Mobile device control method, control device and readable storage medium

Abstract

The invention discloses a mobile equipment control method, control equipment and a readable storage medium, and the method comprises the steps: determining an approaching target position according to a received approaching instruction, and controlling the mobile equipment to move towards the target position; when an obstacle is detected in the process that the mobile device moves towards the target position, a target obstacle avoidance point is determined based on obstacle information, and the obstacle information comprises at least one of the position, the shape and the size of the obstacle; and constructing an obstacle avoidance path according to the target obstacle avoidance point, and moving according to the obstacle avoidance path until the mobile device reaches the target position. In the process that the control device controls the mobile device to the moving target position, when the obstacle is detected, the obstacle information serves as the basis for planning the obstacle avoidance path, obstacle avoidance of the mobile device is achieved, and the obstacle avoidance control efficiency of the mobile device is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent electronic technology, and in particular, to a method for controlling a mobile device, a control device, and a readable storage medium. Background Art

[0002] In some technologies, various processing tasks are achieved by controlling a mobile device to move to a target position. When the mobile device is in different moving environments or corresponding to different processing tasks, it is necessary to plan the movement path of the mobile device moving to the target position in advance to adapt to the control of the mobile device in different moving environments.

[0003] Currently, when controlling a mobile device to move to a target position, when an obstacle is detected, the obstacle avoidance path of the mobile device is planned based on the position of the mobile device, the position of the obstacle, and the target position. In this case, to avoid the mobile device colliding with the obstacle, the obstacle avoidance path is usually set to deviate greatly from the original path of the mobile device moving to the target position. That is, the moving path of the mobile device during the obstacle avoidance process is long, resulting in a long obstacle avoidance time for the mobile device and low obstacle avoidance control efficiency of the mobile device.

[0004] It should be noted that the above content is only used to assist in understanding the technical problems solved by the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main object of the present invention is to provide a method for controlling a mobile device, a control device, and a readable storage medium, aiming to use obstacle information as the basis for planning an obstacle avoidance path when a control device (such as a central control screen or a remote control) controls a mobile device to a moving target position, so as to achieve obstacle avoidance of the mobile device and improve the obstacle avoidance control efficiency of the mobile device.

[0006] Based on this, the present invention provides a method for controlling a mobile device, and the method for controlling a mobile device includes the following steps:

[0007] After determining the approaching target position according to the received approaching instruction, control the mobile device to move towards the target position;

[0008] When an obstacle is detected during the process of the mobile device moving towards the target position, determine a target obstacle avoidance point based on the obstacle information, where the obstacle information includes at least one of the position and the shape and size of the obstacle;

[0009] Construct an obstacle avoidance path according to the target obstacle avoidance point, and move along the obstacle avoidance path until the mobile device reaches the target position.

[0010] Optionally, the step of determining a target obstacle avoidance point based on the obstacle information includes:

[0011] Obtain mobile device information, where the mobile device information includes at least one of the location and the shape and size of the mobile device;

[0012] According to the obstacle information and the mobile device information, determine the moving range of the mobile device where there is no collision risk between the mobile device and the obstacle;

[0013] Take a target point in the moving range as the target obstacle avoidance point.

[0014] Optionally, the step of taking a target point in the moving range as the target obstacle avoidance point includes:

[0015] Select the target point closest to the mobile device in the moving range as the target obstacle avoidance point.

[0016] Optionally, the step of constructing an obstacle avoidance path according to the target obstacle avoidance point includes:

[0017] According to the target obstacle avoidance point, the obstacle information and the mobile device information, construct an arc segment with the target obstacle avoidance point as the end point of the arc segment, where the radius of the arc segment is the largest when there is no collision risk between the mobile device and the obstacle, as the obstacle avoidance path.

[0018] Optionally, before the step of determining the target obstacle avoidance point based on the obstacle information, it further includes:

[0019] Obtain an obstacle image carrying obstacle features, and obtain the location of the mobile device, where the obstacle image is captured by a monocular camera configured on the mobile device;

[0020] According to the obstacle image and the location of the mobile device, determine the obstacle information.

[0021] Optionally, the obstacle image is captured by a monocular camera installed on the mobile device, and the step of determining the obstacle information according to the obstacle image and the location of the mobile device includes:

[0022] Identify the obstacle category from the obstacle image, and determine the shape and size of the obstacle according to the obstacle category;

[0023] According to the shape and size of the obstacle and the location of the mobile device, calculate the location of the obstacle.

[0024] Optionally, the step of calculating the location of the obstacle according to the shape and size of the obstacle and the location of the mobile device includes:

[0025] Obtain the vertical field of view angle of the camera, where the vertical field of view angle is composed of a first field of view limit close to the mobile device and a second field of view limit far from the mobile device;

[0026] Calculate a first angle and a second angle according to the vertical field of view angle, where the first angle is formed by the first field of view limit and a connection line, and the connection line is obtained by connecting the camera to a preset point on the obstacle, and the second angle is formed by the mobile device and the first field of view limit;

[0027] Based on the first angle and the second angle, calculate the distance between a preset point on the mobile device and a preset point on the obstacle;

[0028] Calculate the position of the obstacle according to the position of the mobile device, the shape and size of the obstacle, and the distance;

[0029] Optionally, the position of the mobile device includes the coordinates and attitude of the mobile device, the position of the obstacle includes the coordinates of the obstacle, and the step of calculating the position of the obstacle according to the position of the mobile device, the shape and size of the obstacle, and the distance includes:

[0030] Obtain a preset trigonometric function relationship;

[0031] Calculate the coordinates of the obstacle through the preset trigonometric function relationship according to the coordinates and attitude of the mobile device, the shape and size of the obstacle, and the distance;

[0032] Optionally, after the step of moving according to the obstacle avoidance path, it further includes:

[0033] When an obstacle is detected during the process of the mobile device moving towards the target position, return to the step of determining the target obstacle avoidance point based on the obstacle information.

