Object detection method, device, equipment, medium and product

Abstract

The invention discloses an object detection method and device, equipment, a medium and a product, which are applied to mobile equipment, and the method comprises the following steps: in a process that the mobile equipment moves along a target direction, obtaining first information, the first information indicating phase information of reflection signals sent by a to-be-detected object to the mobile equipment within a plurality of times; based on the first information, a curve corresponding to the target direction is determined, and the curve is a curve with phase information changing along with time; and determining the position of the to-be-detected object based on the curve.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of positioning technology, and in particular to an object detection method, device, removable device, storage medium, and computer program product. Background Art

[0002] With the continuous development of IoT technology, IoT technology using passive tags has been applied to the recognition and positioning of passive objects due to its advantages such as no need for external power supply, low cost, and flexible deployment space. In the working scenarios of smart devices, passive IoT technology is usually used to navigate the objects to be detected / found to assist smart devices in their work. Among them, how to identify and locate the objects to be detected / found is an important part of the smart device to complete object navigation.

[0003] In the related art, when the smart device and the object to be detected are in a fixed position, the object is identified and located based on the collected single signal strength information or phase information of the object to be detected. However, the related art is too dependent on the single information collected under the fixed position relationship, and there is a problem of inaccurate positioning. Summary of the invention

[0004] The present application provides an object detection method, device, equipment, medium and product, which solves the problem of inaccurate positioning caused by over-reliance on single information collected under fixed position relationship in related technologies.

[0005] The technical solution of this application is implemented as follows:

[0006] An object detection method, applied to a movable device, comprises:

[0007] In the process of the movable device moving along the target direction, first information is acquired, where the first information indicates phase information of a reflection signal sent by the object to be detected to the movable device within a plurality of time periods;

[0008] Based on the first information, determining a curve corresponding to the target direction, the curve being a curve of the phase information changing over time;

[0009] Based on the curve, the position of the object to be detected is determined.

[0010] In the above solution, the target direction includes a first direction, and determining the position of the object to be detected based on the curve includes:

[0011] Determine a first position based on a curve corresponding to the first direction, where the first position is a position where a target value of the curve is mapped in the first direction in the moving scene;

[0012] Based on the first position, a position of the object to be detected is determined.

[0013] In the above solution, the target direction also includes a second direction, and the second direction is one or more directions different from the first direction. The determining the position of the object to be detected based on the curve includes:

[0014] Determine a second position based on one or more curves corresponding to the second direction, where the second position is a position where the target values ​​of the one or more curves are mapped in the second direction in the moving scene;

[0015] Based on the first position and the second position, the position of the object to be detected is determined.

[0016] In the above solution, when the angle between the first direction and the second direction is a right angle, determining the position of the object to be detected based on the first position and the second position includes:

[0017] Constructing a plane rectangular coordinate system with the moving starting point of the movable device as the coordinate origin, the first direction as the horizontal coordinate, and the second direction as the vertical coordinate;

[0018] Based on the first position and the second position, determining a target position, wherein the target position is a coordinate value of the position of the object to be detected mapped on the plane rectangular coordinate system;

[0019] The target position is determined as the position of the object to be detected.

[0020] In the above solution, during the process of the movable device moving along the target direction, the method further includes:

[0021] When the first information satisfies a preset condition, adjusting the current moving direction of the movable device;

[0022] The preset conditions include one or more of the following:

[0023] Within a preset time, the change trend of the phase information is increasing all the time;

[0024] Detecting the presence of an obstacle or the boundary of the detection range of the object to be detected within a preset distance;

[0025] The change trend of the phase information is to first decrease and then increase, and the current position of the movable device is determined as the starting point of the turn.

[0026] In the above scheme, when the change trend of the phase information is first decreasing and then increasing, and the current position of the movable device is determined to be the starting point of the turn, the method further includes:

[0027] At the location where the turning starting point is located, adjusting the current moving direction of the movable device from the first direction to the second direction;

[0028] The movable device is controlled to turn from the position where the turning starting point is located and move along the second direction.

[0029] In the above scheme, the change trend of the phase information is first decreasing and then increasing, and determining the current position of the movable device as the starting point of the turn includes:

[0030] Determining a current location of the movable device based on the first information;

[0031] When the change trend of the phase information is first decreasing and then increasing, and the first information satisfies a threshold range, it is determined that the current position of the movable device is a turning starting point.

[0032] In the above scheme, the method further includes:

[0033] Acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles;

[0034] determining the first direction based on the second information;

[0035] The movable device is controlled to move along the first direction.

[0036] In the above scheme, the method further includes:

[0037] Acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles;

[0038] determining the second direction based on the second information;

[0039] The movable device is controlled to move along the second direction.

[0040] In the above solution, during the process of the movable device moving along the target direction, the method further includes:

[0041] Acquire third information, where the third information indicates frequency information of the reflected signal received by the movable device;

[0042] Based on the third information, the moving speed of the movable device is adjusted.

[0043] In the above solution, after determining the position of the object to be detected based on the curve, the method further includes:

[0044] Acquire fourth information, where the fourth information indicates attribute information of the removable device;

[0045] Determining a target stop position of the movable device based on the position of the object to be detected and the fourth information;

[0046] The movable device is controlled to move to the target stop position.

[0047] The present application also provides an object detection device, which is applied to a movable device, including:

[0048] An acquisition unit, configured to acquire first information during the process in which the movable device moves along a target direction, wherein the first information indicates phase information of a reflection signal sent by an object to be detected to the movable device within a plurality of time periods;

[0049] a processing unit, configured to determine, based on the first information, a curve corresponding to the target direction, the curve being a curve of the phase information changing over time;

[0050] The processing unit is further used to determine the position of the object to be detected based on the curve.

[0051] The present application also provides a mobile device, including:

[0052] A radio frequency communication module, used for sending a radio frequency signal to a tag module set on the object to be detected;

[0053] The radio frequency communication module is further used to receive a reflected signal of the radio frequency signal sent by the tag module;

[0054] A driving device, used for driving the movable device to move;

[0055] Memory for storing computer programs;

[0056] The processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned object detection method.

[0057] An embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program, and the computer program can be executed by one or more processors to implement the steps of the above-mentioned object detection method.

[0058] An embodiment of the present application also provides a computer program product, including a computer program, characterized in that the computer program can implement the steps of the above-mentioned object detection method when executed by a processor.

[0059] An object detection method, device, equipment, medium and product provided in an embodiment of the present application, the method comprising: obtaining first information during the movement of a movable device along a target direction, the first information indicating the phase information of a reflected signal sent by the object to be detected to the movable device at multiple times; determining a curve corresponding to the target direction based on the first information, the curve being a curve of phase information changing over time; and determining the position of the object to be detected based on the curve. That is, in an embodiment of the present application, the dynamic position relationship between the movable device and the object to be detected is determined based on the changing trend of multiple phase information changing over time, and then the position of the object to be detected is determined, thereby improving the accuracy of positioning. This solves the problem of inaccurate positioning in the related art due to over-reliance on single information collected under a fixed position relationship. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of a flow chart of an object detection method according to an embodiment of the present application;

[0061] Figure 2 A schematic diagram of a process flow of a robot-oriented object-finding method in an actual scenario of an embodiment of the present application;

[0062] Figure 3 This is a schematic diagram of the positional relationship between a robot and an object to be found in an actual scenario of an embodiment of the present application;

[0063] Figure 4 This is a measured diagram of phase changes during a robot's object-seeking process in an actual scenario of an embodiment of the present application;

