CN111358364B - Dead angle cleaning method and device based on visual robot, chip and robot - Google Patents
Dead angle cleaning method and device based on visual robot, chip and robot Download PDFInfo
- Publication number
- CN111358364B CN111358364B CN201811605047.5A CN201811605047A CN111358364B CN 111358364 B CN111358364 B CN 111358364B CN 201811605047 A CN201811605047 A CN 201811605047A CN 111358364 B CN111358364 B CN 111358364B
- Authority
- CN
- China
- Prior art keywords
- robot
- dead angle
- straight lines
- cleaning
- operation dead
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Image Analysis (AREA)
Abstract
The invention relates to a dead angle cleaning method, a dead angle cleaning device, a dead angle cleaning chip and a robot based on a visual robot, and belongs to the field of intelligent robots. The front end of the robot is equipped with an image acquisition device for acquiring the area in front of the robot, the robot comprising at least two sweeper brushes, the method comprising: in the robot operation process, starting the image acquisition device and acquiring an image acquired by the image acquisition device; detecting straight lines in the image through a Hough algorithm; and acquiring straight lines of which the three straight lines intersect at the same point, determining an operation dead angle according to the straight lines of which the three straight lines intersect at the same point, and cleaning the operation dead angle by adopting a preset operation process when the operation dead angle is determined. Through the technical scheme, the dead corners of operation can be efficiently cleaned, and the operation effect is ensured.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a dead angle cleaning method and device based on a visual robot, a chip and a robot.
Background
The floor sweeping robot is also called a lazy floor sweeping machine, and is an intelligent household appliance capable of automatically absorbing dust on the ground. Because it can detect factors such as room size, furniture placement, ground cleanliness, and the like, and rely on built-in procedures to formulate a reasonable cleaning route, and has certain intelligence, it is called a floor sweeping robot by people. At present, the intelligent degree of the sweeping robot is not as advanced as that in imagination, but the sweeping robot is used as a catcher of a new concept of intelligent home and can finally walk into thousands of households for the robot, and forward power is injected. At present, the sweeping robot can automatically sweep garbage objects on the ground, however, when dead angles occur, the sweeping robot usually directly turns to the cleaning of other areas, and the dead angles of the areas to be swept are difficult to sweep completely.
Disclosure of Invention
In order to at least partially solve the problems in the prior art, the invention provides a dead angle cleaning method, a device, a chip and a robot based on a vision robot. The specific technical scheme is as follows:
a method for dead-angle cleaning based on a vision robot, the front end of the robot is equipped with an image acquisition device for acquiring the front area of the robot, the robot comprises at least two cleaning brushes, the method comprises: in the robot operation process, starting the image acquisition device and acquiring an image acquired by the image acquisition device; detecting straight lines in the image through a Hough algorithm; acquiring straight lines of which the three straight lines intersect at the same point, determining an operation dead angle according to the straight lines of which the three straight lines intersect at the same point, and cleaning the operation dead angle by adopting a preset operation flow when the operation dead angle is determined; the step of determining the operation dead angle according to the straight lines of the three straight lines intersected at the same point comprises the steps of determining the three straight lines of the three straight lines intersected at the same point as a straight line set, determining the intersection point of the three straight lines as a preselected operation dead angle, and determining the preselected operation dead angle corresponding to the straight line set as the operation dead angle when any one straight line in the straight line set is close to vertical and the included angle of the other two straight lines is gradually increased along with the movement of the robot.
Further, the method further comprises: when the distance between the operation dead angle and the local machine is closer, determining that the local machine is approaching to the operation dead angle; and when the distance between the machine and the operation dead angle is a preset threshold value, starting the preset operation process.
Further, the preset operation flow includes: starting at least one cleaning brush of the machine to swing and clean the dead angle for a preset number of times; controlling the robot to clean along the left side of the operation dead angle; and controlling the robot to clean along the right side of the operation dead angle.
Furthermore, the cleaning brush is connected with the robot through a telescopic structure, and when the robot works normally, the length of the cleaning brush is shortened for cleaning; and when a sanitary dead angle is detected, the cleaning brush is extended, so that the operation dead angle is cleaned in a swinging manner.
A dead angle cleaning device based on vision robot, the front end of robot is equipped with image acquisition device, image acquisition device is used for gathering the place ahead region of robot, the robot includes two at least brushes, the device includes: the acquisition module is used for starting the image acquisition device and acquiring an image acquired by the image acquisition device in the robot operation process; a detection module for detecting a straight line in the image by a Hough algorithm; the cleaning module is used for acquiring straight lines of which the three straight lines intersect at the same point, determining an operation dead angle according to the straight lines of which the three straight lines intersect at the same point, and cleaning the operation dead angle by adopting a preset operation flow when the operation dead angle is determined; and when any one straight line in the straight line set is close to vertical and the included angle between the other two straight lines is gradually increased along with the movement of the robot, determining the preselected operation dead angle corresponding to the straight line set as the operation dead angle.
