Obstacle detection methods, self-moving devices and storage media

Abstract

This application relates to the field of vehicle intelligent control technology, and provides an obstacle detection method, a self-moving device, and a storage medium. The method includes: acquiring obstacle detection information collected by each ultrasonic sensor in an ultrasonic sensor group fixedly mounted on the self-moving device; wherein the ultrasonic sensor group includes a vertically mounted high-mounted ultrasonic sensor and a low-mounted ultrasonic sensor, with the first landing point of the detection range of the high-mounted ultrasonic sensor coinciding with the second landing point of the detection range of the low-mounted ultrasonic sensor; and determining target obstacles around the self-moving device and their target location information based on the obstacle detection information. In this application, by installing an ultrasonic sensor group on the self-moving device, obstacles within the radar perception blind zone can be detected through the ultrasonic sensor group, thereby ensuring the movement safety of the self-moving device.

Description

Technical Field

[0001] This application belongs to the field of vehicle intelligent control technology, and in particular relates to an obstacle detection method, a self-moving device, and a storage medium. Background Technology

[0002] With the development and advancement of science and technology, the use of self-moving devices is becoming increasingly common. For example, automated delivery vehicles can be used for automated goods delivery. Sensor measurement technology typically acts as the "eyes" of self-moving devices in navigation systems. Commonly used sensors include LiDAR, millimeter-wave radar, ultrasonic radar, and stereo vision.

[0003] LiDAR is often used as a primary sensor due to its advantages of long detection range and stable measurement. Laser wavelengths can reach the micrometer level, allowing the detection of extremely small targets. However, due to the characteristics of laser measurements, LiDAR typically has a certain blind spot at close range. This blind spot needs to be compensated for by using other sensing methods.

[0004] Ultrasonic propagation has the advantages of slow energy consumption, long propagation distance, strong penetration and low cost. The detection distance of ultrasonic sensors is usually in the range of a few centimeters to a few meters, and they are often used for the detection of short-range targets.

[0005] In related technologies, self-moving devices typically use radar to sense surrounding obstacles. Since radar usually has blind spots at close range, if the self-moving device cannot accurately detect obstacles within the radar's blind spots, it can easily lead to safety hazards during movement. Summary of the Invention

[0006] This application provides an obstacle detection method, a self-moving device, and a storage medium, aiming to solve the problem in related technologies where self-moving devices typically perceive surrounding obstacles using radar. Since radar usually has a near-range perception blind zone, if the self-moving device cannot accurately detect obstacles within the radar perception blind zone, it can easily lead to mobile safety hazards for the self-moving device.

[0007] In a first aspect, embodiments of this application provide an obstacle detection method, the method comprising:

[0008] Obstacle detection information collected by each ultrasonic sensor in an ultrasonic sensor group fixedly installed on a self-moving device is obtained. The ultrasonic sensor group includes a high-mounted ultrasonic sensor and a low-mounted ultrasonic sensor arranged vertically in the longitudinal direction. The first landing point of the detection range of the high-mounted ultrasonic sensor coincides with the second landing point of the detection range of the low-mounted ultrasonic sensor.

[0009] Based on obstacle detection information, determine the target obstacles around the self-moving device and the target location information of the target obstacles.

[0010] In some embodiments, the centerline of the detection range of the high-mounted ultrasonic sensor is parallel to the ground plane, and the angle between the centerline of the detection range of the low-mounted ultrasonic sensor and the ground plane is the target lifting angle.

[0011] In some embodiments, the target lifting angle is determined based on the detection range angle of the low-mounted ultrasonic sensor, the installation height of the low-mounted ultrasonic sensor, and the lateral distance between the high-mounted ultrasonic sensor and the first landing point, and the target lifting angle satisfies the following angle calculation formula:

[0012]

[0013] Where δ is the target elevation angle, θ2 is the detection range angle of the low-mounted ultrasonic sensor, and d l L represents the installation height of the low-mounted ultrasonic sensor, and L represents the lateral distance between the high-mounted ultrasonic sensor and the first landing point.

[0014] In some embodiments, based on obstacle detection information, determining target obstacles around the self-moving device and the target location information of the target obstacles includes:

[0015] When the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates the presence of a target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor also indicates the presence of a target obstacle, the target location information of the target obstacle is determined based on the first obstacle detection information and the second obstacle detection information.

[0016] The obstacle detection information includes first obstacle detection information and second obstacle detection information, and the obstacle detection information includes obstacle distance.

[0017] In some embodiments, the method further includes:

[0018] During the movement of the self-moving device toward the target obstacle, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is a target obstacle, the actual position information of the target obstacle at the current moment is determined based on the moving speed of the self-moving device, the first position information of the target obstacle at the previous moment, and the second position information of the target obstacle at the current moment.