[0064] Figure 5 It is a schematic diagram of a V-shaped curve of phase variation over time in an actual scenario of an embodiment of the present application;

[0065] Figure 6 A schematic diagram of a robot's object-seeking route in a scenario where there are obstacles in an embodiment of the present application;

[0066] Figure 7 A schematic diagram of a process for a robot to determine the position of an object to be found according to an embodiment of the present application;

[0067] Figure 8 A schematic diagram of the structure of an object detection device for implementing the present application;

[0068] Fig. 9 A schematic diagram of the structure of a movable device according to an embodiment of the present application. DETAILED DESCRIPTION

[0069] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0070] At present, passive Internet of Things technology is applied to application scenarios such as object recognition and object positioning of passive objects due to its advantages such as no need for external power supply, low cost and flexible deployment space. Among them, the system based on passive Internet of Things includes readers and tags, which can identify objects far away from the reader or objects in motion, so as to achieve non-contact and non-visual operation. Its main working principle is: the reader transmits a signal of a certain frequency to the surrounding through the antenna, and the passive tags within the coverage of the antenna are activated after receiving the signal. The activated tags reflect the signal with identity code and other information back to the reader through backscattering. The reader modulates and decodes the signal reflected by the tag and transmits it to the passive Internet of Things system, which is used for the passive Internet of Things system to execute corresponding instructions according to the signal. Among them, the reader can read and write multiple tags within the coverage range of the reader at the same time, and has the advantage of high reading efficiency; the tags are small in size, large in capacity, long in life, and in various forms, so that the passive Internet of Things system can meet various needs in different scenarios, including wireless radio frequency identification (RFID) technology based on the passive Internet of Things system, which realizes the identification and positioning of the object to be detected by the smart device by configuring the reader and the passive tag on the smart device and the object to be detected respectively.

[0071] At present, in the working process of intelligent devices (such as intelligent robots, intelligent cars, etc.), object navigation (OV) of the objects to be detected / searched is one of its basic tasks, which requires the intelligent devices to accurately identify the objects to be detected as the target objects to be found in various environments (including new environments that have changed, old environments, partially changed environments, etc.) or spaces, and explore and move to the vicinity of the target objects to be found. Therefore, how the intelligent device accurately identifies the objects to be detected and accurately determines the location of the identified objects to be detected is the key to the intelligent device correctly completing object navigation.

[0072] Traditionally, when performing object navigation, visual technology is used to perform image recognition and tracking of the object to be detected. However, the use of visual technology is easily affected by factors such as the surrounding environment and obstacles, and is prone to recognition errors. In addition, due to the algorithmic limitations of its recognition algorithm, visual technology cannot make fine-grained distinctions between objects of the same type, resulting in poor object recognition accuracy. In view of the shortcomings of visual technology in object recognition, the relevant technology uses RFID-based passive positioning technology for recognition and positioning. It collects parameters such as single signal received strength indication information (RSSI) and single phase information of the object to be detected, performs object recognition on the object to be detected, determines the position of the identified object to be detected, and then controls the mobile intelligent device to move to the vicinity of the object to be detected; however, since the accuracy of the positioning result is too dependent on the data collection accuracy of the parameters, and the passive characteristics of the tag make the data collection unstable, the relevant technology has the problem of inaccurate positioning.

[0073] In order to solve the problem of unstable data collection of passive tags, in the related technology, the collected single phase information is analyzed to determine the approximate position of the object to be detected, and then multiple approximate positions of the object to be detected are determined by repeatedly moving the mobile smart device. The final position of the object to be detected is determined based on the multiple approximate positions. The multiple approximate positions depend on the collected single phase information, and there is a problem of inaccurate positioning. In addition, the repeated movement of the mobile smart device increases the operating complexity of the device.

[0074] It can be seen that in the related technologies for object navigation based on passive positioning technology, object recognition and positioning are performed based on the collected single signal strength information or phase information of the object to be detected under a certain position relationship between the smart device and the object to be detected. However, the related technologies are too dependent on the single information collected under a fixed position relationship, resulting in inaccurate positioning.

[0075] The embodiment of the present application provides an object detection method, which is applied to a mobile device, referring to Figure 1 As shown, the method comprises the following steps:

[0076] Step 101: Acquire first information while the movable device is moving along a target direction.

[0077] The first information indicates phase information of a reflected signal sent by the object to be detected to the movable device within a plurality of time periods.

[0078] It should be noted that movable devices include but are not limited to toy cars, toy pets, robots, cars, drones and other smart devices. Movable devices can also be called movable smart devices.

[0079] It can be understood that the execution subject of this embodiment is the above-mentioned mobile device, which has functions such as data processing, data communication and program running. Generally, the operation of each component in the mobile device can be driven by a core controller, so the execution subject of this embodiment can also be the core controller in the above-mentioned mobile device, and the core controller can be a processor.

[0080] It should be noted that in the embodiment of the present application, based on the passive Internet of Things technology, the signal transmitting device of the mobile device transmits a signal to the signal reflecting device of the object to be detected, and the signal reflecting device of the object to be detected sends a reflected signal to the mobile device. At multiple times, the mobile device receives multiple reflected signals sent by the object to be detected, and obtains phase information of the multiple reflected signals, thereby obtaining the first information.

[0081] Exemplarily, RFID is a non-contact automatic identification technology that identifies target objects and obtains relevant data through radio frequency signals. In the embodiment of the present application, the measured data of the phase information of the reflected signal sent by the object to be detected can be obtained based on the RFID technology.

[0082] It should be noted that the target direction refers to a direction in which the movable device moves. The target direction can be adjusted from one direction to another according to actual application requirements. The target direction is the direction in which the movable device gradually approaches the object to be detected.

[0083] It should be understood that the movable device moves along the target direction, including the movable device moving along a straight line or a curve where the target direction is located, toward the target direction.

[0084] In actual application, when the movable device moves along the target direction, it receives the reflected signal sent by the object to be detected at multiple times, collects and obtains the phase information of the reflected signal at multiple times, and obtains multiple phase information corresponding to the target direction.

[0085] In the embodiment of the present application, the motion state of the object to be detected includes a stationary state at a fixed position and a motion state within a certain position range. The certain position range includes a circular range with the current position of the object to be detected as the center and the set distance as the radius. It should be understood that the object to be detected itself can change position within a certain position range without affecting the process of sending the reflected signal to the movable device.

[0086] Step 102: Determine a curve corresponding to the target direction based on the first information.

[0087] Among them, the curve is the curve of phase information changing with time;

[0088] It should be noted that the phase information in the curve is the phase information obtained by processing the collected original phase detection information.

[0089] The changing trend of the curve reflects the changing situation of the positional relationship between the movable device and the object to be detected during the movement.

[0090] In actual application, after the phase information corresponding to the target direction is obtained in multiple times, a curve of the phase information corresponding to the target direction changing with time is determined based on the multiple phase information corresponding to the obtained multiple times.

[0091] In the embodiment of the present application, the curve can be transformed and solved according to actual needs to obtain the changing characteristics of the curve. Therefore, the shape of the curve is not specifically limited and is adjusted according to the actual computing scenario and needs.

[0092] Step 103: Determine the position of the object to be detected based on the curve.

[0093] In actual application, when the movable device moves along the target direction, multiple phase information of the reflected information sent by the object to be detected that is collected in real time is processed to determine a curve of the phase information changing with time, and the changing trend of the phase information changing with time in the curve is analyzed. The change in the positional relationship between the movable device and the object to be detected is determined based on the changing trend, and then the position of the object to be detected is determined based on the change in the positional relationship.

