivery, the sensor detection distance threshold can be set to 50 centimeters; or, for example, when the target mobile device is an autonomous vehicle, assuming its current operating scenario is highway cruising, the sensor detection distance threshold can be set to 50 meters.

[0040] Candidate horizontal mounting locations represent the set of horizontal positions on the casing of the target mobile device where sensors can be mounted. For example, at least one candidate horizontal mounting location can be set on the casing of the target mobile device in the direction of movement, and a horizontal distance interval can be set between each candidate horizontal mounting location to ensure that sensors can be mounted on adjacent candidate horizontal mounting locations without causing sensor obstruction issues.

[0041] The types of sensors in this embodiment include, but are not limited to, ultrasonic sensors, infrared sensors, or millimeter-wave sensors.

[0042] In one implementation, a sensor detection distance threshold adapted to the current working scenario of the target mobile device is determined based on the current working scenario of the target mobile device and the correlation between the working scenario and the sensor detection distance threshold.

[0043] Furthermore, pre-planned candidate horizontal mounting positions on the target mobile device's casing are obtained. These candidate horizontal mounting positions can be set on any casing of the target mobile device; preferably, they are set on the casing in the direction of movement of the target mobile device (including forward and / or backward directions) to detect obstacles in that direction and prevent collisions with obstacles during movement.

[0044] By acquiring the sensor detection distance threshold and the candidate horizontal mounting positions of the sensor on the target mobile device casing, the desired data for the execution method was obtained, laying a data foundation for subsequently determining the target horizontal mounting position based on the sensor detection distance threshold and the candidate horizontal mounting positions.

[0045] S102. Determine the target boundary corresponding to the candidate horizontal mounting position from the candidate boundaries of the target mobile device shell, and determine the candidate distance value between the candidate horizontal mounting position and the target boundary.

[0046] Here, candidate boundaries represent the set of shell boundaries on the target mobile device's casing. In this embodiment, candidate boundaries consist of symmetrically positioned shell boundaries on the casing. It is understood that candidate boundaries include, but are not limited to, the left and right boundaries of the target mobile device's casing; or, the top and bottom boundaries of the target mobile device's casing, etc. The target boundary can be selected based on the boundary distance values ​​between the candidate horizontal mounting position and each candidate boundary.

[0047] In one implementation, the boundary distance value between each candidate horizontal installation position and each candidate boundary is determined, and the target boundary corresponding to each candidate horizontal installation position is determined from the candidate boundaries based on the magnitude of the boundary distance value. The boundary distance value between each candidate horizontal installation position and its corresponding target boundary is used as the candidate distance value.

[0048] Optionally, the target boundary corresponding to each candidate horizontal installation position can be determined from the candidate boundaries based on the boundary distance value, including two methods:

[0049] 1) Select the candidate boundary corresponding to the smallest boundary distance value as the target boundary.

[0050] 2) Select the candidate boundary corresponding to the largest boundary distance value as the target boundary.

[0051] If method 1) is used to determine the target boundary, the corresponding candidate distance values ​​can be directly used in the calculation in S103 without the need for distance value conversion. However, if method 2) is used to determine the target boundary, the corresponding candidate distance values ​​need to be converted based on the width of the target mobile device's casing before the converted distance values ​​are used in the calculation in S103.

[0052] By determining the target boundary corresponding to the candidate horizontal mounting position from the candidate boundaries of the target mobile device shell, and determining the candidate distance value between the candidate horizontal mounting position and the target boundary, the data preparation effect is achieved, laying a data foundation for subsequent determination of the target horizontal mounting position based on the candidate distance value.

[0053] S103. Determine the target horizontal installation position from the candidate horizontal installation positions based on the candidate distance values ​​and the sensor detection distance threshold.

[0054] In one implementation, a candidate distance value between a candidate horizontal installation position and a target boundary is determined, and a trigonometric function is calculated based on the candidate distance value and a sensor detection distance threshold. The candidate sensor detection angle corresponding to the candidate horizontal installation position is then determined based on the trigonometric function calculation result.

[0055] Optionally, if the candidate boundary corresponding to the smallest boundary distance value is taken as the target boundary in S102, then the candidate sensor detection angle is determined directly by using the candidate distance value between the candidate horizontal installation position and the target boundary, as well as the sensor detection distance threshold.