[0034] Optionally, before the step of determining the target obstacle avoidance point based on the obstacle information, it further includes:

[0035] Obtain a movement map of the movement environment where the mobile device is located, where the movement map includes obstacle information of each obstacle in the movement environment;

[0036] Query the obstacle information in the movement map.

[0037] Optionally, the mobile device control method further includes:

[0038] Update the movement map of the movement environment where the mobile device is located according to the obstacle information.

[0039] The present invention also provides a control device for controlling a mobile device. The control device includes a memory, a processor, and a mobile device control program stored in the memory and executable on the processor. When the mobile device control program is executed by the processor, the steps of the mobile device control method described above are implemented.

[0040] The present invention also provides a computer-readable storage medium storing a mobile device control program. When the mobile device control program is executed by a processor, the steps of the mobile device control method described above are implemented.

[0041] For the mobile device control method, control device, and readable storage medium provided by the present invention, in the embodiments of the present invention, the control device can determine the target position of approach according to the received approach instruction, and then control the mobile device to move towards the target position. When an obstacle is detected during the process of the mobile device moving towards the target position, a target obstacle avoidance point is determined based on the obstacle information, where the obstacle information includes at least one of the position and the shape and size of the obstacle. At this time, the target obstacle avoidance point matches the obstacle information, so that an obstacle avoidance path can be constructed according to the target obstacle avoidance point, and the mobile device moves along the obstacle avoidance path until it reaches the target position. The obstacle avoidance path constructed by the target obstacle avoidance point that matches the obstacle information also has a relatively small deviation from the original path of the mobile device moving to the target position. That is to say, the length of the moving path during the obstacle avoidance process of the mobile device is reduced, and the obstacle avoidance time of the mobile device is reduced, so the obstacle avoidance control efficiency of the mobile device is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0043] Figure 1 Schematic diagram of the hardware environment architecture related to the mobile device control method provided by the present invention;

[0044] Figure 2 Schematic flow chart of the first embodiment of the mobile device control method provided by the present invention;

[0045] Figure 3 Schematic diagram of a path planning for obstacle avoidance of a mobile device related to the mobile device control method provided by the present invention;

[0046] Figure 4Schematic flowchart of the second embodiment of the mobile device control method provided by the present invention;

[0047] Figure 5 Schematic diagram of a scenario for constructing a geometric relationship between a mobile device and an obstacle involved in the mobile device control method provided by the present invention;

[0048] Figure 6 Schematic flowchart of the third embodiment of the mobile device control method provided by the present invention;

[0049] Figure 7 Schematic flowchart of the fourth embodiment of the mobile device control method provided by the present invention.

[0050] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] In the related art, a central control screen or a remote controller can control a mobile device to move to a target position to implement various processing tasks. When the mobile device is in different moving environments or corresponding to different processing tasks, it is necessary to plan the movement path of the mobile device moving to the target position in advance to adapt to the control of the mobile device in different moving environments.

[0053] Currently, when a central control screen or a remote controller controls a mobile device to move to a target position, when an obstacle is detected, the obstacle avoidance path of the mobile device is planned based on the position of the mobile device, the position of the obstacle, and the target position. In this case, in order to avoid the mobile device colliding with the obstacle, the obstacle avoidance path is usually set to deviate greatly from the original path of the mobile device moving to the target position. That is, the moving path of the mobile device during the obstacle avoidance process is relatively long, resulting in a relatively long obstacle avoidance time of the mobile device and low obstacle avoidance control efficiency of the mobile device.

[0054] Based on this, in the mobile device control method provided by the embodiments of the present invention, after determining the target position of approaching according to the received approaching instruction, the mobile device is controlled to move towards the target position; when an obstacle is detected during the process of the mobile device moving towards the target position, a target obstacle avoidance point is determined based on the obstacle information, where the obstacle information includes at least one of the position and the shape and size of the obstacle, and the target obstacle avoidance point at this time matches the obstacle information, so that an obstacle avoidance path can be constructed according to the target obstacle avoidance point and the mobile device moves along the obstacle avoidance path until the mobile device reaches the target position. The obstacle avoidance path constructed by the target obstacle avoidance point matching the obstacle information also has a small deviation from the original path of the mobile device moving to the target position. That is to say, the length of the moving path during the obstacle avoidance process of the mobile device is reduced, and the obstacle avoidance time of the mobile device is reduced, so the obstacle avoidance control efficiency of the mobile device is improved.

[0055] To better understand the technical solution provided by the embodiments of the present invention, the exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0056] As an implementation manner, the hardware environment architecture involved in the mobile device control method can be as Figure 1 shown.

[0057] Optionally, the hardware architecture involved in the mobile device control method includes a control device, etc. Among them, the control device can be a central control screen or a remote control, etc., and can also be a mobile device. The mobile device includes, but is not limited to, a home robot, an industrial robot, an intelligent vehicle, etc. The home robot includes, but is not limited to, a purifier with a moving function, a sweeping robot, a mopping robot, an air conditioner with a moving function, etc.

[0058] As an implementation manner, the control device or the mobile device includes: a processor 101, such as a CPU, a memory 102, and a communication bus 103. Among them, the communication bus 103 is used to realize the connection and communication between these components. The processor 101 is used to call an application program to perform a control operation.

[0059] The memory 102 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory.