[0019] In some embodiments, determining the target location information of the target obstacle at the current moment based on the moving speed of the self-moving device, the first location information of the target obstacle at the previous moment, and the second location information of the target obstacle at the current moment includes:

[0020] Based on the first position information and the moving speed, the predicted position information of the target obstacle is determined, and based on the predicted position information, the second position information, and the pre-determined weighting coefficients, the actual position information of the target obstacle at the current moment is determined.

[0021] In some embodiments, after determining the actual location information of the target obstacle at the current moment, the method further includes:

[0022] The weighting coefficients are updated based on the predicted location information and the second location information.

[0023] In some embodiments, the method further includes:

[0024] During the movement of the self-moving device toward the target obstacle, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is no target obstacle, the actual position information of the target obstacle at the current moment is determined based on the moving speed of the self-moving device and the first position information of the target obstacle at the previous moment.

[0025] Secondly, embodiments of this application provide an obstacle detection device, the device comprising:

[0026] The information acquisition unit is used to acquire obstacle detection information collected by each ultrasonic sensor in the ultrasonic sensor group fixedly installed on the self-moving device. The ultrasonic sensor group includes a high-mounted ultrasonic sensor and a low-mounted ultrasonic sensor arranged vertically in the longitudinal direction. The first landing point of the detection range of the high-mounted ultrasonic sensor coincides with the second landing point of the detection range of the low-mounted ultrasonic sensor.

[0027] The information determination unit is used to determine the target obstacles around the self-moving device and the target location information of the target obstacles based on obstacle detection information.

[0028] In some embodiments, the centerline of the detection range of the high-mounted ultrasonic sensor is parallel to the ground plane, and the angle between the centerline of the detection range of the low-mounted ultrasonic sensor and the ground plane is the target lifting angle.

[0029] In some embodiments, the target lifting angle is determined based on the detection range angle of the low-mounted ultrasonic sensor, the installation height of the low-mounted ultrasonic sensor, and the lateral distance between the high-mounted ultrasonic sensor and the first landing point, and the target lifting angle satisfies the following angle calculation formula:

[0030]

[0031] Where δ is the target elevation angle, θ2 is the detection range angle of the low-mounted ultrasonic sensor, and d lL represents the installation height of the low-mounted ultrasonic sensor, and L represents the lateral distance between the high-mounted ultrasonic sensor and the first landing point.

[0032] In some embodiments, the information determining unit is specifically configured to: determine the target location information of the target obstacle based on the first obstacle detection information and the second obstacle detection information when the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates the existence of a target obstacle and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates the existence of a target obstacle;

[0033] The obstacle detection information includes first obstacle detection information and second obstacle detection information, and the obstacle detection information includes obstacle distance.

[0034] In some embodiments, the apparatus further includes a first motion detection unit, configured to determine the actual position information of the target obstacle at the current moment based on the moving speed of the self-moving device, the first position information of the target obstacle at the previous moment, and the second position information of the target obstacle at the current moment, when the self-moving device moves close to the target obstacle and the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is a target obstacle.

[0035] In some embodiments, the first motion detection unit determines the target position information of the target obstacle at the current moment based on the moving speed of the self-moving device, the first position information of the target obstacle at the previous moment, and the second position information of the target obstacle at the current moment, including:

[0036] Based on the first position information and the moving speed, the predicted position information of the target obstacle is determined, and based on the predicted position information, the second position information, and the pre-determined weighting coefficients, the actual position information of the target obstacle at the current moment is determined.

[0037] In some embodiments, after determining the actual position information of the target obstacle at the current moment, the first motion detection unit further includes:

[0038] The weighting coefficients are updated based on the predicted location information and the second location information.

[0039] In some embodiments, the device further includes a second motion detection unit, configured to determine the actual position information of the target obstacle at the current moment based on the moving speed of the self-moving device and the first position information of the target obstacle at the previous moment, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is no target obstacle, during the process of the self-moving device moving close to the target obstacle.

[0040] Thirdly, embodiments of this application provide a self-moving device, including a chassis, a power system, an electronic control system, a detection system, a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of any of the above-mentioned obstacle detection methods.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above obstacle detection methods.

[0042] Fifthly, embodiments of this application provide a computer program product that, when run on a self-moving device, causes the self-moving device to execute any of the aforementioned obstacle detection methods.

[0043] The beneficial effects of this application embodiment compared with related technologies are as follows: by installing an ultrasonic sensor group on the self-moving device, obstacles in the radar perception blind zone can be detected by the ultrasonic sensor group, thereby ensuring the movement safety of the self-moving device. In addition, since the two ultrasonic sensors in the ultrasonic sensor group are vertically distributed and the landing points of the detection ranges of the two ultrasonic sensors overlap, a common field of view is formed. Obstacles in the common field of view can usually be detected by both ultrasonic sensors. This can eliminate false detections caused by noise interference of one ultrasonic sensor, such as light interference or vibration interference from the self-moving device's own drive motor, which helps to improve the accuracy of obstacle detection.