[0094] An object detection method provided in an embodiment of the present application includes: obtaining first information in the process of a movable device moving along a target direction, the first information indicating the phase information of a reflected signal sent by the object to be detected to the movable device in multiple time periods; determining a curve corresponding to the target direction based on the first information, the curve being a curve of phase information changing over time; and determining the position of the object to be detected based on the curve. That is, in an embodiment of the present application, the dynamic position relationship between the movable device and the object to be detected is determined based on the changing trend of multiple phase information changing over time, and then the position of the object to be detected is determined, thereby improving the accuracy of positioning. This solves the problem of inaccurate positioning in the related art that is overly dependent on single information collected under a fixed position relationship.

[0095] In some embodiments of the present application, the target direction includes a first direction. In step 103, the position of the object to be detected is determined based on the curve, which can be achieved by the following steps:

[0096] Determine a first position based on a curve corresponding to the first direction, where the first position is a position where a target value of the curve is mapped in the first direction in the moving scene;

[0097] Based on the first position, a position of the object to be detected is determined.

[0098] It should be understood that the first direction refers to the first direction in which the movable device moves.

[0099] It should be noted that the target value on a curve refers to the phase information of the reflected signal sent by the object to be detected when the movable device is closest to the object to be detected during the process of moving along the first direction. The target value on a curve is mapped to the position where the movable device is closest to the object to be detected in the first direction in the actual moving scene, and this position can be recorded as the projection position of the object to be detected in the first direction, so as to obtain the position of the object to be detected projected in one dimension.

[0100] Exemplarily, when a curve is a V-shaped curve, the phase information corresponding to the lowest point on the V-shaped curve is mapped to the position of the movable device closest to the object to be detected in one direction in the actual mobile scene, and the position is recorded as the projection position of the object to be detected in one direction.

[0101] In actual application, when the movable device moves along the first direction, first information corresponding to the first direction is obtained, and based on the first information, a first curve corresponding to the first direction is determined. The change trend of the first curve reflects the change in the positional relationship between the movable device and the object to be detected during the movement along the first direction.

[0102] In actual application, after determining a curve corresponding to the first direction, the changing trend of the phase information in the curve over time is analyzed, and the change of the positional relationship between the movable device and the object to be detected in the process of moving along the first direction is known according to the changing trend. According to the change of the positional relationship, the corresponding phase information when the movable device is closest to the object to be detected in the first direction is determined, and the phase information is mapped as the target value on the curve to the actual movement scene, that is, the projection position of the object to be detected in the first direction, so as to obtain the first position; further, according to the first position, the position information of the object to be detected projected in one dimension is determined.

[0103] In this way, by obtaining a curve in the first direction, according to the changing trend of the curve, the target value and the position of the target value mapped to the first direction in the actual scene are analyzed to obtain the projection position of the object to be detected in the first direction, and then determine the actual position of the object to be detected, thereby achieving accurate positioning of the object to be detected in one dimensional direction.

[0104] Further, in some embodiments of the present application, the target direction also includes a second direction, and the second direction is one or more directions different from the first direction. In step 103, the position of the object to be detected is determined based on the curve, which can be achieved by the following steps:

[0105] Determine a second position based on one or more curves corresponding to the second direction, where the second position is a position where the target values ​​of the one or more curves are mapped in the second direction in the moving scene;

[0106] Based on the first position and the second position, a position of the object to be detected is determined.

[0107] It should be understood that the second direction refers to the second orientation in which the movable device moves, and the second direction is different from the first direction.

[0108] In actual application, after the movable device moves along the first direction, it continues to move along the second direction. When the second direction is a direction different from the first direction, the movable device acquires first information corresponding to the second direction during the movement along the second direction, and determines a second curve corresponding to the second direction based on the first information, and the change trend of the second curve reflects the change of the positional relationship between the movable device and the object to be detected during the movement along the second direction.

[0109] In actual application, after the movable device moves along the first direction, it continues to move along the second direction. When the second direction is a plurality of directions different from the first direction, during the process of the movable device moving along the second direction, a plurality of groups of first information corresponding to the plurality of second directions are obtained, and based on the plurality of groups of first information, a plurality of second curves corresponding to the plurality of second directions are determined, and the change trend of each of the plurality of second curves reflects the change of the positional relationship between the movable device and the object to be detected in each second direction during the process of the movable device moving along the plurality of second directions.

[0110] It should be understood that the target value on one or more curves refers to the phase information of the reflected signal sent by the object to be detected when the movable device is closest to the object to be detected during the process of moving along the second direction. The target value on one or more curves is mapped to the position of the movable device closest to the object to be detected in one or more directions in the actual mobile scene, and the position can be recorded as the projection position of the object to be detected on one or more dimensions, thereby obtaining the position of the object to be detected projected on one or more dimensions.

[0111] In actual application, after determining one or more curves corresponding to the second direction, respectively analyze the changing trends of the phase information in the one or more curves over time, and obtain the changing situation of the positional relationship between the movable device and the object to be detected in the process of moving along one or more directions respectively according to the changing trend, and determine the corresponding phase information when the movable device is closest to the object to be detected in one or more directions according to the changing situation of the positional relationship, and map the phase information as the target value on one or more curves to the actual movement scene, that is, the projection position of the object to be detected in one or more directions corresponding to the second direction, so as to obtain the second position; further, according to the second position, combined with the first position determined above, comprehensively determine the position information of the object to be detected projected in multiple dimensions.

[0112] In actual application, when the second direction is a direction different from the first direction, the first direction and the second direction constitute a two-dimensional plane. Based on the first position, after the projection position of the object to be detected in one direction is determined, the projection position of the object to be detected in another direction is further determined based on the second position; further, based on the first position and the second position, that is, according to the projection position of the object to be detected in the first direction and the projection position of the second direction respectively, two projection vertical lines corresponding to the two projection positions are drawn, and the intersection of the two projection vertical lines is determined as the position of the object to be detected on the plane.

[0113] In actual application, when the second direction is two directions different from the first direction, the first direction and the second direction constitute a three-dimensional space. Based on the first position, after the projection position of the object to be detected in one direction is determined, the projection position of the object to be detected in the other two directions is further determined based on the second position; further, based on the first position and the second position, that is, according to the projection position of the object to be detected in the first direction and the projection positions in the two second directions respectively, the position of the object to be detected in a space is comprehensively determined.

[0114] In this way, by determining the corresponding curves in the first direction and the second direction, multiple curves in at least two directions are obtained, and the changing trends of the multiple curves are analyzed, and the target values ​​on the multiple curves and the positions of the multiple target values ​​mapped to different directions in the actual scene are determined respectively, so as to obtain the projection position of the object to be detected in multiple directions, and then determine the actual position of the object to be detected, thereby achieving accurate positioning of the object to be detected in multiple dimensional directions.

[0115] In some embodiments of the present application, when the angle between the first direction and the second direction is a right angle, determining the position of the object to be detected based on the first position and the second position can be achieved by the following steps:

[0116] Constructing a plane rectangular coordinate system with the moving starting point of the movable device as the coordinate origin, the first direction as the horizontal coordinate, and the second direction as the vertical coordinate;

[0117] Based on the first position and the second position, determining a target position, where the target position is a coordinate value of the position of the object to be detected mapped on a plane rectangular coordinate system;

[0118] The target position is determined as the position of the object to be detected.

[0119] In actual application, when the second direction is one direction, after the mobile device moves along the first direction, it takes the current first direction as the reference direction, rotates 90 degrees, obtains the second direction, and continues to move along the second direction. Among them, rotating 90 degrees includes rotating 90 degrees to the left and rotating 90 degrees to the right. In the embodiment of the present application, the moving route of the movable device is designed as a rectangular straight forward route, so that a plane rectangular coordinate system can be directly constructed with the moving direction of the movable device, and the rapid reading of the coordinate value can realize the rapid determination of the position, thereby improving the positioning efficiency.