[0060] It can be understood that, in one embodiment, the mobile device control program for implementing the mobile device control process is stored in the memory 102 or in a computer-readable storage medium. When the processor 101 calls the mobile device control program from the memory 102 or the computer-readable storage medium, the following operations are performed:

[0061] After determining the target position of approach according to the received approach instruction, control the mobile device to move towards the target position;

[0062] When an obstacle is detected during the process of the mobile device moving towards the target position, determine a target obstacle avoidance point based on the obstacle information, where the obstacle information includes at least one of the position and the shape and size of the obstacle;

[0063] Construct an obstacle avoidance path according to the target obstacle avoidance point and move along the obstacle avoidance path until the mobile device reaches the target position.

[0064] Based on the above hardware architectures of the control device or the mobile device, the following various embodiments of the present invention are proposed.

[0065] The first embodiment

[0066] Please refer to Figure 2 , the mobile device control method proposed by the embodiment of the present invention includes the following steps:

[0067] Step S110, after determining the target position of approach according to the received approach instruction, control the mobile device to move towards the target position;

[0068] The execution terminal of this embodiment is a control device, and the control device includes but is not limited to a central control screen, a remote control, and a mobile device.

[0069] In this embodiment, the mobile device includes, but is not limited to, domestic robots, industrial robots, intelligent vehicles, etc. The domestic robot includes, but is not limited to, purifiers with moving functions, floor-sweeping robots, floor-mopping robots, air conditioners with moving functions, etc. The approaching instruction is set by the user as needed. For example, when the mobile device is an air conditioner with a moving function, the approaching instruction generally means that the user instructs the mobile device to approach a target position to adjust the air condition in the room; when the mobile device is a floor-sweeping robot or a floor-mopping robot, the approaching instruction generally means that the user instructs the mobile device to approach a target position to clean the floor in the room; when the mobile device is an industrial robot, the approaching instruction generally means that the user instructs the mobile device to move to a target position to execute an industrial task; when the mobile device is an intelligent vehicle, the approaching instruction generally means that the user instructs the mobile device to approach a target position to complete the user's travel task. The approaching instruction carries information about the target position where the mobile device approaches.

[0070] Optionally, the user sending the approaching instruction includes at least one of the following methods:

[0071] Method 1: The user sends an approaching instruction to the mobile device;

[0072] Method 2: The user sends an approaching instruction to the control device.

[0073] Optionally, when the user sends an approaching instruction to the mobile device, in some embodiments, after the mobile device determines the target position to approach according to the received approaching instruction, it controls the mobile device to move towards the target position.

[0074] Alternatively, in some other embodiments, the mobile device sends an approaching instruction to the control device. After the control device determines the target position to approach according to the received approaching instruction, it controls the mobile device to move towards the target position.

[0075] Optionally, when the user sends an approaching instruction to the control device, the control device controls the mobile device to move towards the target position.

[0076] Optionally, in some embodiments, according to the position of the mobile device and the target position, the moving direction corresponding to the mobile device is determined; the mobile device is controlled to move towards the target position according to the moving direction. Among them, the moving direction can be the direction where the shortest distance between the position of the mobile device and the target position is located, or the direction with the fewest path obstacles, or a combination of the first two.

[0077] In this way, a simple directional planning is performed on the control of the mobile device. When the shortest distance between the position of the mobile device and the target position is used as the basis for planning the direction, although in some scenarios (such as there are no obstacles between the position of the mobile device and the target position, or there are fewer obstacles), the time it takes for the mobile device to move to the target position can be shortened to a certain extent, thereby improving the control efficiency of the mobile device moving to the target position.

[0078] It is understandable that when the shortest distance between the position of the mobile device and the target position is used as the basis for planning the orientation, there may be a situation where there are many obstacles on the moving path of the mobile device controlled by this orientation. Although the moving path of the mobile device controlled by this orientation is the shortest, it is necessary to consider that the mobile device cannot collide with obstacles. Therefore, it is easy for the actual control path of the mobile device to be longer.

[0079] Optionally, when there are multiple directions with the least corresponding path obstacles, the direction with the shortest moving path is selected as the moving direction.

[0080] In this way, taking into account the impact of obstacles on the actual path planning of the mobile device, while ensuring that the mobile device cannot collide with obstacles, the shortest distance between the position of the mobile device and the target position, and the number of obstacles are used as the basis for planning the orientation, thereby improving the control efficiency of the mobile device moving to the target position.

[0081] Optionally, in some other embodiments, the positions of various obstacles in the mobile environment where the mobile device is located are obtained, a moving path is determined according to the position of the mobile device, the target position and the positions of each obstacle, and based on the moving path, the mobile device is controlled to move toward the target position.

[0082] In this way, the global path for the mobile device to move to the target position is planned based on the position of the mobile device, the target position, and the obstacle position. The influence of the obstacle position on the path planning is comprehensively considered, thereby improving the control efficiency of the mobile device moving to the target position while ensuring that the mobile device does not collide with the obstacle.

[0083] When an obstacle is detected during the movement of the mobile device toward the target position, step S120 is executed to determine a target obstacle avoidance point based on obstacle information, wherein the obstacle information includes at least one of a position and a shape and size of the obstacle;

[0084] In this embodiment, the obstacle may be a single object or a combination of multiple objects, which is not limited here.

[0085] Optionally, before step S120, in some embodiments, it is detected whether there is an obstacle within a preset distance range corresponding to the position of the mobile device, where the preset distance range is the distance range for starting obstacle avoidance planning.

