A method, device, equipment and storage medium for setting obstacle avoidance trajectory

Abstract

The present application discloses a method, apparatus, device and storage medium for setting an obstacle avoidance trajectory; wherein the method comprises: determining a first obstacle avoidance trajectory of a mobile device; if the first obstacle avoidance trajectory satisfies an update condition, updating the first obstacle avoidance trajectory to obtain a second obstacle avoidance trajectory; wherein a second obstacle included in the second obstacle avoidance trajectory has different object characteristics from a first obstacle included in the first obstacle avoidance trajectory; and controlling the mobile device to move along the second obstacle avoidance trajectory so that the mobile device avoids the first obstacle and the second obstacle during movement.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a method, device, equipment and storage medium for setting an obstacle avoidance trajectory. Background Art

[0002] With the rapid development of robotics technology, indoor mobile robots have been widely used in industries, commerce, and homes. Autonomous navigation and safe obstacle avoidance of indoor mobile robots in complex environments require the construction of indoor environment maps that are as close to the real environment as possible. Currently, indoor mobile robots can only move along a set obstacle avoidance trajectory, and the obstacle avoidance method is single. Summary of the invention

[0003] The embodiments of the present application provide a method, device, equipment and storage medium for setting an obstacle avoidance trajectory, which solves the problem in the related art that an indoor mobile robot can only move along a set obstacle avoidance trajectory and has a single obstacle avoidance method.

[0004] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0005] A method for setting an obstacle avoidance trajectory, the method comprising:

[0006] Determining a first obstacle avoidance trajectory of the mobile device;

[0007] If the first obstacle avoidance trajectory satisfies an update condition, the first obstacle avoidance trajectory is updated to obtain a second obstacle avoidance trajectory; wherein a second obstacle included in the second obstacle avoidance trajectory has different object features from the first obstacle included in the first obstacle avoidance trajectory;

[0008] The mobile device is controlled to move along the second obstacle avoidance trajectory so that the mobile device avoids the first obstacle and the second obstacle during the movement.

[0009] A method for setting an obstacle avoidance trajectory, the method comprising:

[0010] Get the first map;

[0011] Obtaining obstacle information when the mobile device moves according to the first map;

[0012] According to the obstacle information, the obstacles on the first map are updated, and the updated obstacles are displayed.

[0013] A first setting device, the device comprising:

[0014] A determination unit, configured to determine a first obstacle circumvention trajectory of the mobile device;

[0015] an updating unit, configured to update the first obstacle avoidance trajectory to obtain a second obstacle avoidance trajectory if the first obstacle avoidance trajectory satisfies an updating condition; wherein a second obstacle included in the second obstacle avoidance trajectory has different object features from the first obstacle included in the first obstacle avoidance trajectory;

[0016] The control unit is used to control the mobile device to move along the second obstacle avoidance trajectory so that the mobile device avoids the first obstacle and the second obstacle during the movement.

[0017] A second setting device, the device comprising:

[0018] A first acquisition unit, used to acquire a first map;

[0019] A second acquisition unit, used to acquire obstacle information when the mobile device moves according to the first map;

[0020] A processing unit is used to update the obstacles on the first map according to the obstacle information and display the updated obstacles.

[0021] An electronic device, comprising:

[0022] A memory for storing executable instructions;

[0023] The processor is configured to implement the steps in the method for setting an obstacle avoidance trajectory as described in any one of the above items when executing the executable instructions stored in the memory.

[0024] A storage medium stores computer executable instructions, wherein the computer executable instructions are configured to execute any of the above methods for setting an obstacle avoidance trajectory.

[0025] The obstacle avoidance trajectory setting method, apparatus, device and storage medium provided in the embodiments of the present application determine a first obstacle avoidance trajectory of a mobile device; if the first obstacle avoidance trajectory meets the update condition, the first obstacle avoidance trajectory is updated to obtain a second obstacle avoidance trajectory; wherein the second obstacle included in the second obstacle avoidance trajectory has different object characteristics from the first obstacle included in the first obstacle avoidance trajectory; the mobile device is controlled to move along the second obstacle avoidance trajectory so that the mobile device bypasses the first obstacle and the second obstacle during the movement; that is, in the embodiments of the present application, by determining the first obstacle avoidance trajectory of the mobile device, if the first obstacle avoidance trajectory meets the update condition, the first obstacle avoidance trajectory is updated to obtain the second obstacle avoidance trajectory so that the mobile device bypasses the first obstacle and the second obstacle during the movement, the problem in the related art that when the indoor mobile robot performs map measurement, the physical obstacles far away from the sensor disappear in the map, the environmental map is made more consistent with the real environment, and the autonomous navigation and safe obstacle avoidance of the indoor mobile robot in a complex environment are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a flow chart of a method for setting an obstacle avoidance trajectory provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of a grid map provided by an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of an updated grid map provided by an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of an obstacle avoidance trajectory of a sweeping robot provided in an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of marking a circle track in an obstacle avoidance track of a sweeping robot provided by an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of a flow chart of another method for setting an obstacle avoidance trajectory provided by an embodiment of the present invention;