[0044] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic flowchart of an obstacle detection method provided in an embodiment of this application;

[0047] Figure 2 This is a schematic diagram showing the distribution effect of two ultrasonic sensors in the ultrasonic sensor group provided in the embodiments of this application;

[0048] Figure 3This is a schematic diagram of the obstacle detection device provided in the embodiments of this application;

[0049] Figure 4 This is a schematic diagram of the structure of the self-moving device provided in the embodiments of this application. Detailed Implementation

[0050] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0051] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0052] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0053] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0054] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0055] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0056] To illustrate the technical solution of this application, the following embodiments will be used for explanation.

[0057] Example 1

[0058] Please see Figure 1 This application provides an obstacle detection method, including:

[0059] Step 101: Obtain obstacle detection information collected by each ultrasonic sensor in the ultrasonic sensor group fixedly installed on the self-moving device.

[0060] The ultrasonic sensor group includes a high-mounted ultrasonic sensor and a low-mounted ultrasonic sensor arranged vertically in the longitudinal direction. The first landing point of the detection range of the high-mounted ultrasonic sensor coincides with the second landing point of the detection range of the low-mounted ultrasonic sensor.

[0061] Here, the obstacle detection method described above is typically implemented by a self-moving device. In practice, self-moving devices can be robots, automated delivery vehicles, etc.

[0062] In practice, an ultrasonic sensor array can be installed on a self-moving device, with two ultrasonic sensors vertically distributed in the array. For ease of description, the ultrasonic sensor installed higher in the longitudinal direction is referred to as the high-mounted ultrasonic sensor, and the ultrasonic sensor installed lower in the longitudinal direction is referred to as the low-mounted ultrasonic sensor.

[0063] In practical applications, the detection range of an ultrasonic sensor is typically conical. The point where the detection range of the ultrasonic sensor intersects with the ground is the landing point. For ease of description, the landing point of the detection range of the high-mounted ultrasonic sensor is denoted as the first landing point, and the landing point of the detection range of the low-mounted ultrasonic sensor is denoted as the second landing point. In practical applications, the two ultrasonic sensors are usually of the same type, that is, the detection range angles of the two ultrasonic sensors are usually the same.

[0064] Figure 2This is a schematic diagram illustrating the distribution effect of two ultrasonic sensors in the ultrasonic sensor group provided in the embodiments of this application. Figure 2 In the diagram, point P1 is the installation location of the high-mounted ultrasonic sensor, point P2 is the installation location of the low-mounted ultrasonic sensor, and point P3 is the landing point of the detection range of the two ultrasonic sensors. Figure 2 In the middle, the first landing point of the detection range of the high-mounted ultrasonic sensor coincides with the second landing point of the detection range of the low-mounted ultrasonic sensor, and both are point P3. Figure 2 In the high-mounted ultrasonic sensor, the detection range angle is θ1, and the detection range angle of the low-mounted ultrasonic sensor is θ2. The angle between the centerline of the detection range of the high-mounted ultrasonic sensor and the centerline of the detection range of the low-mounted ultrasonic sensor is δ. When the centerline of the detection range of the high-mounted ultrasonic sensor is parallel to the ground plane, and the angle between the centerline of the detection range of the low-mounted ultrasonic sensor and the ground plane is the target elevation angle, the target elevation angle is δ.

[0065] Figure 2 The installation height of the low-mounted ultrasonic sensor is d. l The installation height of the high-mounted ultrasonic sensor is d. h The lateral distance between the two ultrasonic sensors and the landing point P3 is L.

[0066] In some applications, the aforementioned ultrasonic sensor array can be installed at the rear of the self-moving device, so that the obstacle situation in the radar perception blind zone can be accurately obtained as the self-moving device moves backward.

[0067] In some applications, the aforementioned ultrasonic sensor array can also be installed in front of the self-moving device, so that the obstacle situation in the radar perception blind zone can be accurately obtained as the self-moving device moves forward.

[0068] Here, the mounting height of the two ultrasonic sensors in the ultrasonic sensor array is typically related to the rated mounting height range of the ultrasonic sensors. This rated mounting height range is generally the optimal range to ensure the detection performance of the ultrasonic sensors. In practical applications, the mounting height of the high-mounted ultrasonic sensor is usually the upper limit of the rated mounting height range, and the mounting height of the low-mounted ultrasonic sensor is usually the lower limit of the rated mounting height range. For example, if the rated mounting height range of the ultrasonic sensors is 49 cm to 56 cm, then the mounting height of the high-mounted ultrasonic sensor can be 56 cm, and the mounting height of the low-mounted ultrasonic sensor can be 49 cm.