[0120] It should be understood that, taking the first direction as the horizontal coordinate, the projection position of the object to be detected in the first direction is the position corresponding to the coordinate point on the horizontal coordinate; taking the second direction as the vertical coordinate, the projection position of the object to be detected in the second direction is the position corresponding to the coordinate point on the vertical coordinate.

[0121] It can be understood that the projection positions of the object to be detected in the first direction and the second direction are the positions corresponding to the coordinate points of the horizontal and vertical coordinates of the object to be detected in the plane rectangular coordinate system. In other words, the first position corresponding to the position of the object to be detected in the first direction is mapped to the value of the horizontal coordinate of the object to be detected in the plane rectangular coordinate system, and the second position corresponding to the position of the object to be detected in the second direction is mapped to the value of the vertical coordinate of the object to be detected in the plane rectangular coordinate system, thereby obtaining the two-dimensional coordinate value of the target position of the object to be detected mapped to the plane rectangular coordinate system.

[0122] In actual application, after determining the first position and the second position, the coordinate value of the actual position of the object to be detected mapped on the plane rectangular coordinate system is determined based on the horizontal coordinate corresponding to the first position and the vertical coordinate corresponding to the second position, so as to obtain the precise position of the object to be detected in the actual scene.

[0123] Exemplarily, the coordinate value of the object to be detected mapped on the plane rectangular coordinate system can be recorded as (x1, y1).

[0124] In an embodiment of the present application, by establishing a rectangular coordinate system, the first position of the object to be detected in the first direction is mapped to the value of the horizontal coordinate of the plane rectangular coordinate system, and the second position of the object to be detected in the second direction is mapped to the value of the vertical coordinate of the plane rectangular coordinate system. Therefore, based on the first position and the second position, the precise position of the object to be detected can be quickly read in the plane rectangular coordinate system, thereby ensuring the positioning accuracy and improving the positioning efficiency.

[0125] In some embodiments of the present application, in the process of the movable device moving along the target direction, the following steps are also included:

[0126] If the first information meets a preset condition, adjusting the current moving direction of the movable device;

[0127] The preset conditions include one or more of the following:

[0128] Within the preset time, the change trend of the phase information is to increase continuously;

[0129] Within a preset distance, the boundary of the detection range where obstacles or objects to be detected are detected;

[0130] The changing trend of the phase information is first decreasing and then increasing, and the current position of the movable device is determined as the starting point of the turn.

[0131] It should be noted that the first information satisfies the preset condition means that the phase information in the first information or the phase information in the curve corresponding to the first information satisfies the preset condition.

[0132] In actual application, when the movable device moves along the target direction, the phase information in the collected first information is processed within a preset time to obtain a curve corresponding to the target direction. The trend of the phase information in the curve changing with time is increasing all the time, indicating that the movable device is getting farther and farther away from the object to be detected, and the movable device is in the opposite direction of the target direction. Therefore, in order to prevent the movable device from getting farther and farther away, when the preset time arrives, the movable device is controlled to turn 180 degrees and then continue to move forward, thereby adjusting the current moving direction of the movable device so that the movable device gradually approaches the object to be detected along the target direction.

[0133] In actual application, when the movable device moves along the target direction, within the preset distance, if the phase information in the first information is detected to be missing or the signal is weakened, it indicates that there may be an obstacle or the object to be detected has reached the boundary of the preset detection range. If the movable device continues to move in the original direction, there will be a risk of collision. Therefore, in order to reduce the risk of collision, when the preset distance is reached, the movable device is controlled to turn and then continue to move forward, thereby adjusting the current moving direction of the movable device so that the movable device bypasses or avoids the obstacle or the boundary of the detection range.

[0134] In actual application, when the movable device moves along the target direction, the phase information in the collected first information is processed to obtain a curve corresponding to the target direction. The trend of the phase information in the curve changing with time is first decreasing and then increasing, which indicates that the movable device is getting closer and closer to the object to be detected until it passes the closest position and then gradually moves away, and the movable device has missed the closest position to the object to be detected in the current direction. Therefore, in order to avoid missing the object to be detected, a turning starting point is determined, and when the movable device reaches the position of the turning starting point, the movable device is controlled to turn and then continue to move forward, thereby adjusting the current moving direction of the movable device so that the movable device moves around the object to be detected and gradually approaches the object to be detected.

[0135] It should be noted that when the turn is set to a right-angle turn, the turning angle is 90 degrees. When the specific turning angle is not set, the turning angle can be any angle between 0-360 degrees, which is set according to actual needs. The embodiment of the present application does not make specific limitations on this.

[0136] In an embodiment of the present application, when the first information meets the preset conditions, the movable device is promptly controlled to adjust the current moving direction to avoid the risk of moving away from the object to be detected or collision, thereby ensuring the rationality of the current moving direction of the movable device, thereby reducing the risk of positioning failure and improving positioning accuracy.

[0137] Further, in some embodiments of the present application, when the change trend of the phase information is first decreasing and then increasing, and the current position of the movable device is determined to be the starting point of the turn, the current moving direction of the movable device is adjusted, which can be achieved by the following steps:

[0138] At the location where the turning start point is located, adjusting the current moving direction of the movable device from the first direction to the second direction;

[0139] The movable device is controlled to turn from the position where the turning start point is located and move along the second direction.

[0140] In actual application, the target direction includes a first direction and a second direction. During the movement of the movable device along the first direction, the phase information in the collected first information is processed to obtain a curve corresponding to the target direction. The trend of the phase information in the curve changing with time is to first decrease and then increase. In order to avoid missing the object to be detected, a turning starting point is determined. At the location of the turning starting point, the movable device is controlled to turn so that the current moving direction of the movable device is adjusted from the first direction to the second direction, and the movable device is controlled to continue moving forward along the second direction so that the movable device moves around the object to be detected and gradually approaches the object to be detected. In this way, the movable device is timely controlled to adjust the first direction to the second direction to avoid missing the object to be detected, and the rationality of the second direction of the movable device is ensured, thereby reducing the risk of positioning failure and improving positioning accuracy.

[0141] Further, in some embodiments of the present application, the change trend of the phase information is first decreasing and then increasing, and determining the current position of the movable device as the starting point of the turn can be achieved through the following steps:

[0142] Based on the first information, determining a current location of the movable device;

[0143] When the change trend of the phase information is first decreasing and then increasing, and the first information satisfies the threshold range, it is determined that the current position of the movable device is the starting point of the turn.

[0144] It should be noted that the changing trend of the phase information over time is the changing trend of the curve corresponding to the first information.

[0145] In actual application, when the movable device moves along the target direction, the phase information in the collected first information is processed to obtain a curve corresponding to the target direction, and the position of the movable device is determined according to the change of the phase information in the curve. It can be understood that when the latest phase information in the curve is the minimum value of all the historical phase information in the curve, it indicates that the change trend of the latest phase information is decreasing, and it is determined that the current position of the movable device is gradually approaching the position of the object to be detected, and the judgment is continued until the latest phase information in the curve is greater than the minimum value of all the historical phase information, indicating that the change trend of the current phase information is changing from decreasing to increasing. At this time, it is determined that the current position of the movable device begins to gradually move away from the position of the object to be detected.