[0086] In this way, the timing for starting to detect obstacles and perform obstacle avoidance is more appropriate, avoiding the mobile device starting to plan obstacle avoidance too early, resulting in a longer obstacle avoidance path and lower control efficiency for the mobile device to move to the target position, and also avoiding the mobile device starting to avoid obstacles too late, resulting in a higher risk of collision between the mobile device and the obstacle and lower control safety for the mobile device to move to the target position.

[0087] When an obstacle is detected during the movement of the mobile device, step S120 is executed to determine a target obstacle avoidance point based on the obstacle information, where the obstacle information includes at least one of the position and shape and size of the obstacle;

[0088] In this embodiment, the position of the obstacle can be the position of any point of the obstacle or a set of positions of multiple points on the obstacle, which is not limited herein. The number of target obstacle avoidance points can be one or multiple, and the target obstacle avoidance point can be any point during the movement of the mobile device during obstacle avoidance, that is, it can be the end point or the starting point during the obstacle avoidance of the mobile device, or it can be an intermediate point during the obstacle avoidance of the mobile device, which is not limited herein.

[0089] Optionally, in some embodiments, the obstacle information is obtained, and at least one target obstacle avoidance point is determined based on the obstacle information.

[0090] Among them, in step S120, the step of determining the target obstacle avoidance point based on the obstacle information includes:

[0091] Step S121, obtaining mobile device information, where the mobile device information includes at least one of the position and shape and size of the mobile device;

[0092] In this embodiment, the position of the mobile device can be the position of any point of the mobile device or a set of positions of multiple points on the mobile device, which is not limited herein.

[0093] Optionally, in some embodiments, the device type and model of the mobile device are obtained, and based on the device type and model, the mobile device information is determined.

[0094] Alternatively, in some other embodiments, a mobile device image carrying the characteristics of the mobile device is obtained, and based on the mobile device image, the mobile device information is determined.

[0095] Step S122: Determine the moving range of the mobile device where there is no collision risk between the mobile device and the obstacle according to the obstacle information and the mobile device information.

[0096] Optionally, in some embodiments, the obstacle information includes the position and shape / size of the obstacle, and the mobile device information includes the position and shape / size of the mobile device. According to the obstacle information and the mobile device information, construct a first range corresponding to the mobile device and a second range corresponding to the obstacle, and use the range outside the total range obtained by combining the first range and the second range as the moving range of the mobile device where there is no collision risk between the mobile device and the obstacle.

[0097] Step S123: Select a target point in the moving range as the target obstacle avoidance point.

[0098] Optionally, in some embodiments, select the point closest to the mobile device in the moving range as the target obstacle avoidance point. For example, referring to Figure 3 , take target point 1 as the target obstacle avoidance point corresponding to the mobile device avoiding obstacle 1. At this time, target point 1 is the point closest to the mobile device.

[0099] In this way, when the obstacle is large, using this method can ensure that the probability of collision between the mobile device and the obstacle during obstacle avoidance is small. Therefore, the safety of the obstacle avoidance control of the mobile device is improved.

[0100] However, the mobile device may also encounter smaller obstacles. If the above method is still used, there may be a large deviation between the obstacle avoidance path and the original path, resulting in low efficiency of the obstacle avoidance control of the mobile device.

[0101] To avoid the above defects, in some other embodiments, select as the end point of the arc segment in the moving range, and construct the target point that is the closest to the mobile device and has the largest arc segment radius corresponding to the situation where there is no collision risk between the mobile device and the obstacle as the target obstacle avoidance point. For example, referring to Figure 3 , take target point 2 as the target obstacle avoidance point corresponding to the mobile device avoiding obstacle 2. At this time, target point 2 is the point that is selected as the end point of the arc segment, constructs the largest arc segment radius corresponding to the situation where there is no collision risk between the mobile device and the obstacle, and is the closest to the mobile device.

[0102] In this way, it not only ensures the smoothness of the path of the mobile device during obstacle avoidance, that is, ensures that the deviation between the obstacle avoidance path and the original path is small, but also ensures that the target obstacle avoidance point corresponds to the position of the mobile device. Therefore, the efficiency of the obstacle avoidance control of the mobile device is improved.

[0103] Optionally, in some embodiments, obtain the shape and size of the mobile device, where the shape and size of the mobile device include at least one of the mobile device size, the mobile device shape, and the mobile device category; based on the shape and size of the mobile device, perform frame selection on the mobile device to obtain first frame selection information; based on the shape and size of the obstacle, perform frame selection on the obstacle to obtain second frame selection information; according to the position of the obstacle, simulate at least one adjacent point between the first frame selection information and the second frame selection information, and determine the target obstacle avoidance point according to each of the adjacent points.

[0104] Optionally, in some other embodiments, when the shapes of the first frame selection information and the second frame selection information are circular, the adjacent point between the first frame selection information and the second frame selection information is the external tangent point.

[0105] Optionally, in some embodiments, use each of the adjacent points as each of the obstacle avoidance points and the obstacle avoidance end point.

[0106] It can be understood that when the distance between the mobile device and the obstacle is relatively close, the risk of collision between the mobile device and the obstacle is also relatively high. One adjacent point corresponds to one obstacle avoidance point or one obstacle avoidance end point. Use the sum of each of the adjacent points and a preset distance as each of the obstacle avoidance points and the obstacle avoidance end point respectively, where the preset distance is the reserved safety distance corresponding to the obstacle avoidance of the mobile device set as needed.

[0107] In this way, by setting the preset distance to reserve a safety distance for the obstacle avoidance of the mobile device, the risk of collision between the mobile device and the obstacle is reduced to a certain extent, so the control safety of the mobile device is improved.

[0108] Step S130, construct an obstacle avoidance path according to the target obstacle avoidance point, and move along the obstacle avoidance path until the mobile device reaches the target position.