[0069] It should be noted that since the drive motor of the self-moving device is usually located at the bottom of the self-moving device, and the drive motor may cause noise interference to the ultrasonic sensor, and since the higher the ultrasonic sensor is installed, the larger the detection blind zone below the ultrasonic sensor will be, setting the installation height of the high-mounted ultrasonic sensor to the upper limit of the above-mentioned rated installation height range, and setting the installation height of the low-mounted ultrasonic sensor to the lower limit of the above-mentioned rated installation height range, can ensure that the noise interference of the drive motor is reduced while reducing the detection blind zone, which helps to further improve the obstacle detection accuracy.

[0070] In this embodiment, each ultrasonic sensor in the ultrasonic sensor group can perform obstacle detection in real time and send the real-time obstacle detection information to the self-moving device. In this way, the self-moving device can acquire the obstacle detection information collected by each ultrasonic sensor.

[0071] It should be noted that the two ultrasonic sensors in the ultrasonic sensor group are vertically distributed and the landing points of the detection ranges of the two ultrasonic sensors overlap, forming a common field of view. Obstacles within the common field of view can usually be detected by both ultrasonic sensors. This can eliminate false detections caused by noise interference on one ultrasonic sensor, such as light interference or vibration interference from the self-moving device's own drive motor, which helps to improve the accuracy of obstacle detection.

[0072] Step 102: Based on the obstacle detection information, determine the target obstacles around the self-moving device and the target location information of the target obstacles.

[0073] In practice, the aforementioned target obstacle is typically an obstacle on the side of the self-moving device where the ultrasonic sensor array is installed. The aforementioned target location information is usually information indicating the location of the obstacle. In practice, the location of the obstacle is typically expressed as the distance between the obstacle and the self-moving device.

[0074] In practice, obstacle detection information typically includes the obstacle distance. The obstacle distance is usually the distance between the detected obstacle and the self-moving device.

[0075] Here, the aforementioned execution entity can use obstacle detection information collected by two ultrasonic sensors to determine whether there are obstacles on the side where the self-moving device is installed with the ultrasonic sensor group, and if there are obstacles, to determine the location of the obstacles.

[0076] In this application, for ease of description, the obstacle detection information collected by the high-mounted ultrasonic sensor can be referred to as the first obstacle detection information, and the obstacle detection information collected by the low-mounted ultrasonic sensor can be referred to as the second obstacle detection information.

[0077] For example, if the first obstacle detection information indicates an obstacle distance of d1 and the second obstacle detection information indicates an obstacle distance of d2, and the difference between d1 and d2 is less than a certain value, such as 1 centimeter, then it can be determined that there is a target obstacle, and the position of the target obstacle is a distance dr from the self-moving device, and dr can be the minimum value between d1 and d2.

[0078] In some application scenarios, if when a self-moving device first detects an obstacle, only the high-mount ultrasonic sensor or only the low-mount high-mount ultrasonic sensor detects the obstacle, the self-moving device can consider the obstacle a false alarm target and temporarily ignore the obstacle.

[0079] In some applications, for each ultrasonic sensor, the mobile device can first detect whether the obstacle distance indicated by the obstacle information collected by the ultrasonic sensor is within the sensor's rated detection range. If not, the obstacle information collected by the ultrasonic sensor can be ignored. For example, if the rated detection range of the ultrasonic sensor is 1 to 5 meters, and the obstacle distance indicated by the obstacle information collected by the ultrasonic sensor obtained by the mobile device is 0.5 meters, the mobile device can consider the obstacle information problematic and can ignore it.

[0080] In some application scenarios, for each ultrasonic sensor, the self-moving device can also analyze whether the obstacle distances indicated by multiple consecutive obstacle information collected by the ultrasonic sensor are continuous. If they are not continuous, the obstacle information collected at the current moment can be ignored. For example, for a certain ultrasonic sensor, if the allowable variation range of the ultrasonic sensor is ±δ, where δ is the standard deviation of ultrasonic measurement and the value of δ is 5 cm, and if the obstacle distance indicated by the obstacle information at the current moment is 1.1 meters and the obstacle distance indicated by the obstacle information at the previous moment is 1.5 meters, then the obstacle distances indicated by the obstacle information collected by the ultrasonic sensor at the two consecutive moments are not continuous. In this case, the aforementioned execution entity can ignore the obstacle information collected at the current moment.

[0081] The method provided in this embodiment, by installing an ultrasonic sensor group on the self-moving device, enables the detection of obstacles within the radar's blind zone, thereby ensuring the movement safety of the self-moving device. In addition, since the two ultrasonic sensors in the ultrasonic sensor group are vertically distributed and their detection ranges overlap, they form a common field of view. Obstacles within the common field of view can usually be detected by both ultrasonic sensors, which can eliminate false detections caused by noise interference to one ultrasonic sensor, such as light interference or vibration interference from the self-moving device's own drive motor. This helps to improve the accuracy of obstacle detection.