[0032] Figure 7 A schematic diagram of a flow chart of another method for setting an obstacle avoidance trajectory provided by an embodiment of the present invention;

[0033] Figure 8 A schematic structural diagram of a first setting device provided in an embodiment of the present invention;

[0034] Fig. 9 A schematic structural diagram of another second setting device provided in an embodiment of the present invention;

[0035] Fig.10 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0037] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0038] The terms "first / second / third" involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0040] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] The embodiment of the present application provides a method for setting an obstacle avoidance trajectory, referring to Figure 1 As shown, the method comprises the following steps:

[0042] Step 101: Determine a first obstacle circumvention trajectory of a mobile device.

[0043] It will be understood that mobile devices include, but are not limited to, robot cleaners, window cleaning robots, and campus delivery robots, and this application does not limit this.

[0044] In the embodiment of the present application, the mobile device is a sweeping robot as an example. The sweeping robot is also called an automatic sweeping machine, smart vacuum cleaner, robot vacuum cleaner, etc. It is a kind of smart home appliance that can automatically complete the floor cleaning work in the room. Generally, the brushing and vacuuming method is adopted to first absorb the debris on the ground into its own garbage storage box, thereby completing the function of floor cleaning. Generally speaking, robots that complete the work of sweeping, vacuuming, and mopping are also uniformly classified as sweeping robots. The body of the sweeping robot is a movable device of automation technology, and a vacuum cleaner with a dust collection box is used to set a control path in conjunction with the body. It walks repeatedly in the room, such as sweeping along the edge, centralized sweeping, random sweeping, straight line sweeping and other path sweeping, and is supplemented by side brushes, central main brush rotation, rags and other methods to enhance the cleaning effect, so as to complete the anthropomorphic home cleaning effect.

[0045] A sweeping robot is usually equipped with multiple types of sensors, which may include lidar, camera, line laser, position sensitive detector (PSD), collision plate and inertial measurement unit (IMU); lidar can measure the distance and angle of obstacles around the robot; line laser and PSD can detect obstacles and edges on the ground; collision plate can detect collisions near the robot; IMU can detect the position and posture of the robot; the data collected by the sensor is processed to build a map of the environment where the sweeping robot is located; illustratively, the collected sensor data can be used for obstacle recognition through artificial intelligence (AI), the obstacles in the environment where the sweeping robot is located can be classified, and the obstacle information can be integrated into the probability grid map of the simultaneous localization and mapping (SLAM) system to generate an environment map with obstacle markings, and the navigation trajectory of the sweeping robot can be set according to the environment map so that the sweeping robot can avoid obstacles.

[0046] The obstacles in the environment of the sweeping robot will change, so the navigation trajectory of the sweeping robot will also change with the changes of the obstacles. The first obstacle avoidance trajectory can be a navigation trajectory set for the sweeping robot according to the marked first obstacle. The first obstacle can include but is not limited to obstacles with large volume and relatively fixed position; for example: walls, cabinets, refrigerators and water dispensers, etc.

[0047] In practical applications, determining the first obstacle circumventing trajectory of the mobile device can be understood as determining the navigation trajectory of the cleaning robot to avoid the first obstacle according to the environment map.

[0048] Step 102: If the first obstacle avoidance trajectory meets the update condition, the first obstacle avoidance trajectory is updated to obtain a second obstacle avoidance trajectory; wherein a second obstacle included in the second obstacle avoidance trajectory has different object features from the first obstacle included in the first obstacle avoidance trajectory.

[0049] It is understandable that the update condition can be set according to the actual situation, and this application does not make specific restrictions on this. For example, the actual situation may include that the sweeping robot determines that there is a second obstacle during the cleaning process along the first obstacle avoidance trajectory; the actual situation may also include adding the second obstacle to the first obstacle avoidance trajectory, for example, displaying the first obstacle avoidance trajectory in a human-computer interaction interface and adding the second obstacle to the first obstacle avoidance trajectory.