[0109] When there are multiple target obstacle avoidance points, optionally, in some embodiments, use the straight line segment or curve segment obtained by sequentially connecting each of the target obstacle avoidance points as the obstacle avoidance path.

[0110] Or, in some other embodiments, construct an arc segment according to each of the target obstacle avoidance points as the obstacle avoidance path.

[0111] When there is a single target obstacle avoidance point, optionally, in some embodiments, use the line segment or curve segment between the target obstacle avoidance point and the position of the mobile device as the obstacle avoidance path.

[0112] Or, in some other embodiments, construct an arc segment according to the target obstacle avoidance point and the position of the mobile device as the obstacle avoidance path.

[0113] It can be understood that in some technologies, there may be a situation where the arc radius corresponding to the constructed obstacle avoidance path is small. That is to say, the obstacle avoidance path is usually set to deviate greatly from the original path for the mobile device to move to the target position. The movement path of the mobile device during the obstacle avoidance process is long, resulting in a long obstacle avoidance time for the mobile device and low obstacle avoidance control efficiency of the mobile device.

[0114] To overcome the above defects, in step S130, the step of constructing an obstacle avoidance path according to the target obstacle avoidance point includes:

[0115] Step S131: According to the target obstacle avoidance point, the obstacle information, and the mobile device information, with the target obstacle avoidance point as the end point of the arc segment, construct an arc segment with the largest arc radius corresponding to the situation where there is no collision risk between the mobile device and the obstacle, as the obstacle avoidance path.

[0116] In this way, the constructed obstacle avoidance path not only matches the obstacle information and the mobile device information, but also has the largest arc radius corresponding to the construction. That is to say, the constructed obstacle avoidance path is relatively gentle, deviates less from the original path for the mobile device to move to the target position, reduces the movement path length of the mobile device during the obstacle avoidance process, reduces the obstacle avoidance time of the mobile device, and thus improves the obstacle avoidance control efficiency of the mobile device.

[0117] After the control device in this embodiment determines the target position to approach according to the received approaching instruction, it controls the mobile device to move towards the target position. When an obstacle is detected during the process of the mobile device moving towards the target position, it determines the target obstacle avoidance point based on the obstacle information. The obstacle information includes at least one of the position and shape size of the obstacle. At this time, the target obstacle avoidance point matches the obstacle information, so that an obstacle avoidance path can be constructed according to the target obstacle avoidance point and the mobile device moves along the obstacle avoidance path until it reaches the target position. The obstacle avoidance path constructed from the target obstacle avoidance point that matches the obstacle information also deviates less from the original path for the mobile device to move to the target position. That is to say, it reduces the movement path length of the mobile device during the obstacle avoidance process, reduces the obstacle avoidance time of the mobile device, and thus improves the obstacle avoidance control efficiency of the mobile device.

[0118] Second Embodiment

[0119] Please refer to Figure 4 , based on the above first embodiment, this embodiment proposes a specific method for determining the obstacle avoidance path to achieve precise obstacle avoidance of the mobile device.

[0120] Before step S120 of the above first embodiment, this embodiment further includes:

[0121] Step S101: Obtain an obstacle image carrying obstacle features and obtain the position of the mobile device. Herein, the obstacle image is captured by a monocular camera configured on the mobile device.

[0122] In this embodiment, the camera can also be placed at a position outside the mobile device. However, for the convenience of calculation, the camera is usually installed on the mobile device. The installation method of the camera can be horizontal installation (for example, the relative angle between the camera and the ground is 90°), or non-horizontal installation, which is not limited herein. The installation position of the camera can be any position of the mobile device. It should be understood that the installation orientation of the camera is the moving direction of the mobile device. The preset points on the mobile device and the preset points on the obstacle are on the same horizontal line.

[0123] It can be understood that when a monocular camera is configured on the mobile device, since the information content included in the captured obstacle image is limited, the obstacle image is only used for obstacle positioning, that is, to determine the position of the obstacle. Therefore, it is also necessary to perform an overall path planning in combination with the shape and size of the obstacle.

[0124] Optionally, in some embodiments, the mobile device is built-in with a positioning system, and the position of the mobile device is determined through the positioning system.

[0125] Step S102: Determine the obstacle information according to the obstacle image and the position of the mobile device.

[0126] Optionally, in some embodiments, obtain an information extraction model. The information extraction model is trained by multiple first training samples. One first training sample consists of first input feature data and a first true label corresponding to the first input feature data. The first input feature data is an image carrying obstacle information and the position of the mobile device, and the first true label is the obstacle information. Map the obstacle image and the position of the mobile device to the obstacle information through the information extraction model.

[0127] Alternatively, in some other embodiments, the obstacle image is captured by a monocular camera installed on the mobile device. Identify the obstacle category from the obstacle image, and determine the shape and size of the obstacle according to the obstacle category. Calculate the position of the obstacle according to the shape and size of the obstacle and the position of the mobile device.

[0128] Optionally, in some embodiments, an image classification model is obtained. The image classification model is trained by multiple pieces of second training samples, and the second training samples are composed of second input feature data and corresponding second true labels. The second input feature data is an image carrying the features of the object to be classified, and the second true label is the category of the object to be classified. The obstacle image is mapped to an obstacle category through the image classification model.

[0129] Optionally, in some embodiments, a preset mapping relationship is obtained, where the preset mapping relationship includes a one-to-one correspondence between the object category and the shape and size of the object. The obstacle category is mapped to the shape and size of the obstacle through the preset mapping relationship.