[0082] In some optional implementations of this embodiment, the center line of the detection range of the high-mounted ultrasonic sensor is parallel to the ground plane, and the angle between the center line of the detection range of the low-mounted ultrasonic sensor and the ground plane is the target lifting angle.

[0083] The aforementioned target elevation angle is typically the angle between the center line of the detection range of a low-mounted ultrasonic sensor and the ground plane.

[0084] Here, when the center line of the detection range of the high-mounted ultrasonic sensor is parallel to the ground plane, and the angle between the center line of the detection range of the low-mounted ultrasonic sensor and the ground plane is the target lifting angle, the first landing point of the detection range of the high-mounted ultrasonic sensor and the second landing point of the detection range of the low-mounted ultrasonic sensor can be made to coincide, thereby forming a common viewing area.

[0085] In addition, aligning the center line of the detection range of the high-mounted ultrasonic sensor with the ground plane can reduce noise interference while expanding the detection range of the entire ultrasonic sensor array, which helps to further improve the accuracy of obstacle detection.

[0086] In some optional implementations, the target lifting angle is determined based on the detection range angle of the low-mounted ultrasonic sensor, the installation height of the low-mounted ultrasonic sensor, and the lateral distance between the high-mounted ultrasonic sensor and the first landing point. The target lifting angle satisfies the following angle calculation formula:

[0087]

[0088] Where δ is the target elevation angle, θ2 is the detection range angle of the low-mounted ultrasonic sensor, and d l L represents the installation height of the low-mounted ultrasonic sensor, and L represents the lateral distance between the high-mounted ultrasonic sensor and the first landing point.

[0089] In practice, the two ultrasonic sensors in an ultrasonic sensor array are usually of the same type; that is, the detection range angles of the two ultrasonic sensors are usually the same. Combined with... Figure 2 θ1 and θ2 are usually equal.

[0090] In practical applications, because a larger value of L usually leads to a larger error in predicting the actual position of the target obstacle, the value of L is typically less than 1.5 meters, and can specifically be 1 meter. Additionally, the value of 2 is typically less than 60 degrees. The sinusoidal component is relatively small, and The relatively large cosine component helps to accurately determine the actual position of obstacles in short distances using a linear approximation method, which can improve the accuracy of obstacle detection.

[0091] Here, the target lifting angle is determined based on the detection range angle of the low-mounted ultrasonic sensor, the installation height of the low-mounted ultrasonic sensor, and the lateral distance between the high-mounted ultrasonic sensor and the first landing point. This ensures that the two ultrasonic sensors in the ultrasonic sensor group can work together better, thereby achieving accurate detection of obstacles.

[0092] In some optional implementations of this embodiment, step 102 above, determining the target obstacles around the self-moving device and the target location information of the target obstacles based on obstacle detection information, may include:

[0093] When the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates the presence of a target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor also indicates the presence of a target obstacle, the target location information of the target obstacle is determined based on the first obstacle detection information and the second obstacle detection information.

[0094] The obstacle detection information includes first obstacle detection information and second obstacle detection information, and the obstacle detection information includes obstacle distance.

[0095] Here, the execution entity only considers the target obstacle to exist if both ultrasonic sensors detect it. This further ensures the accuracy of the detected obstacle, thereby improving the accuracy of obstacle detection.

[0096] In some optional implementations of this embodiment, the obstacle detection method may further include the following steps:

[0097] During the movement of the self-moving device toward the target obstacle, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is a target obstacle, the actual position information of the target obstacle at the current moment is determined based on the moving speed of the self-moving device, the first position information of the target obstacle at the previous moment, and the second position information of the target obstacle at the current moment.

[0098] The first location information indicates the distance to the target obstacle at the previous moment. The second location information indicates the distance to the target obstacle at the current moment.

[0099] The actual location information is used to indicate the distance of the target obstacle at the current moment.

[0100] Here, after the target obstacle is initially detected, the mobile device typically continues to move towards it, gradually closing the distance until, at a certain point, the obstacle is no longer within the shared field of view of both ultrasonic sensors, and can only be detected by the low-profile ultrasonic sensor. At this point, the mobile device can calculate the actual position of the target obstacle using its moving speed, its first position information from the previous moment, and its second position information from the current moment.

[0101] As an example, the self-moving device can first calculate the product of the moving speed and the time difference, where the time difference is the time difference between two moments; then, add the obtained product to the obstacle distance indicated by the first location information to obtain the predicted location information; finally, use the minimum value of the predicted location information and the second location information to determine the actual location information of the target obstacle at the current moment, where the actual location information indicates the obstacle distance as the minimum value of the predicted location information and the second location information.