[0050] The second obstacle may be a physical obstacle with a small volume and a flexible position, which is not limited in the present application. For example, the second obstacle may be a columnar physical obstacle, such as a table leg.

[0051] In the embodiment of the present application, when the sweeping robot moves along the first obstacle avoidance trajectory, a second obstacle is detected, and the second obstacle can be marked in the environment map; or the second obstacle can be added to the first obstacle avoidance trajectory through the human-computer interaction interface, so as to update the first obstacle avoidance trajectory and obtain the second obstacle avoidance trajectory; Figure 2 It is a grid map constructed according to the environment where the sweeping robot is located. Figure 3 is Figure 2 Based on the grid map after marking the second obstacle.

[0052] Step 103: Control the mobile device to move along the second obstacle avoidance trajectory, so that the mobile device avoids the first obstacle and the second obstacle during the movement.

[0053] In the embodiment of the present application, controlling the mobile device to move along the second obstacle avoidance trajectory can be understood as controlling the sweeping robot to move along the second obstacle avoidance trajectory to avoid the first obstacle and the second obstacle while completing the cleaning process.

[0054] From the above content, it can be seen that the obstacle avoidance trajectory setting method provided by the present application determines a first obstacle avoidance trajectory of a mobile device. If the first obstacle avoidance trajectory meets the update condition, the first obstacle avoidance trajectory is updated to obtain a second obstacle avoidance trajectory, so that the mobile device can avoid the first obstacle and the second obstacle during movement. This solves the problem in the related art that the indoor mobile robot can only move according to the set obstacle avoidance trajectory and has a single obstacle avoidance method, makes the environmental map more in line with the real environment, and realizes the autonomous navigation and safe obstacle avoidance of the indoor mobile robot in a complex environment.

[0055] In some embodiments of the present application, if the first obstacle avoidance trajectory satisfies the update condition, step 102 updates the first obstacle avoidance trajectory to obtain the second obstacle avoidance trajectory, which can be implemented by the following steps:

[0056] Controlling the mobile device to move along a first obstacle avoidance trajectory so that the mobile device avoids the first obstacle during the movement;

[0057] If a second obstacle exists when the mobile device moves along the first obstacle avoidance trajectory, it is determined that the first obstacle avoidance trajectory meets an update condition, and the first obstacle avoidance trajectory is updated based on the second obstacle to obtain a second obstacle avoidance trajectory.

[0058] In an embodiment of the present application, when the sweeping robot moves along the first obstacle avoidance trajectory, the sweeping robot will automatically avoid the first obstacle. During this process, the sweeping robot can detect obstacles through multiple types of sensors configured by itself. If a second obstacle is detected, the first obstacle avoidance trajectory is updated to obtain a second obstacle avoidance trajectory.

[0059] In some embodiments of the present application, the first obstacle includes an obstacle determined based on first sensing data of a first sensor, and / or the second obstacle includes an obstacle determined based on second sensing data of a second sensor.

[0060] In an embodiment of the present application, the first sensor may be a laser radar; the first sensing data may include obstacle data detected by the laser radar of the sweeping robot; the second sensor may be a sensor other than the laser radar, such as: line laser, PSD, collision plate and camera, etc.; the second sensing data may include obstacle data detected by sensors other than radar laser of the sweeping robot.

[0061] In some embodiments of the present application, when controlling the mobile device to move along the first obstacle avoidance trajectory, the method further includes:

[0062] Obtaining obstacle avoidance data of the mobile device during the movement of the mobile device along the first obstacle avoidance trajectory;

[0063] If the obstacle avoidance data satisfies the obstacle avoidance condition, it is determined that the obstacle avoidance object corresponding to the obstacle avoidance data is the second obstacle.

[0064] It can be understood that obstacle avoidance data is data related to the robot vacuum cleaner avoiding obstacles during movement, which can be collected by the robot vacuum cleaner's own multiple types of sensors; obstacle avoidance objects are obstacles that the robot vacuum cleaner avoids during movement; obstacle avoidance conditions can be set according to actual needs, which are not limited in this application. For example, the actual need can be the type of obstacles that need to be avoided.