[0146] It should be noted that the threshold range is a preset value or range, indicating the range in which the value of the phase information in the curve can continue to increase after reaching the minimum value. The threshold range reflects the maximum distance that the movable device can continue to move forward after reaching the closest position to the object to be detected in the moving direction, and is used to ensure the correctness of the closest position.

[0147] In actual application, when it is determined that the changing trend of the phase information in the curve with time is first decreasing and then increasing, and the value of the phase information continues to increase after reaching the minimum value until it reaches the threshold range, it indicates that the movable device continues to move forward after reaching the position closest to the object to be detected in the moving direction until it can continue to move forward to the maximum distance. At this time, the current position of the movable device is determined as the starting point of the turn, which is used for the movable device to adjust the current moving direction at the determined starting point of the turn to avoid continuing to move forward and moving away from the object to be detected.

[0148] In the embodiment of the present application, by setting a threshold range, the movable device continues to move forward for a certain distance after reaching the position closest to the object to be detected in the current moving direction, thereby ensuring the correctness of the closest position and improving the accuracy of positioning.

[0149] Further, in some embodiments of the present application, the target direction includes a first direction, and the movable device moves along the target direction, which can be achieved by the following steps:

[0150] Acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles;

[0151] determining a first direction based on the second information;

[0152] The movable device is controlled to move along a first direction.

[0153] It should be noted that the multiple angles are multiple detection angles of the movable device. There is a corresponding relationship between the detection angle and the signal strength information of the reflected signal.

[0154] In actual application, the signal strength information of the reflected signal sent by the object to be detected to the movable device at multiple angles is obtained, the reflected signal with the largest signal strength is determined, the angle corresponding to the reflected signal is obtained, the direction of the angle is determined as the first direction, and the movable device is controlled to move along the direction with the largest signal strength.

[0155] In this way, before the movable device moves, the direction of the strongest reflected signal is determined by obtaining signal strength information, so as to control the movable device to move in the direction of the strongest signal, effectively reducing the error rate of the moving direction, avoiding repeated positioning caused by moving in random directions, and improving the efficiency of positioning. In addition, because it moves in the direction of the strongest signal, the phase information collected by the movable device is more accurate, which improves the accuracy of positioning.

[0156] Further, in some embodiments of the present application, the target direction includes a second direction, and the second direction is one or more directions different from the first direction. Then, the movable device moves along the target direction, which can be achieved by the following steps:

[0157] Acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles;

[0158] determining a second direction based on the second information;

[0159] The movable device is controlled to move along the second direction.

[0160] In actual application, when the movable device needs to adjust the current moving direction, before moving in the new direction, the signal strength information of the reflected signal sent by the object to be detected to the movable device at multiple angles is obtained, and the reflected signal with the largest signal strength is determined, and the angle corresponding to the reflected signal is obtained. The direction of the angle is determined as the second direction, and the movable device is controlled to move in the direction with the largest signal strength.

[0161] In this way, after the movable device adjusts its current moving direction, it can still be controlled to move in the direction with the strongest signal, effectively reducing the error rate in the second direction, avoiding repeated positioning caused by moving in a random direction, and improving the efficiency of positioning. At the same time, it ensures the high data quality of the collected phase information and improves the accuracy of positioning.

[0162] In some embodiments of the present application, step 101, during the process of the movable device moving along the target direction, further includes the following steps:

[0163] Acquire third information, where the third information indicates frequency information of the reflected signal received by the movable device;

[0164] Based on the third information, the moving speed of the movable device is adjusted.

[0165] The frequency information of the reflected signal received by the movable device indicates the reading frequency of the reflected signal read by the movable device, which can also be called the sampling frequency. There is a corresponding relationship between the reading frequency and the moving speed: since the reading frequency and the sampling interval are inversely proportional, the larger the value indicated by the reading frequency, the smaller the sampling interval, and the moving speed needs to be increased; the smaller the value indicated by the reading frequency, the larger the sampling interval, and the moving speed needs to be decreased.

[0166] In actual application, if the sampling frequency of the mobile device increases, it means that the information read per unit time increases, and the moving speed of the mobile device can be controlled to be faster to avoid data redundancy and reduce the data processing burden; if the sampling frequency of the mobile device decreases, it means that the information read per unit time decreases, and the moving speed of the mobile device can be controlled to be slower to read sufficient information and ensure the accuracy of data processing.

[0167] In the embodiment of the present application, the moving speed of the movable device is controlled so that the amount of phase information of the first information collected by the movable device is reasonable. When the amount of information is insufficient, the movable device is controlled to slow down to obtain sufficient information. In this way, when determining the curve based on the first information, data processing and analysis can be performed on the collected sufficient amount of phase information, meeting the data volume requirements in the curve generation process, improving the success rate in the data processing process, and further improving the positioning efficiency.

[0168] In the embodiments of the present application, the methods for processing phase information include but are not limited to noise reduction smoothing processing and unwrapping processing, and the algorithms involved may include basic filtering algorithms or other algorithms; for the influence of multipath effects and reader noise, more sophisticated data smoothing, function fitting, and filtering algorithms, such as Kalman filtering and other data processing methods, can be further superimposed to perform more sophisticated processing of phase data, which can be processed according to actual needs, and is not specifically limited in the embodiments of the present application.

[0169] In some embodiments of the present application, after determining the position of the object to be detected based on the curve in step 103, the following steps are further included:

[0170] Acquire fourth information, where the fourth information indicates attribute information of the removable device;

[0171] Determining a target stop position of the movable device based on the position of the object to be detected and the fourth information;

[0172] Control the movable device to move to the target stop position.

[0173] The attribute information of the movable device includes but is not limited to the shape, volume, size, etc. of the movable device.

[0174] In actual application, since the movable device has a certain volume and shape, after determining the position of the object to be detected, the position of the movable device next to the object to be detected and maintaining a certain distance from the object to be detected is determined based on the attribute information of the movable device, and this is used as the target stop position of the movable device. The movable device is then controlled to move to the target stop position to avoid position conflict with the object to be detected, thereby facilitating the movable device to execute subsequent task instructions.

[0175] In an actual scenario of robot object navigation, the robot needs to perform basic tasks based on accurate object navigation for various user application needs. When the user requires the robot to complete certain tasks for a target object, the robot needs to confirm and move to the vicinity of the target object. For example, if the user needs to get a glass of water, the robot needs to find and move to the location of the glass before using the robotic arm to get the glass.

[0176] Below, we take the actual scenario of robot object navigation as an example. The robot is equipped with a reader / writer (built-in reader / writer antenna), and the object to be found is attached with an RFID tag (built-in exciter antenna). Figure 2 As shown, the embodiment of the present application provides a method for finding objects by a robot, which involves aspects such as coordinate construction, path planning, data processing, and speed control, and is specifically described as follows:

[0177] Step 201: Construct a basic coordinate system.

[0178] In one case, if a plane or space coordinate system has been established in the space of the object to be found, this coordinate system is directly used.

[0179] In another case, if a spatial coordinate system is not established in the space of the object to be found, a one-dimensional plane coordinate system is constructed with the position of the robot when it starts to find the object as the coordinate origin and the first movement direction as the positive direction of the x-axis.

[0180] In the embodiment of the present application, the x-axis direction is detected first, and then the y-axis direction is detected, until the detection in both the x-axis and y-axis directions is completed.

[0181] Step 202: Start path planning and control the reader / writer of the robot to send a radio frequency signal.

[0182] For robots that support the rotatable function, the robot is controlled to rotate the antenna one circle to control the robot's reader to send multiple radio frequency signals at different angles to the surroundings through the antenna, so that the object to be found with the radio frequency tag installed can receive and reflect the radio frequency signal.