[0056] If the candidate boundary corresponding to the largest boundary distance value is taken as the target boundary in S102, then the distance difference between the width of the target mobile device shell and the candidate distance value is calculated, and then the candidate sensor detection angle is determined by using the distance difference and the sensor detection distance threshold.

[0057] Based on the magnitude of the candidate sensor detection angles, the candidate sensor detection angles are filtered to determine the target sensor detection angle. The candidate horizontal installation position corresponding to the target sensor detection angle is then used as the target horizontal installation position. Here, the candidate sensor detection angle represents the maximum detection angle of the sensor within the target mobile device's direction of travel.

[0058] Optionally, the detection angle of the candidate sensor with the largest angle can be used as the detection angle of the target sensor.

[0059] Figure 1C This is a schematic diagram of a candidate sensor detection angle provided in Embodiment 1 of the present invention, as shown below. Figure 1C As shown, 106 represents a bird's-eye view of the target mobile device, 107 represents the left boundary of the target mobile device's casing, extending in the direction of travel of the target mobile device, 108 represents the right boundary of the target mobile device's casing, extending in the direction of travel of the target mobile device, and 109 represents a candidate horizontal mounting position.

[0060] Since the left boundary of the target mobile device's casing has the smallest boundary distance to the candidate horizontal mounting position, it is taken as the target boundary. 111, 112, and 113 represent detection line segments determined based on the sensor detection distance threshold. Detection line segment 111 represents the left boundary of the detection range, detection line segment 113 represents the right boundary of the detection range, and detection line segment 112 represents the centerline of the detection range. 110 represents the candidate distance value between the candidate horizontal mounting position and the target boundary. θ represents the candidate sensor detection angle.

[0061] As can be seen, based on the trigonometric function relationship between the candidate distance value 110 and the detection line segment 111, half of the candidate sensor detection angle θ / 2 can be calculated, and thus the candidate sensor detection angle θ can be determined.

[0062] Since the sensor detection angle is related to both the candidate distance value and the sensor detection distance threshold, the technical solution of this embodiment of the invention determines the candidate distance value between the candidate horizontal installation position and the target boundary, and determines the target horizontal installation position from the candidate horizontal installation positions based on the candidate distance value and the sensor detection distance threshold. This ensures that the candidate sensor detection angle corresponding to the target horizontal installation position is the largest angle among all candidate sensor detection angles corresponding to the candidate horizontal installation positions, thereby minimizing the sensor's detection blind zone and improving the driving safety of the target mobile device.

[0063] Example 2

[0064] Figure 2AThis is a flowchart of a method for determining the installation position of a sensor according to Embodiment 2 of the present invention. This embodiment provides an optional implementation for determining a suitable horizontal installation position of the sensor, and can be combined with the various optional implementation methods described above. For example... Figure 2A As shown, the method includes:

[0065] S201. Obtain the sensor detection distance threshold and the candidate horizontal mounting position on the target mobile device casing.

[0066] S202. Determine the boundary distance value between the candidate horizontal installation position and the candidate boundary, sort the boundary distance values, and take the candidate boundary corresponding to the smallest boundary distance value as the target boundary according to the sorting result.

[0067] The candidate boundaries include the left and right boundaries of the target mobile device's casing.

[0068] For example, suppose a candidate horizontal mounting position is 10 cm from the left edge of the casing and 30 cm from the right edge of the casing, then the left edge of the casing is taken as the target boundary for the candidate mounting position. Alternatively, suppose a candidate mounting position is 25 cm from the left edge of the casing and 15 cm from the right edge of the casing, then the right edge of the casing is taken as the target boundary for the candidate mounting position. Or, suppose a candidate mounting position is 20 cm from the left edge of the casing and 20 cm from the right edge of the casing, then either the right or left edge of the casing is taken as the target boundary for the candidate mounting position.

[0069] By selecting the candidate boundary corresponding to the smallest boundary distance value as the target boundary, the corresponding candidate distance value can be directly used to perform trigonometric function calculations with the sensor detection distance threshold. This ensures that the determined candidate sensor detection angle meets the requirement of not exceeding the maximum detection angle of the target mobile device's driving direction, indirectly guaranteeing the accuracy of the candidate sensor detection angle determination. Furthermore, it eliminates the need to convert the candidate distance value based on the shell width, reducing the steps in the method execution and improving the efficiency of the method execution.

[0070] S203. Determine the candidate distance value between the candidate horizontal installation position and the target boundary.