[0065] In the embodiment of the present application, obtaining the obstacle avoidance data of the mobile device during the movement of the mobile device along the first obstacle avoidance trajectory can be understood as obtaining the obstacle avoidance data collected by the sweeping robot during the movement of the first obstacle avoidance trajectory, processing the obstacle avoidance data, confirming the type of obstacles encountered by the sweeping robot in this process, and if there is an obstacle type that meets the obstacle avoidance condition, determining that the obstacle that meets the obstacle avoidance condition is the second obstacle.

[0066] In some embodiments of the present application, the obstacle avoidance data includes posture data, and the obstacle avoidance data satisfies the obstacle avoidance conditions, including:

[0067] Determine a yaw trajectory of the mobile device during movement along a first obstacle avoidance trajectory based on the posture data;

[0068] If the yaw trajectory meets the trajectory characteristics, it is determined that the obstacle avoidance data meets the obstacle avoidance conditions.

[0069] It can be understood that the posture data includes but is not limited to the moving direction and coordinate position of the sweeping robot; the yaw trajectory can be understood as the moving trajectory of the sweeping robot deviating from the first obstacle avoidance trajectory; the trajectory characteristics can be set according to actual conditions; exemplarily, the trajectory characteristics can be a circle trajectory, that is, a circular trajectory, and specifically the Hough circle detection algorithm can be used to identify the circle trajectory of the sweeping robot during movement. Figure 4 is a schematic diagram of the moving trajectory of the sweeping robot along the first obstacle avoidance trajectory. Figure 5 is Figure 4 Based on this, a schematic diagram of the circle trajectory is marked.

[0070] In an embodiment of the present application, determining the yaw trajectory of the mobile device during its movement along the first obstacle circumvention trajectory based on the posture data can be understood as determining the yaw trajectory that deviates from the first obstacle circumvention trajectory during the movement according to the moving direction and coordinate position of the sweeping robot; if the yaw trajectory is a circular trajectory, determining that the obstacle corresponding to the circular trajectory meets the obstacle avoidance condition.

[0071] In some embodiments of the present application, the obstacle avoidance data includes collision data, and the obstacle avoidance data satisfies the obstacle avoidance conditions, including:

[0072] Determine, based on the collision data, a collision angle and a collision intensity of the mobile device during movement along the first obstacle circumvention trajectory;

[0073] If the collision angle meets the preset angle and the collision intensity meets the preset intensity, it is determined that the obstacle avoidance data meets the obstacle avoidance condition.

[0074] It is understandable that the collision data is the data collected by the collision plate of the sweeping robot during movement; the preset angle and preset force can be set according to the actual situation, and this application does not limit this. The actual situation can be the hardness of the obstacle material and the curvature of the obstacle surface.

[0075] In an embodiment of the present application, the angle and intensity of the collision of the sweeping robot with different obstacles during movement are determined based on the data collected by the collision plate, and it is determined whether there is an obstacle whose collision angle meets the preset angle and whose collision intensity meets the preset strength. If so, it is determined that the obstacle meets the obstacle avoidance condition.

[0076] In some embodiments of the present application, the obstacle avoidance data includes the area and contour corresponding to the obstacle, and the obstacle avoidance data satisfies the obstacle avoidance conditions, including:

[0077] If the area corresponding to the obstacle meets the preset area and the outline meets the preset shape, it is determined that the obstacle avoidance data meets the obstacle avoidance condition.

[0078] It is understandable that the area and outline corresponding to the obstacle can be calculated based on the trajectory of the sweeping robot to avoid the obstacle; the preset shape and preset area can be set according to the type of obstacle to be marked, and this application does not limit this. For example, the preset shape can be a circle and the preset area can be 100cm 2 .

[0079] In the embodiment of the present application, it is calculated based on the trajectory of the sweeping robot during its movement whether there is an obstacle that meets the preset area and whose contour meets the preset shape. If so, it is determined that the obstacle meets the obstacle avoidance condition.

[0080] In some embodiments of the present application, when controlling the mobile device to move along the first obstacle avoidance trajectory, the method further includes:

[0081] Obtaining the area corresponding to the obstacle avoided by the mobile device during the movement along the first obstacle avoidance trajectory;

[0082] If the area is smaller than the preset threshold, it is determined that a second obstacle exists.

[0083] It can be understood that the second obstacle is a columnar entity obstacle, and the preset threshold can be set according to the columnar entity obstacle, for example, the preset area is set to 10cm 2 .

[0084] In an embodiment of the present application, the area corresponding to the obstacle avoided by the mobile device during movement along the first obstacle avoidance trajectory is calculated to determine whether there is an obstacle with a corresponding area smaller than a preset threshold. If so, it is determined that the obstacle is a columnar solid obstacle.