[0130] Optionally, in some embodiments, the distance between the obstacle and the mobile device is detected by a distance detection device, where the distance detection device includes but is not limited to an infrared detection device and a radar detection device. The position of the mobile device is obtained, and based on the position of the mobile device, the shape and size of the obstacle, and the interval distance, the position of the obstacle is calculated.

[0131] Alternatively, in some other embodiments, the obstacle image is captured by a camera installed on the mobile device, and the vertical field of view angle of the camera is obtained, where the vertical field of view angle is composed of a first field of view boundary close to the mobile device and a second field of view boundary far from the mobile device. Based on the vertical field of view angle, a first angle and a second angle are calculated. The first angle is formed by the first field of view boundary and a connection line, and the connection line is obtained by connecting the camera and a preset point on the obstacle. The second angle is formed by the mobile device and the first field of view boundary. Based on the first angle and the second angle, the interval distance between a preset point on the mobile device and a preset point on the obstacle is calculated. Based on the position of the mobile device, the shape and size of the obstacle, and the interval distance, the position of the obstacle is calculated.

[0132] Optionally, in some embodiments, a third angle is obtained, where the third angle is the bisecting angle of the vertical field of view angle. Based on the geometric relationship between the third angle and the first angle, the first angle is calculated. Specifically, the tangent value of a fourth angle and the tangent value of the third angle are obtained, where the fourth angle is the angle difference between the third angle and the first angle. Based on the tangent values of the fourth angle and the third angle, the first angle is calculated.

[0133] Optionally, in some embodiments, the midpoint of the obstacle image captured by the camera is obtained. In the first right triangle formed by the first field of view boundary, the camera, and the midpoint, the intersection of the first field of view boundary and the ground is taken as the first intersection point, the distance between the first intersection point and the midpoint is taken as the first distance, the distance between the camera and the midpoint is taken as the second distance, and the ratio of the first distance to the second distance is taken as the tangent value of the third angle.

[0134] Optionally, in some embodiments, the intersection point between the connection line and the first distance is taken as the second intersection point, the distance between the second intersection point and the midpoint is taken as the third distance, and the ratio of the third distance to the second distance is taken as the tangent value of the fourth angle.

[0135] Optionally, in some embodiments, based on the tangent value of the third angle, the tangent value of the fourth angle, the first distance, the third distance, and the third angle, the first angle is calculated.

[0136] Optionally, in some embodiments, the tangent value of the second angle is obtained, and the tangent value of the fifth angle is obtained, where the fifth angle is formed by a preset point on the mobile device, the camera, and a preset point on the obstacle. According to the tangent value of the second angle and the tangent value of the fifth angle, the interval distance is calculated.

[0137] Optionally, in some embodiments, in the second right triangle formed by the camera, a preset point on the mobile device, and the first intersection point, the distance between the camera and the preset point on the mobile device is taken as the fourth distance, the distance between the preset point on the mobile device and the first intersection point is taken as the fifth distance, and the ratio of the fifth distance to the fourth distance is taken as the tangent value of the second angle.

[0138] Optionally, in some embodiments, in the third right triangle formed by the camera, a preset point on the mobile device, and a preset point on the obstacle, the interval distance and the fourth distance are taken as the tangent value of the fifth angle.

[0139] In this way, by constructing multiple right triangles through the field of view angle of the camera, the relative distance between the obstacle and the mobile device is calculated, improving the positioning accuracy of the obstacle.

[0140] Optionally, in some embodiments, the mobile device posture includes the placement angle of the mobile device, the obstacle position includes the center coordinates of the obstacle. According to the shape and size of the obstacle, the length and width of the obstacle are determined. According to the mobile device coordinates, the mobile device placement angle, the obstacle length, the obstacle width, and the interval distance, the obstacle coordinates are calculated through the preset trigonometric function relationship.

[0141] In this embodiment, the obstacle coordinates can be the coordinates of any point in the obstacle. For the convenience of calculation, the boundary points or the center point of the obstacle are usually used as the obstacle coordinates.

[0142] Optionally, in some embodiments, the mobile device coordinates include the abscissa and ordinate of the mobile device, and the obstacle coordinates include the abscissa and ordinate of the obstacle; according to the abscissa of the mobile device, the interval distance, the length of the obstacle, and the sine value of the placement angle of the mobile device, calculate the abscissa of the obstacle; according to the ordinate of the mobile device, the interval distance, the width of the obstacle, and the cosine value of the placement angle of the mobile device, calculate the ordinate of the obstacle.

[0143] Optionally, in some embodiments, referring to Figure 5 , the camera is set at point E, the preset point on the mobile device is O, the intersection of the first field of view limit of the camera and the ground is A, the preset point on the obstacle is B, D is the midpoint of the obstacle image captured by the camera, the angular bisector of the vertical field of view angle of the camera is ED, the intersection of EB and AD is C, the first field of view limit of the camera is EA, the angle β is the second angle, EB is the connection line, the angle α is the third angle, the angle AEC is the first angle, and the angle CED is the fourth angle.

[0144] Optionally, the step of taking the ratio of the first distance and the second distance as the tangent value of the third angle may specifically include:

[0145]

[0146] Where α is the third angle, AD is the first distance, and ED is the second distance.

[0147] Optionally, the step of taking the ratio of the third distance and the second distance as the tangent value of the fourth angle may specifically include:

[0148]

[0149] Where CED is the fourth angle and CD is the third distance.

[0150] Optionally, the step of calculating the first angle based on the tangent value of the third angle, the tangent value of the fourth angle, the first distance, the third distance, and the third angle may specifically include:

[0151]

[0152] CED = α - AEC

[0153]

[0154]

[0155] Among them, AEC is the first angle.