[0071] S204. Determine the candidate sensor detection angle corresponding to the candidate horizontal installation position based on the ratio between the candidate distance value and the sensor detection distance threshold.

[0072] Wherein, the candidate sensor detection angle represents the angle between the first line segment and the second line segment; the endpoint of the first line segment includes the first endpoint and the candidate horizontal installation position, the first endpoint is located on the target plane, and the distance between the first endpoint and the candidate horizontal installation position is the sensor detection distance threshold, the target plane is the plane extending from the target boundary in the direction of movement of the target mobile device; the second line segment is axially symmetric to the first line segment based on the third line segment, the third line segment is parallel to the direction of movement of the target mobile device, and passes through the candidate horizontal installation position.

[0073] Figure 2B This is a schematic diagram of a candidate sensor detection angle provided in Embodiment 2 of the present invention, as shown below. Figure 2B As shown, 200 represents a bird's-eye view of the target mobile device, 201 represents the left boundary of the target mobile device's casing, and 202 represents the right boundary of the target mobile device's casing. 203 represents the extension plane of the left boundary in the direction of movement of the target mobile device, and 204 represents the extension plane of the right boundary in the direction of movement of the target mobile device. Assume the target boundary is the left boundary 201, and the target plane is the extension plane 203.

[0074] 206 represents the first line segment, with its two endpoints being the candidate horizontal installation position 207 and the first endpoint 208 located on the extension plane 203, at a distance from the candidate horizontal installation position 207 equal to the sensor detection distance threshold. 209 represents the second line segment, which is symmetrical to the first line segment 206 based on a third line segment 210. The third line segment 210 is parallel to the movement direction of the target mobile device and passes through the candidate horizontal installation position 207. Therefore, the candidate sensor detection angle corresponding to the candidate horizontal installation position 207 is the angle between the first line segment 206 and the second line segment 209.

[0075] In one implementation, a ratio between a candidate distance value and a sensor detection distance threshold is determined, and an inverse trigonometric function is calculated based on this ratio. The candidate sensor detection angle is then determined based on the calculation result.

[0076] Optionally, S204 includes:

[0077] The orientation angle of the candidate sensor is determined using the following formula:

[0078]

[0079] Where θ is the candidate sensor detection angle, x is the candidate distance value, and Dis is the sensor detection distance threshold.

[0080] For ease of understanding, let's continue with... Figure 1C Let's take an example to explain. For example... Figure 1CAs shown, the candidate distance value 110 is perpendicular to the detection line segment 112, thus forming a right triangle including the candidate distance value 110 and the detection line segment 111. Assume that the candidate distance value 110 is "x" and the length of the detection line segment 111 (i.e. the sensor detection distance threshold) is "Dis".

[0081] In this right triangle, the candidate distance value 110 and the probe segment 111 have the following trigonometric function relationship:

[0082] sin(θ / 2)=x / Dis

[0083] The above trigonometric function relationships are derived as follows:

[0084] θ = 2*arcsin(x / Dis)

[0085] For example, assuming x = 12.5cm and Dis = 50cm, then Assuming x = 12.5cm and Dis = 100cm, then Assuming x = 24cm and Dis = 50cm, then Assuming x = 24cm and Dis = 100cm, then

[0086] The candidate sensor orientation angle is determined by the following formula: θ = 2*arcsin(x / Dis); where θ is the candidate sensor detection angle, x is the candidate distance value, and Dis is the sensor detection distance threshold. Therefore, only two distance information, the candidate distance value and the sensor detection distance threshold, are needed to calculate the candidate sensor detection angle through trigonometric functions. This eliminates the need for specialized angle measuring instruments, greatly saving the cost required to determine the candidate sensor detection angle and improving efficiency.

[0087] S205. Determine the target horizontal installation position from the candidate horizontal installation positions based on the detection angle of the candidate sensors.

[0088] In one implementation, the target horizontal installation position is determined from the candidate horizontal installation positions based on the magnitude of the detection angle of the candidate sensors.

[0089] By determining the candidate sensor detection angle corresponding to the candidate horizontal installation position based on the ratio between the candidate distance value and the sensor detection distance threshold, the target horizontal installation position is determined from the candidate horizontal installation positions based on the candidate sensor detection angle. This achieves the effect of determining the target horizontal installation position based on the candidate sensor detection angle, so that when the sensor is installed at the target horizontal installation position, the sensor detection blind zone can be minimized to the greatest extent, thereby improving the driving safety of the target mobile device.