[0102] This embodiment can accurately track detected target obstacles, thereby further improving the accuracy of obstacle detection.

[0103] Optionally, determining the target obstacle's current position information based on the self-moving device's speed, the target obstacle's first position information at the previous moment, and the target obstacle's second position information at the current moment may include:

[0104] Based on the first position information and the moving speed, the predicted position information of the target obstacle is determined, and based on the predicted position information, the second position information, and the pre-determined weighting coefficients, the actual position information of the target obstacle at the current moment is determined.

[0105] The predicted location information is used to indicate the predicted obstacle distance. The weighting coefficients are typically greater than 0 and less than 1.

[0106] Here, the self-moving device can first calculate the product of its moving speed and the time difference, where the time difference is the time difference between two moments. Then, the obtained product is added to the obstacle distance indicated by the first location information to obtain the predicted location information. Afterward, the self-moving device can calculate the obstacle distance indicated by the actual location information using the predicted location information, the second location information, and a pre-determined weighting coefficient, thereby obtaining the actual location information.

[0107] In practice, the distance to the obstacle indicated by the actual location information can be calculated in the following way.

[0108]

[0109] Where, d′ r To predict the distance to obstacles indicated by location information, d r The distance to the obstacle indicated by the first location information, v is the moving speed, Δt is the time difference between the two moments, and w t d represents the weighting coefficient. t The distance to the obstacle is indicated by the second location information. The distance to the obstacle is indicated by the actual location information.

[0110] Here, based on the weighting coefficients, the actual location information is determined, which enables accurate tracking of the detected target obstacles, thereby further improving the accuracy of obstacle detection.

[0111] Optionally, after determining the actual location information of the target obstacle at the current moment, the method may further include updating the weight coefficients based on the predicted location information and the second location information.

[0112] In practice, the aforementioned executing entity can update the weight coefficients using the first distance and the second distance indicated by the predicted location information and the second location information, respectively. Specifically, the updated weight coefficients can be obtained by dividing the minimum of the first distance and the second distance by the maximum of the first distance and the second distance. The calculation formula for updating the weight coefficients can be as follows:

[0113]

[0114] Among them, w t+1 The updated weight coefficients, d′ r To predict the distance to obstacles indicated by location information, d t The distance to the obstacle indicated by the second location information.

[0115] Here, timely updates to the weighting coefficients based on predicted and second location information can ensure the effectiveness of the weighting coefficients, thereby further improving the accuracy of obstacle detection.

[0116] In some optional implementations of this embodiment, the obstacle detection method may further include the following steps:

[0117] During the movement of the self-moving device toward the target obstacle, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is no target obstacle, the actual position information of the target obstacle at the current moment is determined based on the moving speed of the self-moving device and the first position information of the target obstacle at the previous moment.

[0118] The aforementioned first location information can indicate the distance of the target obstacle at the previous moment.

[0119] The actual location information is used to indicate the distance of the target obstacle at the current moment.

[0120] Here, after the target obstacle is detected for the first time, the self-moving device usually continues to move toward the target obstacle, and the distance between the target obstacle and the self-moving device gets closer and closer, so that at a certain moment, the target obstacle is no longer in the common field of view of the two ultrasonic sensors, and the target obstacle can only be detected by the low-profile ultrasonic sensor.

[0121] Subsequently, as the target obstacle gradually approaches the self-moving device, at a certain moment, the target obstacle becomes undetectable by any ultrasonic sensor. Once the target obstacle has been tracked to the point where it is undetectable by any ultrasonic sensor, the self-moving device can use its moving speed and its previous position information to calculate the actual position of the target obstacle at the current moment.

[0122] In practice, when a target obstacle is tracked to the point where it can no longer be detected by any ultrasonic sensor, the self-moving device can use the following formula to calculate the actual position information of the target obstacle at the current moment:

[0123]

[0124] in, d represents the distance to the obstacle indicated by the actual location information. r Δt represents the distance to the obstacle indicated by the first location information, v represents the moving speed, and Δt represents the time difference between the two moments.

[0125] This embodiment enables accurate tracking of detected obstacles, and can continue tracking even after the obstacle enters the blind zone of the ultrasonic sensor array, thereby further improving the accuracy of obstacle detection. This helps ensure the safety of self-moving devices.

[0126] Example 2

[0127] Corresponding to the obstacle detection method in the above embodiments, Figure 3 A structural block diagram of the obstacle detection device 300 provided in the embodiments of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0128] Reference Figure 3 The device includes information acquisition unit 301 to information determination unit 302.