[0183] Step 203: Determine the object to be found according to the radio frequency reflection signal.

[0184] The radio frequency reflected signal is analyzed to determine the reflected signal that matches the object to be found, and the object at the location of the reflection source (positioning tag) of the reflected signal is determined as the object to be found.

[0185] Step 204: According to RSSI, determine that the first movement direction is the positive half axis of the x-axis, and control the robot to move forward.

[0186] According to the radio frequency reflected signals of the object to be found at multiple angles, the signal with the largest received signal strength indication (RSSI) information of the reflected signal is selected as the target signal, and the angle corresponding to the target signal is used as the first forward direction to control the robot to move forward.

[0187] Step 205: monitor the phase information of the radio frequency reflection signal in the x-axis direction.

[0188] The robot is controlled to move forward Xcm in the selected direction of motion, and the phase information is monitored in real time during the moving process.

[0189] In the RFID system, after the robot's reader antenna sends a radio frequency signal of a certain frequency to the exciter antenna on the object to be found, it receives the reflected signal of the radio frequency signal (from the exciter antenna to the reader antenna). During the movement of the robot, multiple reflected signals will be received. The phase of the corresponding reflected signal can be calculated according to formula (1):

[0190]

[0191] in, It is the phase data of the signal backscattered by the tag received by the reader, in degrees;

[0192] c is the speed of light, in meters per second;

[0193] f is the frequency in Hertz;

[0194] d is the communication distance between the robot's reader antenna and the exciter antenna of the object to be found, which reflects the distance between the robot and the object to be found.

[0195] Step 206: Plan the motion path of the robot according to the phase information.

[0196] The phase information obtained in the x-direction is processed to generate the first V-shaped curve of the phase information changing with time. According to the changing trend of the phase information in the V-shaped curve corresponding to the x-axis direction, the position change relationship between the person and the object to be found can be calculated using formula (1) to plan the robot's motion path:

[0197] If the distance between the robot and the object to be found calculated based on the phase information decreases first and then increases, it indicates that the first movement direction is correctly determined. At this time, the x-coordinate value corresponding to the lowest point of the V-shaped curve of the phase information changing with time is calculated, and it is determined as the x-axis coordinate x0 of the positioned object, and the robot is controlled to continue to move forward for a distance dc. In practical applications, since the wavelength of the signal emitted in the RFID system is about 32cm, the phase change is affected by the round-trip path, that is, the phase change corresponding to 16cm forward is about 360 degrees. On the premise of successful unwinding, after reaching the lowest point of the V-shaped curve, the phase is increased by 180 degrees, which can be used to detect the V-shaped shape. Therefore, in practical applications, after detecting that the curve changes and reaches the bottom of the V-shaped shape, the additional forward distance dc required by the robot does not need to be very long. Exemplarily, the robot's business action requirements, as well as the robot's shape, size, dimensions and other attribute factors are combined to determine that the robot's moving distance in the x-axis direction is x0+dc, and the corresponding turning coordinate is (x0+dc, 0).

[0198] It should be understood that, during the robot's object-seeking process, the robot is in a moving state and the object to be found is in a stationary state. If the coordinates of the object to be found are (x0, y0), assuming that the robot moves in a straight line at an arbitrary angle, the robot coordinates are (x, 0), then the distance d between the robot and the object to be found during the robot's movement is calculated according to formula (2) as follows:

[0199]

[0200] Combination Figure 3 From the analysis, we know that the vertical point of the object to be found on the robot's motion trajectory is the point where the robot is closest to the object to be found, that is, the moment x=x0. In the process of the robot moving towards the object to be found, the distance d between the robot and the object to be found will first decrease and then increase. According to the relationship between phase and distance, the phase information obtained in the x direction is processed by unwrapping data to generate the first V-shaped curve of phase information changing with time, which includes:

[0201] Since the phase is a periodically changing parameter, the phase collected by the reader The phase collected during the robot's movement is unwrapped to better detect the bottom of the V-shaped curve, where the phase containing the whole cycle information is restored. The process of referring to the calculation process in formulas (3), (4) and (5):

[0202]

[0203] The process of phase information changing with time before unwrapping is shown in Figure 2. Figure 4As shown, the process of phase information changing with time after unwrapping is shown in Figure 5 As shown, it can be seen that after the unwinding process, the phase will change with the change of the distance d. When the distance d first decreases and then increases, the corresponding phase will first decrease and then increase, thereby forming a V-shaped curve. The minimum value V0 of the V-shaped curve is the coordinate value of the object to be found in the first dimension.

[0204] In the embodiment of the present application, since the trend of the curve is analyzed, and the influence of the acquisition error and the environmental noise on the overall change trend of the curve is small and can be ignored, the influence of the acquisition error and the environmental noise on the shape of the curve is ignored in the embodiment of the present application. In other words, by adopting the scheme in the embodiment of the present application, even if there is a small oscillation at the bottom of the V-shaped curve due to the influence of various factors, the error caused by it is negligible, so it has no essential impact on the final positioning result, ensuring the accuracy of the positioning result.

[0205] Step 207 , during the movement of the robot, dynamically adjust the movement path of the robot, and return to step 206 .

[0206] In one case, if the distance between the robot and the object to be found calculated based on the phase information continues to increase, it indicates that the initial movement direction is determined incorrectly and the robot moves in the wrong opposite direction. At this time, adjust the movement direction of the robot by 180 degrees, and then return to step 206 to continue controlling the robot to move in the adjusted direction.

[0207] In another case, when the robot detects an obstacle in the forward route or moves to the boundary of the object-seeking space, causing the robot to be unable to move forward again, the robot is controlled to turn 90 degrees, and step 204 is executed to detect RSSI. If the RSSI corresponding to turning 90 degrees to the left is larger, the robot is controlled to turn 90 degrees to the left to ensure that the robot's moving direction is close to the object to be found, and then returns to step 206 to continue to control the robot to move in the adjusted direction. In this scenario, the corresponding robot search path diagram is referenced Figure 6 shown.

[0208] Step 208: Determine the x-coordinate of the object to be found, and control the robot to make a 90-degree right-angle turn.

[0209] Step 209: According to RSSI, determine that the next moving direction is the positive half axis of the y-axis, and control the robot to continue moving forward.

[0210] After the robot is controlled to turn at the position corresponding to the turning coordinate (x0+dc, 0), the direction of movement again is determined to be the positive half axis of the y-axis according to RSSI, and the robot is controlled to move along the direction of the positive half axis of the y-axis.

[0211] In the embodiment of the present application, a right-angle forward route is designed to improve the positioning efficiency while ensuring that the robot avoids taking a long detour when approaching the object to be found.

[0212] Step 210: Monitor the phase information of the radio frequency reflection signal in the y-axis direction.

[0213] Step 211: Plan the motion path of the robot according to the phase information.

[0214] Step 212: During the movement of the robot, the movement path of the robot is dynamically adjusted, and the process returns to step 211 to confirm that the movement direction of the robot is the direction approaching the object to be found.

[0215] Step 213: Determine the y coordinate of the object to be found.

[0216] The robot is controlled to continue moving forward until a second V-shaped curve of phase change is detected, and the y-axis coordinate y0 of the object to be found is determined.

[0217] Step 214: determine the location coordinates of the object to be found and control the robot to stay.