[0090] Optionally, S203 includes:

[0091] Based on the ranking of candidate sensor detection angles, the target sensor detection angle is determined from the candidate sensor detection angles, and the candidate horizontal installation position corresponding to the target sensor detection angle is taken as the target horizontal installation position.

[0092] In one implementation, based on the ranking of candidate sensor detection angles, the candidate sensor detection angle with the largest angle is selected as the target sensor detection angle. The candidate horizontal installation position corresponding to the target sensor detection angle is then determined and selected as the target horizontal installation position.

[0093] Based on the target horizontal installation location and the target sensor detection angle, sensor installation prompts are generated and sent to relevant personnel. These prompts allow personnel to select a sensor whose detection angle matches the target sensor's angle. Furthermore, the system guides personnel on how to install the selected sensor onto the target mobile device's casing, based on the target horizontal installation location.

[0094] By ranking the candidate sensor detection angles, the target sensor detection angle is determined from the candidate sensor detection angles. The candidate horizontal installation position corresponding to the target sensor detection angle is taken as the target horizontal installation position. This ensures that the sensor detection angle when the sensor is installed at the target horizontal installation position is greater than the sensor detection angle when the sensor is installed at other candidate horizontal installation positions. In this way, while keeping the sensor detection distance threshold unchanged, the sensor detection blind zone is minimized and the driving safety of the target mobile device is improved.

[0095] Optionally, Embodiment 2 of the present invention also provides a method for determining the sensor installation location, including:

[0096] The target horizontal mounting position is determined based on the center point between the left and right boundaries of the target mobile device's casing.

[0097] The formula for determining the orientation angle of a candidate sensor provided in Embodiment 2 of the present invention is as follows:

[0098] θ = 2*arcsin(x / Dis)

[0099] It can be seen that the magnitude of the candidate sensor orientation angle θ is directly proportional to the candidate distance value x and inversely proportional to the sensor detection distance threshold Dis. Normally, the sensor detection distance threshold Dis is fixed; in other words, the only factor affecting the magnitude of the candidate sensor orientation angle θ is the candidate distance value x. Since the candidate sensor orientation angle θ is directly proportional to the candidate distance value x, the candidate sensor orientation angle θ is at its maximum when the candidate distance value x is at its maximum.

[0100] The candidate distance value x represents the distance between the candidate horizontal mounting position and the target boundary. The target boundary represents the candidate boundary with the smallest distance value from the candidate mounting position. The candidate boundary includes the left and right boundaries of the target mobile device's casing. In other words, the candidate distance value x is maximized when the candidate horizontal mounting position is located at the center point between the left and right boundaries, which also means the candidate sensor orientation angle θ is maximized.

[0101] For example, assume the distance between the left and right edges of the target mobile device's casing is 48cm, and the sensor detection distance threshold is 50cm. Specifically, for a candidate horizontal mounting position 12.5cm from the left edge, the corresponding candidate sensor orientation angle is... For the candidate horizontal installation position 24cm from the left boundary (i.e., the center point between the left and right boundaries), the corresponding candidate sensor orientation angle is: As can be seen, the orientation angle of the candidate sensor increased by 28°.

[0102] Example 3

[0103] Figure 3 This is a flowchart of a method for determining the installation position of a sensor according to Embodiment 3 of the present invention. This embodiment provides an optional implementation for determining a suitable vertical installation position of the sensor, and can be combined with the various optional implementation methods described above. For example... Figure 3 As shown, the method includes:

[0104] S301. Determine the target working scene where the target mobile device is located, and match the correlation between the target working scene and the candidate working scenes and candidate detection objects.

[0105] Here, the target work scene refers to the work environment in which the target mobile device is located. For example, when the target mobile device is an intelligent robot, the target work scene includes, but is not limited to, hotels, office buildings, restaurants, or shopping malls. Candidate detection object representation...

[0106] In this embodiment, the association between candidate work scenarios and candidate detection objects is established in advance. For example, when the candidate work scenario is a hotel, the associated candidate detection objects include, but are not limited to, stairs, flower beds, trash cans, blankets, and food delivery carts. As another example, when the candidate work scenario is a restaurant, the associated candidate detection objects include, but are not limited to, cabinets, dining tables, dining chairs, and food display cases.