[0085] In some embodiments of the present application, step 101 of determining a first obstacle circumvention trajectory of a mobile device may be implemented by the following steps:

[0086] Obtaining first obstacle information;

[0087] An environment map is constructed based on the first obstacle information, and a first obstacle avoidance trajectory is generated.

[0088] In an embodiment of the present application, the first obstacle information is collected by the sensor of the sweeping robot, the first obstacle information is integrated into the probability grid map of the same SLAM system, an environment map marked with the first obstacle is generated, and the first obstacle avoidance trajectory of the sweeping robot is set according to the environment map.

[0089] In some embodiments of the present application, if the first obstacle avoidance trajectory satisfies the update condition, step 102 updates the first obstacle avoidance trajectory to obtain the second obstacle avoidance trajectory, which can also be implemented by the following steps:

[0090] Displaying the first obstacle avoidance trajectory on the human-computer interaction interface;

[0091] When the mobile device moves along the first obstacle avoidance trajectory, receiving a second obstacle marked for the first obstacle avoidance trajectory on the human-computer interaction interface, and determining that the first obstacle avoidance trajectory meets the update condition;

[0092] The first obstacle avoidance trajectory is updated based on the second obstacle to obtain a second obstacle avoidance trajectory, and the second obstacle avoidance trajectory is displayed on the human-computer interaction interface.

[0093] In the embodiment of the present application, the human-computer interaction interface may include but is not limited to a mobile phone interface and a tablet interface, for example: an interaction interface of an application in a mobile phone or tablet.

[0094] In an embodiment of the present application, a first obstacle avoidance trajectory of the sweeping robot can be displayed on an interactive interface of a mobile phone application. While the mobile device is moving along the first obstacle avoidance trajectory, marking information of the second obstacle can be received through the mobile phone application. After receiving the marking information, the first obstacle avoidance trajectory is updated to obtain a second obstacle avoidance trajectory. The second obstacle avoidance trajectory of the sweeping robot is displayed on the interactive interface of the mobile phone application to update the obstacle avoidance trajectory of the sweeping robot in real time.

[0095] In a realistic scenario, refer to Figure 6 As shown in the figure, the setting of the obstacle avoidance trajectory of the sweeping robot can be achieved through the following steps:

[0096] S601: Constructing indoor mobile robot maps through SLAM.

[0097] S602: Combines collision plate, LiDAR, line laser, PSD sensor and AI obstacle recognition to set the navigation trajectory of the sweeping robot.

[0098] S603: Obtain the position and posture of the robot when circumventing obstacles, and obtain the obstacle circumvention trajectory.

[0099] S604: Obstacle avoidance centers of several obstacle avoidance trajectories are obtained by using graphics algorithms such as binarization, Gaussian blur, and Hough circle detection.

[0100] S605: Draw an obstacle mark at the obstacle avoidance center, and display the map, track and obstacle on the APP to avoid the track bypassing the empty track.

[0101] The embodiment of the present application provides a method for setting an obstacle avoidance trajectory, referring to Figure 7 As shown, the method comprises the following steps:

[0102] S701: Acquire a first map.

[0103] In the embodiment of the present application, the first map may be any map that can mark obstacles; for example: a grid map constructed by a SLAM system; the first map may include the first obstacle that the sweeping robot has identified.

[0104] S702: Obtain obstacle information when the mobile device moves according to the first map.

[0105] In the embodiment of the present application, the sweeping robot can obtain different obstacle information according to the various sensors set on itself during the movement.

[0106] S703: updating obstacles on the first map according to the obstacle information, and displaying the updated obstacles.

[0107] In an embodiment of the present application, the sweeping robot can determine obstacles different from the first obstacle based on obstacle information collected by the sensor during movement, thereby updating the obstacles on the first map; the updated obstacles can be displayed on the first map through the human-computer interaction interface.

[0108] In some embodiments of the present application, the updated obstacle includes a first obstacle before updating and a newly added second obstacle, and the second obstacle has different object features from the first obstacle.

[0109] In the embodiment of the present application, the sweeping robot determines different categories of obstacles according to the obstacle information during movement, thereby distinguishing a second obstacle different from the first obstacle, and updates the second obstacle on the first map.

[0110] In some embodiments of the present application, step S703 updates obstacles on the first map according to the obstacle information, which can be implemented by the following steps:

[0111] If the obstacle information indicates that a second obstacle exists when the mobile device moves according to the first map, the obstacle on the first map is updated.