[0218] Reference Figure 7 and Figure 4 As shown, in the process of the robot moving along the straight track, the x-direction detection is first performed to generate a V-shaped curve, and the x-axis coordinate x0 (1-dimensional coordinate) of the object to be found corresponding to the bottom V0 of the V-shaped area is determined. The x-axis coordinate x0+dx corresponding to the V-shaped area V1 is the judgment condition for the robot to complete the V-shaped area detection. At this time, the robot is controlled to turn, and then continues to move closer to the object to be found along the straight track. At the same time, the y-direction detection is performed to determine the V-shaped curve corresponding to the y direction. Similarly, it is determined that the bottom of the V-shaped area of ​​the V-shaped curve corresponding to the y direction is the y-axis coordinate y0 (2-dimensional coordinate) of the object to be found, thereby determining the two-dimensional positioning coordinates (x0, y0) of the object to be found.

[0219] In the embodiment of the present application, the process of completing the V-shaped zone detection includes: setting the initial time as T0, the robot starts to move in the same direction along a fixed direction, and continuously collects phases, and processes to obtain the phase sequence after unwinding The corresponding acquisition time is {T0, T1...}, then for the newly acquired phase, the phase is obtained after unwrapping Calculate the minimum value of the current phase sequence If it is determined This indicates that the current phase is decreasing, so continue collecting. and This indicates that the current phase has increased after decreasing, and the V-shaped zone detection is completed. The collection time t is obtained through the robot's mileage sensor or speed sensor and other functions. The corresponding collected coordinates are determined as the coordinates of the object to be found in a certain direction, thereby completing high-precision positioning detection.

[0220] After determining the positioning coordinates (x0, y0) of the object to be found, the robot's stop coordinates are determined to be (x0+dx, y0+dy) by comprehensively considering business needs and robot properties, and the robot is controlled to stay at the stop coordinates.

[0221] Step 215: Control the robot to perform business operations.

[0222] When the positioning detection is completed, the robot has also moved to the side of the object to be found, and at this time, the next business operation can be performed according to the business operation instruction. For example, when the business operation instruction is a fetching instruction, the robot is controlled to perform the fetching operation.

[0223] In the embodiment of the present application, the robot recognizes and analyzes the V-shaped area of ​​the curve of the phase change of the object to be found over time during the movement, thereby realizing the accurate positioning of the object to be found. At the same time, while realizing the accurate positioning, the robot is guided to the vicinity of the object to be found, which is convenient for subsequent business operations and improves the working efficiency of the robot.

[0224] In an embodiment of the present application, in similar scenarios that require spatial sampling frequency, such as phase unwrapping, the reading frequency of the RFID tag cannot be directly configured, has a certain degree of randomness, and is easily affected by factors such as environmental equipment performance. Therefore, in an embodiment of the present application, the reading frequency of the tag to be located is monitored in real time, and the forward speed of the robot is controlled to avoid the situation where unwrapping failure affects the positioning result, thereby improving the accuracy of positioning.

[0225] For example, when the basic unwinding algorithm is used, the phase loss distance is required to be no more than 1 / 4 wavelength λ. Assuming that the robot movement speed is v, the maximum time interval t between two readings of the RFID tag is sufficient for unwinding to succeed. max It can be calculated using formula (6) as follows:

[0226]

[0227] In the embodiment of the present application, in order to ensure the success of unwinding, the ratio α is set, that is, when the time interval between two samplings of the signal reflected by the RFID tag by the reader is greater than αt max When αt is detected, it indicates that the sampling time interval is too large and the reading frequency is low. In order to read enough data, the robot is controlled to reduce the current forward speed in time. The maximum time interval between two samples of the signal reflected by the RFID tag of the object to be found monitored by the robot during its movement is αt.max Denoted as Δt, for different robots, due to their different speed control requirements, the maximum value v of the robot's adjustable speed is set according to formula (7): max :

[0228]

[0229] In the embodiment of the present application, the forward speed of the robot is adaptively adjusted according to the sampling frequency of the reader / writer to meet the data volume requirements during data processing, improve the success rate of data processing, and ensure the accuracy of positioning.

[0230] The robot in the embodiments of the present application can be applied to various scenarios including but not limited to home service scenarios, industrial service scenarios, etc.

[0231] In the embodiment of the present application, only a radio frequency tag needs to be affixed to the object to be found, which has simple configuration and high flexibility in use and can be applied to various application scenarios.

[0232] The embodiment of the present application provides an object detection device 800, referring to Figure 8 As shown, the object detection device 800 applied to a mobile device includes: an acquisition unit 801, a processing unit 802; wherein,

[0233] An acquisition unit 801 is used to acquire first information when the movable device moves along a target direction, where the first information indicates phase information of a reflected signal sent by the object to be detected to the movable device during a plurality of time periods;

[0234] A processing unit 802 is used to determine a curve corresponding to the target direction based on the first information, where the curve is a curve of phase information changing over time;

[0235] The processing unit 802 is further configured to determine the position of the object to be detected based on the curve.

[0236] in,

[0237] The processing unit 802 is specifically configured to: the target direction includes a first direction, and based on a curve corresponding to the first direction, determine a first position, where the first position is a position where a target value of the curve is mapped in the first direction in the moving scene;

[0238] The processing unit 802 is specifically configured to determine a position of the object to be detected based on the first position.

[0239] The processing unit 802 is specifically configured to: the target direction further includes a second direction, the second direction is one or more directions different from the first direction, and based on one or more curves corresponding to the second direction, determine a second position, the second position being a position where the target values ​​of the one or more curves are mapped in the second direction in the moving scene;

[0240] The processing unit 802 is specifically configured to determine a position of the object to be detected based on the first position and the second position.

[0241] The processing unit 802 is specifically configured to: determine the position of the object to be detected based on the first position and the second position when the angle between the first direction and the second direction is a right angle, including: constructing a plane rectangular coordinate system with the moving starting point of the movable device as the coordinate origin, the first direction as the horizontal coordinate, and the second direction as the vertical coordinate;

[0242] The processing unit 802 is specifically configured to: determine a target position based on the first position and the second position, where the target position is a coordinate value of the position of the object to be detected mapped on a plane rectangular coordinate system;

[0243] The processing unit 802 is specifically configured to: determine the target position as the position of the object to be detected.

[0244] The processing unit 802 is specifically used to: when the movable device moves along the target direction, if the first information meets the preset conditions, adjust the current moving direction of the movable device; wherein the preset conditions include one or more of the following: within the preset time, the change trend of the phase information is always increasing; within the preset distance, the boundary of the detection range where there is an obstacle or an object to be detected is detected; the change trend of the phase information is first decreasing and then increasing, and the current position of the movable device is determined to be the starting point of the turn.

[0245] The processing unit 802 is specifically configured to: when the phase information changes in a trend of first decreasing and then increasing, and when it is determined that the current position of the movable device is a turning starting point, adjust the current moving direction of the movable device from the first direction to the second direction at the position where the turning starting point is located;

[0246] The movable device is controlled to turn from the position where the turning start point is located and move along the second direction.

[0247] The processing unit 802 is specifically used to: determine the current position of the movable device based on the first information; when the change trend of the phase information is first decreasing and then increasing, and the first information meets the threshold range, determine that the current position of the movable device is the starting point of the turn.

[0248] The acquisition unit 801 is specifically used to: acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles;

[0249] The processing unit 802 is specifically configured to: determine a first direction based on the second information;

[0250] The processing unit 802 is specifically configured to control the movable device to move along a first direction.

[0251] The acquisition unit 801 is specifically used to: acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles;

[0252] The processing unit 802 is specifically configured to: determine a second direction based on the second information;

[0253] The processing unit 802 is specifically configured to control the movable device to move along the second direction.