[0107] In one implementation, the association between the target working scene where the target mobile device is located and the candidate working scenes and candidate detection objects is matched to determine the candidate working scene that matches the target working scene and the candidate detection object associated with the candidate working scene.

[0108] S302. Based on the matching results, determine the target detection object from the candidate detection objects, and based on the target object height, determine the vertical installation position of the sensor on the target mobile device casing.

[0109] In one implementation, candidate working scenarios matching the target working scenario are identified, and candidate detection objects associated with these candidate working scenarios are designated as target detection objects. Then, based on pre-acquired object attribute information of each candidate detection object, the target object height of the target detection object is determined. Finally, the sensor installation height is determined based on the target object height, and the target vertical installation position of the sensor on the target mobile device casing is determined based on the sensor installation height.

[0110] By matching the correlation between the target working scene and candidate working scenes and candidate detection objects, and determining the target detection object based on the matching results, and then determining the vertical installation position of the target based on the height of the target detection object, the vertical installation position of the sensor can be adapted to the target working scene of the target mobile device. In other words, the vertical installation position of the sensor can be adapted to the height of the target object, which improves the reliability and accuracy of sensor detection and further enhances the driving safety of the target mobile device.

[0111] Optionally, based on the height of the target object being detected, the vertical mounting position of the sensor on the target mobile device casing is determined, including the following steps A and B:

[0112] A. Sort the heights of the target objects and determine the minimum height of the target object based on the sorting results, which will be used as the height of the auxiliary object.

[0113] In one implementation, the target object heights of all the obtained target detection objects are sorted, and the target object height with the smallest height among all the target object heights is used as the auxiliary object height.

[0114] For example, suppose the target objects to be detected include a blanket, stairs, and a shoe cabinet. The target object height of the blanket is 10 centimeters, the target object height of the stairs is 20 centimeters, and the target object height of the shoe cabinet is 50 centimeters. Then, the target object height of the blanket, "10 centimeters", is used as the auxiliary object height.

[0115] B. Determine the sensor installation height based on the height of the auxiliary object, and determine the vertical installation position of the target based on the sensor installation height; wherein, the sensor installation height is less than or equal to the height of the auxiliary object.

[0116] The sensor installation height refers to the height of the sensor above the ground.

[0117] In one implementation, the sensor mounting height is determined based on the height of the auxiliary object, so as to control the sensor mounting height to be less than or equal to the height of the auxiliary object. For example, assuming the height of the auxiliary object is ten centimeters, the sensor mounting height is controlled to be less than or equal to ten centimeters.

[0118] Based on the sensor installation height, the sensor is positioned vertically on the target mobile device housing.

[0119] By sorting the heights of target objects and determining the smallest target object height based on the sorting results, the sensor installation height is determined based on the auxiliary object height, and the vertical installation position of the target is determined based on the sensor installation height. The sensor installation height is less than or equal to the auxiliary object height, thus ensuring that when the sensor is located in the vertical installation position of the target, it can detect the lowest target object in the target's working environment. In other words, it ensures that the sensor can successfully detect target objects of any height in the target's working environment, further improving the driving safety of the target mobile device.

[0120] It is understood that the implementation method for determining the target vertical mounting position of the sensor on the target mobile device housing disclosed in Embodiment 3 can be combined with the implementation method for determining the target horizontal mounting position of the sensor on the target mobile device housing disclosed in Embodiment 1 and / or Embodiment 2, so as to further determine the target horizontal mounting position and the target vertical mounting position of the sensor on the target mobile device housing.

[0121] Example 4

[0122] Figure 4 This is a structural schematic diagram of an intelligent robot provided in Embodiment 3 of the present invention, as shown below. Figure 4 As shown:

[0123] The intelligent robot 400 includes a housing 401, a display screen 402, an anti-collision device 403, a storage compartment 404, and tires 405 in the direction of movement.

[0124] The outer shell 401 includes two high-precision cameras 406, which are used to collect images of the environment around the intelligent robot 400 to assist the intelligent robot 400 in obstacle avoidance.

[0125] The housing 401 also includes an ultrasonic main sensor 407 and two ultrasonic secondary sensors 408. The ultrasonic main sensor 407 is located at the center point between the left and right boundaries of the housing 401, which can reduce the detection blind zone. The two ultrasonic secondary sensors 408 are respectively located on both sides of the ultrasonic main sensor 407. The ultrasonic main sensor 407 is a large-beam angle sensor, and the two ultrasonic secondary sensors 408 are small-beam angle sensors, which can further reduce the detection blind zone. A horn-shaped mechanical component is installed on both the ultrasonic main sensor 407 and the two ultrasonic secondary sensors 408 to constrain the detection angle, thereby reducing detection errors.