[0112] In the embodiment of the present application, the method for determining the second obstacle based on the obstacle information is the same as the above method and will not be described in detail here.

[0113] In some embodiments of the present application, the first obstacle includes an obstacle determined based on first sensing data of a first sensor, and / or the second obstacle includes an obstacle determined based on second sensing data of a second sensor.

[0114] In an embodiment of the present application, the first sensor may be a laser radar; the first sensing data may include obstacle data detected by the laser radar of the sweeping robot; the second sensor may be a sensor other than the laser radar, such as: line laser, PSD, collision plate and camera, etc.; the second sensing data may include obstacle data detected by sensors other than radar laser of the sweeping robot.

[0115] In some embodiments of the present application, step S702 of obtaining obstacle information when the mobile device moves according to the first map can be implemented by the following steps:

[0116] Displaying the first obstacle on the human-computer interaction interface;

[0117] When the mobile device moves along the first map, a marked second obstacle is received on the human-computer interaction interface to obtain obstacle information.

[0118] In the embodiment of the present application, the method of displaying the first obstacle and receiving obstacle information is the same as the above method and will not be described in detail here.

[0119] In some embodiments of the present application, after step S703 updates obstacles on the first map according to obstacle information, the method includes:

[0120] The mobile device is controlled to avoid the first obstacle and the second obstacle during movement.

[0121] In the embodiment of the present application, the sweeping robot can bypass the first obstacle and the second obstacle during movement according to the map markings.

[0122] Based on the same inventive concept as above, Figure 8 The first setting device 800 is a schematic diagram of the structure of the first setting device provided in an embodiment of the present invention. The first setting device 800 includes:

[0123] A determining unit 801, configured to determine a first obstacle circumvention trajectory of a mobile device;

[0124] An updating unit 802 is configured to update the first obstacle avoidance trajectory to obtain a second obstacle avoidance trajectory if the first obstacle avoidance trajectory satisfies an update condition; wherein a second obstacle included in the second obstacle avoidance trajectory has different object features from the first obstacle included in the first obstacle avoidance trajectory;

[0125] The control unit 803 is used to control the mobile device to move along the second obstacle avoidance trajectory, so that the mobile device avoids the first obstacle and the second obstacle during the movement.

[0126] In some embodiments of the present application, the control unit 803 is further used to control the mobile device to move along the first obstacle avoidance trajectory so that the mobile device avoids the first obstacle during the movement; the updating unit 802 is further used to determine that the first obstacle avoidance trajectory satisfies the update condition if there is a second obstacle during the movement of the mobile device along the first obstacle avoidance trajectory, and update the first obstacle avoidance trajectory based on the second obstacle to obtain the second obstacle avoidance trajectory.

[0127] In some embodiments of the present application, the determination unit 801 is further used to obtain obstacle avoidance data of the mobile device during the movement of the mobile device along the first obstacle avoidance trajectory; if the obstacle avoidance data meets the obstacle avoidance condition, determine that the obstacle avoidance object corresponding to the obstacle avoidance data is the second obstacle. In some embodiments of the present application, the obstacle avoidance data includes posture data, and the determination unit 801 is further used to determine the yaw trajectory of the mobile device during the movement of the first obstacle avoidance trajectory based on the posture data; if the yaw trajectory meets the trajectory feature, determine that the obstacle avoidance data meets the obstacle avoidance condition.

[0128] In some embodiments of the present application, the obstacle avoidance data includes collision data, and the determination unit 801 is further used to determine the collision angle and collision strength of the mobile device during the movement of the first obstacle avoidance trajectory based on the collision data; if the collision angle meets the preset angle and the collision strength meets the preset strength, it is determined that the obstacle avoidance data meets the obstacle avoidance condition.

[0129] In some embodiments of the present application, the obstacle avoidance data includes the area and outline corresponding to the obstacle, and the determination unit 801 is further used to determine that the obstacle avoidance data meets the obstacle avoidance condition if the area corresponding to the obstacle meets the preset area and the outline meets the preset shape.

[0130] In some embodiments of the present application, the determination unit 801 is further used to obtain the area corresponding to the obstacle avoided by the mobile device during the movement along the first obstacle avoidance trajectory; if the area is less than a preset threshold, it is determined that a second obstacle exists.