[0254] The acquisition unit 801 is specifically configured to: acquire third information when the movable device moves along a target direction, where the third information indicates frequency information of a reflected signal received by the movable device;

[0255] The processing unit 802 is specifically configured to adjust the moving speed of the movable device based on the third information.

[0256] The acquisition unit 801 is specifically configured to: after determining the position of the object to be detected based on the curve, acquire fourth information indicating attribute information of the movable device;

[0257] The processing unit 802 is specifically configured to: determine a target stop position of the movable device based on the position of the object to be detected and the fourth information;

[0258] The processing unit 802 is specifically used to control the movable device to move to a target stop position.

[0259] It should be noted that the specific processing process of the acquisition unit 801 and the processing unit 802 can be understood by referring to the above method, which will not be repeated here.

[0260] In order to implement the object detection method of the embodiment of the present application, the embodiment of the present application provides a movable device 900, referring to Fig. 9 As shown, the mobile device 900 includes: a processor 901, a memory 902, a communication bus 903, a radio frequency communication module 904, and a drive device 905; wherein,

[0261] Processor 901, configured to execute the method provided by one or more of the above technical solutions when running a computer program;

[0262] A memory 902 for storing computer programs that can be executed on the processor 901;

[0263] A communication bus 903, used to implement communication connection between the processor 901 and the memory 902;

[0264] The radio frequency communication module 904 is used to send a radio frequency signal to a tag module set on the object to be detected;

[0265] The radio frequency communication module 904 is further used to receive the reflected signal of the radio frequency signal sent by the tag module, and send it to the processor 902 to implement the steps of the above-mentioned object detection method.

[0266] The driving device 905 is used to drive the movable device to move according to the driving instruction sent by the processor 902.

[0267] It should be noted that the specific processing process of the processor 901 can be understood by referring to the above method, which will not be repeated here.

[0268] Of course, in actual application, the various components in the mobile device 900 are coupled together via the communication bus 903. It can be understood that the communication bus 903 is used to realize the connection and communication between these components. In addition to the data bus, the communication bus 903 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Fig. 9 Various buses are labeled as communication buses 903.

[0269] The memory 902 in the embodiment of the present application is used to store various types of data to support the operation of the mobile device 900. Examples of such data include: any computer program used to operate on the mobile device 900.

[0270] The method disclosed in the above embodiment of the present application can be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 901 or the instruction in the form of software. The processor 901 can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 901 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the memory 902, and the processor 901 reads the information in the memory 902 and completes the steps of the above method in combination with its hardware.

[0271] In an exemplary embodiment, the removable device 900 may be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.

[0272] It can be understood that the memory (memory 902) of the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Sync Link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0273] In an exemplary embodiment, the present application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, for example, a memory 902 storing a computer program, and the computer program in the memory 902 can be executed by a processor 901 of a removable device 900 to complete the steps of the aforementioned method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0274] In an exemplary embodiment, the embodiment of the present application further provides a computer program product, including a computer program, and the above-mentioned computer program can be executed by the processor 901 of the mobile device 900 to complete the steps of the above-mentioned method of the aforementioned mobile device.

[0275] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0276] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0277] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. An object detection method, applied to a mobile device, It is characterized in that include: In the process of the movable device moving along the target direction, first information is acquired, where the first information indicates phase information of a reflection signal sent by the object to be detected to the movable device within a plurality of time periods; Based on the first information, determining a curve corresponding to the target direction, the curve being a curve of the phase information changing over time; Based on the curve, the position of the object to be detected is determined.

2. The method according to claim 1, It is characterized in that The target direction includes a first direction, and determining the position of the object to be detected based on the curve includes: Determine a first position based on a curve corresponding to the first direction, where the first position is a position where a target value of the curve is mapped in the first direction in the moving scene; Based on the first position, a position of the object to be detected is determined.

3. The method according to claim 2, It is characterized in that The target direction also includes a second direction, where the second direction is one or more directions different from the first direction, and determining the position of the object to be detected based on the curve includes: Determine a second position based on one or more curves corresponding to the second direction, where the second position is a position where the target values ​​of the one or more curves are mapped in the second direction in the moving scene; Based on the first position and the second position, the position of the object to be detected is determined.

4. The method according to claim 3, It is characterized in that When the angle between the first direction and the second direction is a right angle, determining the position of the object to be detected based on the first position and the second position includes: Constructing a plane rectangular coordinate system with the moving starting point of the movable device as the coordinate origin, the first direction as the horizontal coordinate, and the second direction as the vertical coordinate; Based on the first position and the second position, determining a target position, wherein the target position is a coordinate value of the position of the object to be detected mapped on the plane rectangular coordinate system; The target position is determined as the position of the object to be detected.

5. The method according to claim 3, It is characterized in that During the process of the movable device moving along the target direction, the method further includes: When the first information satisfies a preset condition, adjusting the current moving direction of the movable device; The preset conditions include one or more of the following: Within a preset time, the change trend of the phase information is increasing all the time; Detecting the presence of an obstacle or the boundary of the detection range of the object to be detected within a preset distance; The change trend of the phase information is to first decrease and then increase, and the current position of the movable device is determined as the starting point of the turn.

6. The method according to claim 5, It is characterized in that When the change trend of the phase information is first decreasing and then increasing, and the current position of the movable device is determined to be the starting point of the turn, the method further includes: At the location where the turning starting point is located, adjusting the current moving direction of the movable device from the first direction to the second direction; The movable device is controlled to turn from the position where the turning starting point is located and move along the second direction.

7. The method according to claim 5, It is characterized in that The change trend of the phase information is first decreasing and then increasing, and determining the current position of the movable device as the starting point of the turn includes: Determining a current location of the movable device based on the first information; When the change trend of the phase information is first decreasing and then increasing, and the first information satisfies a threshold range, it is determined that the current position of the movable device is a turning starting point.

8. The method according to claim 2, It is characterized in that The method further comprises: Acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles; determining the first direction based on the second information; The movable device is controlled to move along the first direction.

9. The method according to claim 3, It is characterized in that The method further comprises: Acquire second information, where the second information indicates signal strength information of a reflected signal sent by the object to be detected to the movable device at multiple angles; determining the second direction based on the second information; The movable device is controlled to move along the second direction.

10. The method according to claim 1, It is characterized in that During the process of the movable device moving along the target direction, the method further includes: Acquire third information, where the third information indicates frequency information of the reflected signal received by the movable device; Based on the third information, the moving speed of the movable device is adjusted.

11. The method according to claim 1, It is characterized in that After determining the position of the object to be detected based on the curve, the method further includes: Acquire fourth information, where the fourth information indicates attribute information of the removable device; Determining a target stop position of the movable device based on the position of the object to be detected and the fourth information; The movable device is controlled to move to the target stop position.

12. An object detection device, applied to a movable device, It is characterized in that include: An acquisition unit, configured to acquire first information during the process in which the movable device moves along a target direction, wherein the first information indicates phase information of a reflection signal sent by an object to be detected to the movable device within a plurality of time periods; a processing unit, configured to determine, based on the first information, a curve corresponding to the target direction, the curve being a curve of the phase information changing over time; The processing unit is further used to determine the position of the object to be detected based on the curve.

13. A removable device, It is characterized in that include: A radio frequency communication module, used for sending a radio frequency signal to a tag module set on the object to be detected; The radio frequency communication module is further used to receive a reflected signal of the radio frequency signal sent by the tag module; A driving device, used for driving the movable device to move; Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory to implement the object detection method according to any one of claims 1 to 4.

14. A storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the object detection method according to any one of claims 1 to 11 are implemented.

15. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by a processor, the computer program implements the steps of the object detection method according to any one of claims 1 to 11.

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