[0126] The anti-collision device 403 is equipped with a pressure sensor. When an obstacle presses against the anti-collision device 403, the device promptly sends a stop signal to the control module of the intelligent robot 400 based on the pressure value detected by the sensor, thus preventing damage to the robot. The storage compartment 404 stores items needed by the user, and the display screen 402 displays information about these items to the user. The tires 405 propel the intelligent robot 400 by rolling.

[0127] Example 5

[0128] Embodiment 5 of the present invention also provides three sensor anti-interference schemes to alleviate the problem of interference between multiple sensors during operation, specifically including:

[0129] I. Timestamp Anti-interference Scheme

[0130] Step 1: When the ultrasonic sensor emits ultrasonic waves, record the emission time as the emission timestamp; when the ultrasonic sensor receives any ultrasonic wave, record the reception time as the reception timestamp.

[0131] Step 2: Calculate the timestamp difference between the received timestamp and the transmitted timestamp, and compare the timestamp difference with the minimum and maximum timestamp differences respectively. Based on the comparison results, verify the legality of the received ultrasonic wave.

[0132] Specifically, if the timestamp difference is less than the minimum time difference, it indicates that the ultrasonic wave may have been reflected from the surrounding structure of the ultrasonic sensor's transmitter to the receiver, or the ultrasonic wave from the transmitter may have been directly transmitted to the receiver. Therefore, it is determined that the ultrasonic wave is not a normal reflected ultrasonic wave.

[0133] If the timestamp difference is greater than the maximum timestamp difference, it indicates that the ultrasonic wave may have been reflected to the receiver from a distant obstacle. However, in robot obstacle avoidance scenarios, obstacles far from the robot are usually not a concern. The ultrasonic wave may also be ultrasonic noise from the environment. Therefore, it is determined that the ultrasonic wave is not a normal reflected ultrasonic wave.

[0134] II. Coding Anti-interference Scheme

[0135] When multiple robots equipped with ultrasonic sensors work together, each robot may receive ultrasonic waves emitted by other robots, which can easily lead to mutual interference.

[0136] Step 1: When any robot's ultrasonic sensor emits ultrasonic waves, the ultrasonic data is encoded using the unique encoding rule corresponding to that robot before being emitted, and the ultrasonic data before encoding is recorded.

[0137] Step 2: When the robot receives any ultrasonic wave, it decodes the ultrasonic wave, obtains the decoded data, and compares the decoded data with the ultrasonic wave data before encoding. If the data match, it means that the ultrasonic wave is a normal reflected ultrasonic wave; if they do not match, it means that the ultrasonic wave is emitted by another robot.

[0138] III. Anti-interference scheme for time-sharing operation

[0139] When multiple ultrasonic sensors on the same robot are working simultaneously, any one ultrasonic sensor may receive echo signals from other ultrasonic sensors, causing distance recognition errors.

[0140] Therefore, multiple ultrasonic sensors are controlled to start working in a time-sharing manner according to a preset working order. That is, only one ultrasonic sensor is working at any given time, while all other ultrasonic sensors are in a silent state, thereby avoiding interference to the ultrasonic sensors that are in working condition.

[0141] The preset work order includes, but is not limited to, priority-based work order, user-defined work order, and random work order.

[0142] Priority-based operation sequence means that each ultrasonic sensor is started in a time-sharing manner according to its working priority. For example, if the priority of the main ultrasonic sensor is higher than that of the secondary ultrasonic sensor, the main ultrasonic sensor is started first. After the main ultrasonic sensor has finished working, the secondary ultrasonic sensor is started.

[0143] User-defined working order means that the user subjectively sets the working order of each ultrasonic sensor according to actual needs.

[0144] The random working order means that the robot randomly activates each ultrasonic sensor to work during a work cycle.