[0156] Optionally, the step of using the ratio of the fifth distance to the fourth distance as the tangent value of the second angle may specifically include:

[0157]

[0158] Among them, β is the second angle, OE is the fifth distance, and OA is the fourth distance.

[0159] Optionally, the step of using the interval distance and the fourth distance as the tangent value of the fifth angle may specifically include:

[0160]

[0161] Among them, OEB is the fifth angle, and OB is the interval distance.

[0162] Optionally, the step of calculating the interval distance according to the tangent value of the second angle and the tangent value of the fifth angle may specifically include:

[0163] OB = tan OEB × OE

[0164]

[0165]

[0166] Optionally, the step of calculating the abscissa of the obstacle according to the abscissa of the mobile device, the interval distance, the length of the obstacle, and the sine value of the placement angle of the mobile device may specifically include:

[0167]

[0168] Among them, x t is the abscissa of the obstacle, x m is the abscissa of the mobile device, a is the length of the obstacle, and θ is the placement angle of the mobile device.

[0169] Optionally, the step of calculating the ordinate of the obstacle according to the ordinate of the mobile device, the interval distance, the width of the obstacle, and the cosine value of the placement angle of the mobile device may specifically include:

[0170]

[0171] Among them, y t is the ordinate of the obstacle, y mLet \(a\) be the vertical coordinate of the mobile device and \(b\) be the width of the obstacle.

[0172] In this embodiment, by constructing multiple right triangles and performing calculations, the precise positioning of the obstacle is achieved, thereby enabling the planning of an obstacle avoidance path for the mobile device, and further improving the control and obstacle avoidance efficiency of the mobile device.

[0173] Third Embodiment

[0174] Please refer to Figure 6 , based on the above first embodiment, in this embodiment, it is proposed that the mobile device continuously detects obstacles during the obstacle avoidance process, so as to avoid the situation of colliding with new obstacles when the mobile device moves along the obstacle avoidance path, thereby improving the obstacle avoidance accuracy of the mobile device and enhancing the moving safety of the mobile device.

[0175] After step S130 of the above second embodiment, this embodiment further includes:

[0176] When an obstacle is detected during the process of the mobile device moving towards the target position, it returns to step S120, which is the step of determining the target obstacle avoidance point based on the obstacle information.

[0177] Since the field of view of the camera is limited, that is, the camera can only detect the obstacles in front of the mobile device, and during the path planning process, it is impossible to detect the possible obstacles on the planned obstacle avoidance path. If the mobile device is directly controlled to move along the obstacle avoidance path, there may be a phenomenon that the mobile device collides with the obstacles on the obstacle avoidance path.

[0178] During the process of controlling the mobile device to move along the obstacle avoidance path, this embodiment continuously detects whether there are obstacles during the process of the mobile device moving towards the target position. Thus, when an obstacle is detected, it returns to the step of determining the target obstacle avoidance point based on the obstacle information, and timely re-plans the obstacle avoidance path of the mobile device, which reduces the risk of the mobile device colliding with the obstacle to a certain extent, so the obstacle avoidance accuracy and control safety of the mobile device are improved.

[0179] Fourth Embodiment

[0180] Please refer to Figure 7 , based on all the above embodiments, in this embodiment, it is proposed that the mobile device can call the mobile map, thereby optimizing the obstacle avoidance convenience of the mobile device.

[0181] Optionally, in this embodiment, the mobile device control method includes the following steps:

[0182] After detecting the existence of an obstacle, execute step S310 to obtain the mobile map of the mobile environment where the mobile device is located, where the mobile map includes the obstacle information of each obstacle in the mobile environment;

[0183] Optionally, in some embodiments, a mobile map of the mobile environment where the mobile device is located is pulled from the cloud.

[0184] Optionally, in some other embodiments, a mobile map of the mobile environment stored in a mobile device or a control device is obtained.

[0185] Optionally, in some other embodiments, a map sharing request is sent to other mobile devices in the same mobile environment, and mobile maps sent by other mobile devices are received.

[0186] Step S320, querying the moving map to obtain the obstacle information.

[0187] In this embodiment, after step S320, step S120 and subsequent steps are performed.

[0188] Optionally, in some embodiments, it is determined whether the moving map contains the detected obstacle. If the moving map contains the detected obstacle, the obstacle information is queried in the moving map; if the moving map does not contain the detected obstacle, the steps of obtaining an obstacle image carrying obstacle features and obtaining the location of the mobile device and subsequent steps are performed.

[0189] Optionally, in some embodiments, if there is no mobile map corresponding to the mobile environment, a mobile map is constructed based on the obstacle information, and the mobile map is uploaded to the cloud, and / or the mobile map is stored in a mobile device or a control device.

[0190] In this way, a mobile map is constructed, so that when controlling a mobile device, obstacle information can be directly obtained by querying the mobile map, saving the time required for determining the obstacle information, thereby improving the convenience of obstacle avoidance control of the mobile device.

[0191] It is understandable that in the mobile environment where the mobile device is located, there are fixed obstacles such as load-bearing walls (objects whose positions are basically not changed or cannot be changed by external forces), and there are variable obstacles such as tables and chairs (objects that can be moved manually or easily changed by external forces). Therefore, the mobile map is not static. When a fixed mobile map is used as a decision basis for determining obstacle information, it is easy for the variable obstacle to actually change its position, and / or, the mobile environment has added a new variable obstacle, but the mobile map has not been updated in time, resulting in an increased risk of collision between the mobile device and the obstacle.

[0192] Optionally, in other embodiments, the moving map is updated according to the calculated obstacle information.