[0131] In some embodiments of the present application, the determination unit 801 is further configured to obtain first obstacle information; construct an environment map based on the first obstacle information, and generate a first obstacle avoidance trajectory.

[0132] In some embodiments of the present application, the updating unit 802 is further configured to display a first obstacle avoidance trajectory on a human-computer interaction interface; when the mobile device moves along the first obstacle avoidance trajectory, receive a second obstacle marked for the first obstacle avoidance trajectory on the human-computer interaction interface, determine that the first obstacle avoidance trajectory satisfies the update condition; update the first obstacle avoidance trajectory based on the second obstacle to obtain a second obstacle avoidance trajectory, and display the second obstacle avoidance trajectory on the human-computer interaction interface.

[0133] Based on the same inventive concept as above, Fig. 9 The schematic diagram of the structure of the second setting device provided in the embodiment of the present invention is as follows. The second setting device 900 includes:

[0134] A first acquisition unit 901 is used to acquire a first map;

[0135] A second acquisition unit 902 is used to acquire obstacle information when the mobile device moves according to the first map;

[0136] The processing unit 903 is used to update the obstacles on the first map according to the obstacle information and display the updated obstacles.

[0137] In some embodiments of the present application, the processing unit 903 is further configured to update the obstacle on the first map if the obstacle information indicates that a second obstacle exists when the mobile device moves according to the first map.

[0138] In some embodiments of the present application, the second acquisition unit 902 is further used to display the first obstacle on the human-computer interaction interface; when the mobile device moves along the first map, the marked second obstacle is received on the human-computer interaction interface to obtain obstacle information.

[0139] In some embodiments of the present application, the processing unit 903 is further configured to control the mobile device to avoid the first obstacle and the second obstacle during movement.

[0140] Based on the foregoing embodiments, an embodiment of the present application provides an electronic device, Fig.10 1 is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. The electronic device 1000 includes: at least one processor 1001, a memory 1002, and optionally, the electronic device 1000 may further include at least one communication interface 1003. The various components in the electronic device 1000 are coupled together via a bus system 1004. It can be understood that the bus system 1004 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1004 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Fig.10 Various buses are labeled as bus system 1004 .

[0141] It can be understood that the memory 1002 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 memory 1002 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0142] The memory 1002 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device 1000. Examples of such data include: any computer program for operating on the electronic device 1000. The program for implementing the method of the embodiment of the present invention may be included in the memory 1002.

[0143] The method disclosed in the above embodiment of the present invention can be applied to the processor 1001, or implemented by the processor 1001. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present invention, 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 a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0144] In an exemplary embodiment, the electronic device 1000 can 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 above method.

[0145] Based on the above embodiments, the embodiments of the present application provide a storage medium, wherein the storage medium stores computer executable instructions, and the computer executable instructions are configured to execute Figure 1 or Figure 7The corresponding embodiment provides a method for setting an obstacle avoidance trajectory.

[0146] It should be noted that the above-mentioned computer storage medium 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 (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM) and other memories; it can also be various electronic devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0147] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0148] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0149] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0153] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for setting an obstacle avoidance trajectory, characterized in that: The method comprises: Determining a first obstacle avoidance trajectory of the mobile device; If the first obstacle avoidance trajectory satisfies an update condition, the first obstacle avoidance trajectory is updated to obtain a second obstacle avoidance trajectory; wherein a second obstacle included in the second obstacle avoidance trajectory has different object features from the first obstacle included in the first obstacle avoidance trajectory; The mobile device is controlled to move along the second obstacle avoidance trajectory so that the mobile device avoids the first obstacle and the second obstacle during the movement.

2. The method according to claim 1, characterized in that If the first obstacle avoidance trajectory satisfies an update condition, updating the first obstacle avoidance trajectory to obtain a second obstacle avoidance trajectory includes: Controlling the mobile device to move along the first obstacle avoidance trajectory so that the mobile device avoids the first obstacle during the movement; If a second obstacle exists when the mobile device moves along the first obstacle avoidance trajectory, it is determined that the first obstacle avoidance trajectory satisfies the update condition, and the first obstacle avoidance trajectory is updated based on the second obstacle to obtain the second obstacle avoidance trajectory.

3. The method according to claim 1, characterized in that The first obstacle includes an obstacle determined based on first sensing data of a first sensor, and / or the second obstacle includes an obstacle determined based on second sensing data of a second sensor.