[0145] Example 6

[0146] Figure 5 This is a schematic diagram of a sensor installation position determination device provided in Embodiment Six of the present invention. Figure 5 As shown, the device includes:

[0147] The data acquisition module 51 is used to acquire the sensor detection distance threshold and the candidate horizontal mounting position of the sensor on the shell of the target mobile device;

[0148] The target boundary determination module 52 is used to determine the target boundary corresponding to the candidate horizontal mounting position from the candidate boundaries of the target mobile device shell, and to determine the candidate distance value between the candidate horizontal mounting position and the target boundary;

[0149] The horizontal installation position determination module 53 is used to determine the target horizontal installation position from the candidate horizontal installation positions based on the candidate distance value and the sensor detection distance threshold.

[0150] Optionally, the candidate boundaries include the left and right boundaries of the target mobile device's shell;

[0151] Target boundary determination module 52 is specifically used for:

[0152] Determine the boundary distance values ​​between the candidate horizontal installation positions and the candidate boundaries, and sort the boundary distance values;

[0153] Based on the sorting results, the candidate boundary corresponding to the smallest boundary distance value is taken as the target boundary.

[0154] Optionally, the horizontal mounting position determination module 53 is used for:

[0155] The candidate sensor detection angle corresponding to the candidate horizontal installation position is determined based on the ratio between the candidate distance value and the sensor detection distance threshold.

[0156] The target horizontal installation position is determined from the candidate horizontal installation positions based on the detection angles of the candidate sensors.

[0157] Wherein, the candidate sensor detection angle represents the angle between the first line segment and the second line segment;

[0158] The endpoints of the first line segment include the first endpoint and the candidate horizontal mounting position. The first endpoint is located on the target plane, and the distance between the first endpoint and the candidate horizontal mounting position is the sensor detection distance threshold. The target plane is the plane extending from the target boundary in the direction of movement of the target mobile device.

[0159] The second line segment is symmetrical to the first line segment based on the axis of the third line segment. The third line segment is parallel to the direction of movement and passes through the candidate horizontal installation position.

[0160] Optionally, the horizontal mounting position determination module 53 is also used for:

[0161] The orientation angle of the candidate sensor is determined using the following formula:

[0162]

[0163] Where θ is the candidate sensor detection angle, x is the candidate distance value, and Dis is the sensor detection distance threshold.

[0164] Optionally, the horizontal mounting position determination module 53 is also used for:

[0165] Based on the ranking of candidate sensor detection angles, the target sensor detection angle is determined from the candidate sensor detection angles;

[0166] The candidate horizontal installation position corresponding to the detection angle of the target sensor is taken as the target horizontal installation position.

[0167] Optionally, the device also includes a vertical installation position determination module, specifically used for:

[0168] Determine the target working scene where the target mobile device is located, and match the correlation between the target working scene and candidate working scenes and candidate detection objects;

[0169] Based on the matching results, the target object is determined from the candidate objects, and based on the height of the target object, the vertical mounting position of the sensor on the target mobile device casing is determined.

[0170] Optionally, the vertical installation position determination module is also used for:

[0171] Sort the heights of the target objects and determine the minimum height of the target object based on the sorting results, which will be used as the height of the auxiliary object.

[0172] The sensor installation height is determined based on the height of the auxiliary object, and the vertical installation position of the target is determined based on the sensor installation height; wherein, the sensor installation height is less than or equal to the height of the auxiliary object.

[0173] The sensor installation position determination device provided in this embodiment of the invention can execute the sensor installation position determination method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0174] Example 7

[0175] Figure 6A schematic diagram of an electronic device 60 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0176] like Figure 6 As shown, the electronic device 60 includes at least one processor 61 and a memory, such as a read-only memory (ROM) 62 and a random access memory (RAM) 63, communicatively connected to the at least one processor 61. The memory stores computer programs executable by the at least one processor. The processor 61 can perform various appropriate actions and processes based on the computer program stored in the ROM 62 or loaded into the RAM 63 from storage unit 68. The RAM 63 may also store various programs and data required for the operation of the electronic device 60. The processor 61, ROM 62, and RAM 63 are interconnected via a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0177] Multiple components in electronic device 60 are connected to I / O interface 65, including: input unit 66, such as keyboard, mouse, etc.; output unit 67, such as various types of monitors, speakers, etc.; storage unit 68, such as disk, optical disk, etc.; and communication unit 69, such as network card, modem, wireless transceiver, etc. Communication unit 69 allows electronic device 60 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0178] Processor 61 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 61 performs the various methods and processes described above, such as methods for determining sensor mounting locations.