[0193] Thus, although it is still necessary to determine the obstacle information for the first time, before the changing obstacle changes its position, when the mobile device executes the instruction for the target position again, or when other mobile devices execute the instruction, only the mobile map needs to be queried to obtain the obstacle information. Therefore, to a certain extent, the time required for the process of determining the obstacle information is still saved, so the convenience of obstacle avoidance control of the mobile device is improved.

[0194] The present invention also provides a control device for controlling various household electrical appliances. The control device includes a memory, a processor, and a mobile device control program stored in the memory and executable on the processor. When the mobile device control program is executed by the processor, it implements the mobile device control method as described above.

[0195] The present invention also provides a mobile device, which includes a memory, a processor, and a mobile device control program stored in the memory and executable on the processor. When the mobile device control program is executed by the processor, it implements the mobile device control method as described above.

[0196] The mobile device communicates with the control device.

[0197] The present invention also provides a computer-readable storage medium storing a mobile device control program, which, when executed by a processor, implements the mobile device control method as described above.

[0198] It should be noted that the above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for controlling a mobile device, characterized in that, the method for controlling the mobile device comprises the following steps: After determining the target position of approaching according to the received approaching instruction, controlling the mobile device to move towards the target position; When an obstacle is detected during the process of the mobile device moving towards the target position, determining a target obstacle avoidance point based on the obstacle information, where the obstacle information includes at least one of the position and the shape and size of the obstacle; Constructing an obstacle avoidance path according to the target obstacle avoidance point, and moving along the obstacle avoidance path until the mobile device reaches the target position.

2. The method for controlling a mobile device according to claim 1, characterized in that, the step of determining a target obstacle avoidance point based on the obstacle information comprises: Obtaining mobile device information, where the mobile device information includes at least one of the position and the shape and size of the mobile device; According to the obstacle information and the mobile device information, determining the moving range of the mobile device where there is no collision risk between the mobile device and the obstacle; Taking a target point in the moving range as the target obstacle avoidance point.

3. The method for controlling a mobile device according to claim 2, characterized in that, the step of taking a target point in the moving range as the target obstacle avoidance point comprises: Selecting the target point closest to the mobile device in the moving range as the target obstacle avoidance point.

4. The method for controlling a mobile device according to claim 1, characterized in that, the step of constructing an obstacle avoidance path according to the target obstacle avoidance point comprises: According to the target obstacle avoidance point, the obstacle information and the mobile device information, constructing an arc segment with the target obstacle avoidance point as the end point of the arc segment and having the largest arc segment radius corresponding to the case where there is no collision risk between the mobile device and the obstacle as the obstacle avoidance path.

5. The method for controlling a mobile device according to claim 1, characterized in that, before the step of determining a target obstacle avoidance point based on the obstacle information, further comprising: Obtaining an obstacle image carrying obstacle features, and obtaining the position of the mobile device; Determining the obstacle information according to the obstacle image and the position of the mobile device.

6. The method for controlling a mobile device according to claim 5, characterized in that, the obstacle image is obtained by a monocular camera installed on the mobile device, and the step of determining the obstacle information according to the obstacle image and the position of the mobile device comprises: Identifying the obstacle image to obtain the obstacle category, and determining the shape and size of the obstacle according to the obstacle category; Calculating the position of the obstacle according to the shape and size of the obstacle and the position of the mobile device.

7. The method for controlling a mobile device according to claim 6, characterized in that, the step of calculating the position of the obstacle according to the shape and size of the obstacle and the position of the mobile device comprises: Obtaining the vertical field of view angle of the camera, where the vertical field of view angle is composed of a first field of view limit close to the mobile device and a second field of view limit far from the mobile device; Calculate a first angle and a second angle according to the vertical field of view angle, where the first angle is formed by the first field of view limit and a connection line, the connection line is obtained by connecting the camera and a preset point on the obstacle, and the second angle is formed by the mobile device and the first field of view limit; Based on the first angle and the second angle, calculate the interval distance between a preset point on the mobile device and a preset point on the obstacle; Calculate the position of the obstacle according to the position of the mobile device, the shape and size of the obstacle, and the interval distance; 8. The mobile device control method according to claim 7, wherein, the position of the mobile device includes the coordinates and attitude of the mobile device, the position of the obstacle includes the obstacle coordinates, and the step of calculating the position of the obstacle according to the position of the mobile device, the shape and size of the obstacle, and the interval distance includes: Obtain a preset trigonometric function relationship; Calculate the coordinates of the obstacle through the preset trigonometric function relationship according to the coordinates and attitude of the mobile device, the shape and size of the obstacle, and the interval distance; 9. The mobile device control method according to claim 1, wherein, after the step of moving along the obstacle avoidance path, further includes: When an obstacle is detected during the process of the mobile device moving towards the target position, return to the step of determining the target obstacle avoidance point based on the obstacle information; 10. The mobile device control method according to claim 1, wherein, before the step of determining the target obstacle avoidance point based on the obstacle information, further includes: Obtain a movement map of the movement environment where the mobile device is located, where the movement map includes the obstacle information of each obstacle in the movement environment; Query the obstacle information in the movement map; 11. The mobile device control method according to any one of claims 1 to 10, wherein, the mobile device control method further includes: Update the movement map of the movement environment where the mobile device is located according to the obstacle information; 12. A control device, wherein, the control device is used to control a mobile device, the control device includes a memory, a processor, and a mobile device control program stored in the memory and executable on the processor, and when the mobile device control program is executed by the processor, it implements the steps of the mobile device control method according to any one of claims 1 to 11; 13. A computer-readable storage medium, wherein, the computer-readable storage medium stores a mobile device control program, and when the mobile device control program is executed by a processor, it implements the steps of the mobile device control method according to any one of claims 1 to 11.

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