[0129] Information acquisition unit 301 is used to acquire obstacle detection information collected by each ultrasonic sensor in the ultrasonic sensor group fixedly installed on the self-moving device. The ultrasonic sensor group includes a high-mounted ultrasonic sensor and a low-mounted ultrasonic sensor arranged vertically in the longitudinal direction. The first landing point of the detection range of the high-mounted ultrasonic sensor coincides with the second landing point of the detection range of the low-mounted ultrasonic sensor.

[0130] The information determination unit 302 is used to determine the target obstacles around the self-moving device and the target location information of the target obstacles based on the obstacle detection information.

[0131] In some embodiments, the centerline of the detection range of the high-mounted ultrasonic sensor is parallel to the ground plane, and the angle between the centerline of the detection range of the low-mounted ultrasonic sensor and the ground plane is the target lifting angle.

[0132] In some embodiments, the target lifting angle is determined based on the detection range angle of the low-mounted ultrasonic sensor, the installation height of the low-mounted ultrasonic sensor, and the lateral distance between the high-mounted ultrasonic sensor and the first landing point, and the target lifting angle satisfies the following angle calculation formula:

[0133]

[0134] Where δ is the target elevation angle, θ2 is the detection range angle of the low-mounted ultrasonic sensor, and d l L represents the installation height of the low-mounted ultrasonic sensor, and L represents the lateral distance between the high-mounted ultrasonic sensor and the first landing point.

[0135] In some embodiments, the information determination unit 302 is specifically used to: determine the target location information of the target obstacle based on the first obstacle detection information and the second obstacle detection information when the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates the existence of a target obstacle and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates the existence of a target obstacle;

[0136] The obstacle detection information includes first obstacle detection information and second obstacle detection information, and the obstacle detection information includes obstacle distance.

[0137] In some embodiments, the apparatus further includes a first motion detection unit, configured to determine the actual position information of the target obstacle at the current moment based on the moving speed of the self-moving device, the first position information of the target obstacle at the previous moment, and the second position information of the target obstacle at the current moment, when the self-moving device moves close to the target obstacle and the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is a target obstacle.

[0138] In some embodiments, the first motion detection unit determines the target position information of the target obstacle at the current moment based on the moving speed of the self-moving device, the first position information of the target obstacle at the previous moment, and the second position information of the target obstacle at the current moment, including:

[0139] Based on the first position information and the moving speed, the predicted position information of the target obstacle is determined, and based on the predicted position information, the second position information, and the pre-determined weighting coefficients, the actual position information of the target obstacle at the current moment is determined.

[0140] In some embodiments, after determining the actual position information of the target obstacle at the current moment, the first motion detection unit further includes:

[0141] The weighting coefficients are updated based on the predicted location information and the second location information.

[0142] In some embodiments, the device further includes a second motion detection unit, configured to determine the actual position information of the target obstacle at the current moment based on the moving speed of the self-moving device and the first position information of the target obstacle at the previous moment, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that there is no target obstacle and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that there is no target obstacle, during the process of the self-moving device moving close to the target obstacle.

[0143] The device provided in this embodiment, by installing an ultrasonic sensor group on the self-moving device, enables the detection of obstacles within the radar's blind zone, thereby ensuring the movement safety of the self-moving device. In addition, since the two ultrasonic sensors in the ultrasonic sensor group are vertically distributed and their detection ranges overlap, they form a common field of view. Obstacles within the common field of view can usually be detected by both ultrasonic sensors, which can eliminate false detections caused by noise interference to one ultrasonic sensor, such as light interference or vibration interference from the self-moving device's own drive motor. This helps to improve the accuracy of obstacle detection.

[0144] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0145] Example 3

[0146] Figure 4 This is a schematic diagram of the structure of a self-moving device 400 provided in an embodiment of this application. Figure 4 As shown, the self-moving device 400 of this embodiment includes: a chassis, a power system, an electronic control system, a detection system, and at least one processor 401. Figure 4 The diagram shows only one processor, memory 402, and a computer program 403 stored in memory 402 and executable on at least one processor 401, such as an obstacle detection program. When processor 401 executes computer program 403, it implements the steps in any of the above-described method embodiments. When processor 401 executes computer program 403, it implements the steps in the embodiments of the above-described obstacle detection methods. When processor 401 executes computer program 403, it implements the functions of each module / unit in the above-described device embodiments, such as... Figure 3 The functions of the information acquisition unit 301 to the information determination unit 302 shown are as follows.

[0147] For example, computer program 403 can be divided into one or more modules / units, one or more of which are stored in memory 402 and executed by processor 401 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 403 in self-moving device 400. For example, computer program 403 can be divided into an information acquisition unit and an information determination unit; the specific functions of each unit have been described in the above embodiments and will not be repeated here.