4. The method according to claim 2, characterized in that: When controlling the mobile device to move along the first obstacle avoidance trajectory, the method further includes: Obtaining obstacle avoidance data of the mobile device during the movement of the mobile device along the first obstacle avoidance trajectory; If the obstacle avoidance data satisfies the obstacle avoidance condition, it is determined that the obstacle avoidance object corresponding to the obstacle avoidance data is the second obstacle.

5. The method according to claim 4, characterized in that The obstacle avoidance data includes posture data, and the obstacle avoidance data satisfies obstacle avoidance conditions, including: Determining a yaw trajectory of the mobile device during movement along the first obstacle avoidance trajectory based on the position and posture data; If the yaw trajectory meets the trajectory characteristics, it is determined that the obstacle avoidance data meets the obstacle avoidance condition.

6. The method according to claim 4, characterized in that The obstacle avoidance data includes collision data, and the obstacle avoidance data satisfies obstacle avoidance conditions, including: Determine, based on the collision data, a collision angle and a collision intensity of the mobile device during movement along the first obstacle avoidance trajectory; If the collision angle satisfies a preset angle and the collision intensity satisfies a preset intensity, it is determined that the obstacle avoidance data satisfies an obstacle avoidance condition.

7. The method according to claim 4, characterized in that The obstacle avoidance data includes the area and outline corresponding to the obstacle, and the obstacle avoidance data satisfies the obstacle avoidance conditions, including: If the area corresponding to the obstacle satisfies the preset area and the outline satisfies the preset shape, it is determined that the obstacle avoidance data satisfies the obstacle avoidance condition.

8. The method according to claim 7, characterized in that When controlling the mobile device to move along the first obstacle avoidance trajectory, the method further includes: Obtaining an area corresponding to an obstacle avoided by the mobile device during movement along the first obstacle avoidance trajectory; If the area is smaller than a preset threshold, it is determined that a second obstacle exists.

9. The method according to claim 1, characterized in that: The determining of a first obstacle circumvention trajectory of the mobile device includes: Obtaining first obstacle information; An environment map is constructed based on the first obstacle information to generate the first obstacle avoidance trajectory.

10. The method according to claim 1, characterized in that If the first obstacle avoidance trajectory satisfies an update condition, updating the first obstacle avoidance trajectory to obtain a second obstacle avoidance trajectory includes: Displaying the first obstacle avoidance trajectory on a human-computer interaction interface; When the mobile device moves along the first obstacle avoidance trajectory, receiving the second obstacle marked for the first obstacle avoidance trajectory on the human-computer interaction interface, and determining that the first obstacle avoidance trajectory satisfies the update condition; The first obstacle avoidance trajectory is updated based on the second obstacle to obtain the second obstacle avoidance trajectory, and the second obstacle avoidance trajectory is displayed on the human-computer interaction interface.

11. A method for setting an obstacle avoidance trajectory, characterized in that: The method comprises: Get the first map; Obtaining obstacle information when the mobile device moves according to the first map; According to the obstacle information, the obstacles on the first map are updated, and the updated obstacles are displayed.

12. The method according to claim 11, characterized in that The updated obstacle includes a first obstacle before updating and a newly added second obstacle, and the second obstacle has different object features from the first obstacle.

13. The method according to claim 11, characterized in that The updating of obstacles on the first map according to the obstacle information includes: If the obstacle information indicates that a second obstacle exists when the mobile device moves according to the first map, the obstacle on the first map is updated.

14. The method according to claim 12, characterized in that The first obstacle includes an obstacle determined based on first sensing data of a first sensor, and / or the second obstacle includes an obstacle determined based on second sensing data of a second sensor.

15. The method according to claim 11, characterized in that The obtaining obstacle information when the mobile device moves according to the first map includes: Displaying the first obstacle on the human-computer interaction interface; When the mobile device moves along the first map, a marked second obstacle is received on the human-computer interaction interface to obtain the obstacle information.

16. The method according to any one of claims 12 to 15, characterized in that After updating the obstacles on the first map according to the obstacle information, the method includes: The mobile device is controlled to avoid the first obstacle and the second obstacle during movement.

17. An electronic device, characterized in that: The electronic device comprises: A memory for storing executable instructions; A processor, for implementing the steps of the method for setting an obstacle avoidance trajectory as described in any one of claims 1 to 10 or 11 to 16 when executing the executable instructions stored in the memory.

18. A storage medium storing computer executable instructions, wherein the computer executable instructions are configured to execute the obstacle avoidance trajectory setting method provided in any one of claims 1 to 10 or 11 to 16.

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