[0179] In some embodiments, the method for determining the sensor mounting location may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 68. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 60 via ROM 62 and / or communication unit 69. When the computer program is loaded into RAM 63 and executed by processor 61, one or more steps of the method for determining the sensor mounting location described above may be performed. Alternatively, in other embodiments, processor 61 may be configured as the method for determining the sensor mounting location by any other suitable means (e.g., by means of firmware).

[0180] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0181] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0182] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0183] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0184] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0185] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0186] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0187] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining the installation location of a sensor, characterized in that, include: Obtain the sensor detection distance threshold and the candidate horizontal mounting positions of the sensor on the target mobile device casing; The target boundary corresponding to the candidate horizontal mounting position is determined from the candidate boundaries of the target mobile device casing, and a candidate distance value between the candidate horizontal mounting position and the target boundary is determined; wherein the target boundary forms an extending plane in the movement direction of the target mobile device; The candidate sensor detection angle corresponding to the candidate horizontal installation position is determined based on the ratio between the candidate distance value and the sensor detection distance threshold. The target horizontal installation position is determined from the candidate horizontal installation positions based on the detection angle of the candidate sensors.

2. The method according to claim 1, characterized in that, The candidate boundary includes the left and right boundaries of the target mobile device casing; Determining the target boundary corresponding to the candidate horizontal mounting position from the candidate boundaries of the target mobile device casing includes: Determine the boundary distance value between the candidate horizontal installation position and the candidate boundary, and sort the boundary distance values; Based on the sorting results, the candidate boundary corresponding to the smallest boundary distance value is taken as the target boundary.

3. The method according to claim 1, characterized in that, The detection angle of the candidate sensor represents the angle between the first line segment and the second line segment; The endpoints of the first line segment include a first endpoint and the candidate horizontal mounting position. The first endpoint is located on the target plane, and the distance between the first endpoint and the candidate horizontal mounting position is the sensor detection distance threshold. The target plane is the extension plane of the target boundary in the direction of movement of the target mobile device. The second line segment is symmetrical to the first line segment based on the axis of the third line segment, which is parallel to the direction of movement and passes through the candidate horizontal installation position.

4. The method according to claim 3, characterized in that, Determining the candidate sensor detection angle corresponding to the candidate horizontal installation position based on the ratio between the candidate distance value and the sensor detection distance threshold includes: The detection angle of the candidate sensor is determined by the following formula: in, The detection angle of the candidate sensor. The candidate distance value, The threshold value for the sensor's detection distance.

5. The method according to claim 3, characterized in that, Determining the target horizontal installation position from the candidate horizontal installation positions based on the detection angle of the candidate sensors includes: Based on the ranking of the candidate sensor detection angles, the target sensor detection angle is determined from the candidate sensor detection angles; The candidate horizontal installation position corresponding to the detection angle of the target sensor is taken as the target horizontal installation position.

6. The method according to claim 1, characterized in that, The method further includes: Determine the target working scene where the target mobile device is located, and match the correlation between the target working scene and candidate working scenes and candidate detection objects; Based on the matching results, the target detection object is determined from the candidate detection objects, and based on the target object height, the vertical installation position of the sensor on the target mobile device casing is determined.

7. The method according to claim 6, characterized in that, Determining the vertical mounting position of the sensor on the target mobile device casing based on the target object height includes: The heights of the target objects are sorted, and the smallest height of the target object is determined based on the sorting result, which is used as the height of the auxiliary object. The sensor installation height is determined based on the height of the auxiliary object, and the vertical installation position of the target is determined based on the sensor installation height; wherein the sensor installation height is less than or equal to the height of the auxiliary object.

8. A device for determining the installation position of a sensor, characterized in that, include: The data acquisition module is used to acquire the sensor detection distance threshold and the candidate horizontal mounting position of the sensor on the target mobile device casing; A target boundary determination module is used to determine the target boundary corresponding to the candidate horizontal mounting position from the candidate boundaries of the target mobile device casing, and to determine the candidate distance value between the candidate horizontal mounting position and the target boundary; wherein the target boundary forms an extending plane in the movement direction of the target mobile device; The horizontal installation position determination module is used to determine the candidate sensor detection angle corresponding to the candidate horizontal installation position based on the ratio between the candidate distance value and the sensor detection distance threshold; and to determine the target horizontal installation position from the candidate horizontal installation positions based on the candidate sensor detection angle.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which enables the at least one processor to perform the method for determining the sensor installation location according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining the sensor installation location as described in any one of claims 1-7.

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