[0148] The self-moving device 400 can be a computing device implemented by mounting a chassis, power system, electronic control system, detection system, memory, processor, etc., on a vehicle. In practice, the self-moving device can be implemented as a robot, an unmanned vehicle, etc. The self-moving device 400 may include, but is not limited to, a chassis, power system, electronic control system, detection system, processor 401, and memory 402. Those skilled in the art will understand that... Figure 4 This is merely an example of a self-moving device 400 and does not constitute a limitation on the self-moving device 400. It may include more or fewer components than shown, or combine certain components, or different components. For example, the self-moving device may also include input / output devices, network access devices, buses, etc.

[0149] The processor 401 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0150] The memory 402 can be an internal storage unit of the self-moving device 400, such as a hard disk or memory of the self-moving device 400. The memory 402 can also be an external storage device of the self-moving device 400, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the self-moving device 400. Furthermore, the memory 402 can include both internal and external storage units of the self-moving device 400. The memory 402 is used to store computer programs and other programs and data required by the self-moving device. The memory 402 can also be used to temporarily store data that has been output or will be output.

[0151] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0152] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0153] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0154] In the embodiments provided in this application, it should be understood that the disclosed devices / self-moving devices and methods can be implemented in other ways. For example, the device / self-moving device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0155] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0156] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0157] If an integrated module is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. This computer-readable storage medium can be non-volatile or volatile. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the contents of a computer-readable storage medium may be appropriately added to or subtracted from the contents as required by the legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, a computer-readable storage medium may not include electrical carrier signals and telecommunication signals.

[0158] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An obstacle detection method, characterized in that, The method includes: Obstacle detection information collected by each ultrasonic sensor in an ultrasonic sensor group fixedly installed on a self-moving device is obtained. The ultrasonic sensor group includes a high-mounted ultrasonic sensor and a low-mounted ultrasonic sensor arranged vertically in the longitudinal direction. The first landing point of the detection range of the high-mounted ultrasonic sensor coincides with the second landing point of the detection range of the low-mounted ultrasonic sensor. Based on the obstacle detection information, the target obstacles around the self-moving device and the target location information of the target obstacles are determined; The center line of the detection range of the high-mounted ultrasonic sensor is parallel to the ground plane, and the angle between the center line of the detection range of the low-mounted ultrasonic sensor and the ground plane is the target lifting angle. The target lifting angle is determined based on the detection range angle of the low-mounted ultrasonic sensor, the installation height of the low-mounted ultrasonic sensor, and the lateral distance between the high-mounted ultrasonic sensor and the first landing point. The target lifting angle also satisfies the following angle calculation formula: in, To raise the angle to the target, To reduce the detection range angle of the low-profile ultrasonic sensor, To minimize the installation height of the ultrasonic sensor, The lateral distance between the high-mounted ultrasonic sensor and the first landing point; The method further includes: During the process of the self-moving device moving closer to the target obstacle, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that the target obstacle does not exist, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that the target obstacle exists, the actual position information of the target obstacle at the current moment is determined based on the moving speed of the self-moving device, the first position information of the target obstacle at the previous moment, and the second position information of the target obstacle at the current moment. Determining the target location information of the target obstacle at the current moment based on the moving speed of the self-moving device, the first location information of the target obstacle at the previous moment, and the second location information of the target obstacle at the current moment includes: Based on the first location information and the moving speed, the predicted location information of the target obstacle is determined, and based on the predicted location information, the second location information, and a pre-determined weighting coefficient, the actual location information of the target obstacle at the current moment is determined.

2. The obstacle detection method according to claim 1, characterized in that, The step of determining the target obstacles around the self-moving device and the target location information of the target obstacles based on the obstacle detection information includes: When the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates the existence of a target obstacle, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates the existence of the target obstacle, the target location information of the target obstacle is determined based on the first obstacle detection information and the second obstacle detection information. The obstacle detection information includes the first obstacle detection information and the second obstacle detection information, and the obstacle detection information includes the obstacle distance.

3. The obstacle detection method according to claim 1, characterized in that, After determining the actual position information of the target obstacle at the current moment, the method further includes: The weighting coefficients are updated based on the predicted location information and the second location information.

4. The obstacle detection method according to any one of claims 1-3, characterized in that, The method further includes: During the movement of the self-moving device toward the target obstacle, if the first obstacle detection information collected by the high-mounted ultrasonic sensor indicates that the target obstacle does not exist, and the second obstacle detection information collected by the low-mounted ultrasonic sensor indicates that the target obstacle does not exist, the actual position information of the target obstacle at the current moment is determined based on the moving speed of the self-moving device and the first position information of the target obstacle at the previous moment.

5. A self-moving device, comprising a chassis, a power system, an electronic control system, a detection system, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the obstacle detection method as described in any one of claims 1 to 4.

6. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the obstacle detection method as described in any one of claims 1 to 4.

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