Further, the cleaning module is also used for determining that the machine is approaching to the operation dead angle when the distance between the operation dead angle and the machine is closer and closer; and when the distance between the machine and the operation dead angle is a preset threshold value, starting the preset operation process.
Furthermore, the cleaning module is also used for starting at least one cleaning brush of the machine to aim at the dead angle to swing and clean for a preset number of times; controlling the robot to clean along the left side of the operation dead angle; and controlling the robot to clean along the right side of the operation dead angle.
Furthermore, the cleaning brush is connected with the robot through a telescopic structure, and the cleaning module is also used for shortening the length of the cleaning brush for cleaning when in normal operation; and when a sanitary dead angle is detected, the cleaning brush is extended, so that the operation dead angle is cleaned in a swinging manner.
A chip for storing a computer program for controlling a robot to execute the above-mentioned dead-space cleaning method based on a vision robot.
A robot, the robot is a sweeping robot, the sweeping robot comprising: one or more processors; storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the above-described visual robot-based dead-space sweeping method.
According to the technical scheme, the front area of the robot is obtained through the image acquisition device, straight lines in the image are detected through a simple and practical Hough straight line detection algorithm, straight lines at corners of walls, table corners and the like in the front area can be rapidly identified, meanwhile, due to small calculation amount, memory occupation can be reduced to the maximum extent, three straight lines which intersect at one point can be directly identified, the straight lines which do not belong to operation dead corners can be directly screened out, the required straight lines can be rapidly screened out, the operation dead corners are often formed by the three straight lines and one straight line is approximately vertical to the ground according to the characteristics of the operation dead corners, when the robot detects, the only straight line which is approximately vertical to the ground can be detected, the included angles of the other two straight lines are gradually increased along with the approach of the robot, and when the characteristics are met, the operation dead corners of the operation area can be rapidly screened out, when the dead angle of the operation is approached, cleaning is carried out through a preset operation flow. According to the technical scheme, the operation dead angle can be drawn close by adopting a mode of swinging firstly and then sweeping along the wall edge, the two sides are cleaned firstly, and then the two sides are cleaned respectively, so that the cleaning effect of the operation dead angle is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 schematically illustrates a method for cleaning dead space of a robot according to an embodiment of the present invention;
fig. 2 schematically shows a robot dead-space sweeping device provided by an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, a dead-space cleaning method based on a vision robot, the front end of which is equipped with an image acquisition device for acquiring the front area of the robot, the robot comprises at least two cleaning brushes, the dead-space cleaning method comprises: and S101, in the robot operation process, starting the image acquisition device and acquiring an image acquired by the image acquisition device. The image acquisition device can be a monocular high-definition image acquisition device or a binocular image acquisition device, and the acquired image is preferably a high-definition two-dimensional image or a three-dimensional point cloud image acquired by the binocular image acquisition device. And S102, detecting a straight line in the image through a Hough algorithm. Each pixel coordinate point is transformed into a unified metric that contributes to the straight line trait, such as: a straight line is a set of a series of discrete points in an image, and through a discrete polar coordinate formula of the straight line, a geometric equation of the discrete points of the straight line can be expressed as follows: x cos (theta) + y sin (theta) = r where angle theta refers to the angle between r and the X axis, and r is the geometric perpendicular distance to the line. Any point on a straight line, x, y, can be expressed where r, theta is constant. In the field of image processing implemented, the pixel coordinates P (x, y) of the image are known, while r, theta are the variables to be found. If we can plot each (r, theta) value according to the pixel point coordinate P (x, y) value, then we convert from the image cartesian coordinate system to the polar hough space system, and this point-to-curve transformation is called the hough transformation of straight lines. The transform equally divides or accumulates the grid for a finite interval of values by quantizing the hough parameter space. When the hough transform algorithm starts, each pixel coordinate point P (x, y) is transformed to the upper side of the curve point of (r, theta), and is accumulated to the corresponding grid data point, and when a peak appears, a straight line exists. Step S103, acquiring straight lines of which the three straight lines intersect at the same point, determining an operation dead angle according to the straight lines of which the three straight lines intersect at the same point, and cleaning the operation dead angle by adopting a preset operation flow when the operation dead angle is determined. The general operation dead angles are areas such as wall corners, table corners and the like, the areas have the common characteristic that three straight lines are intersected at one point, and the areas which are possibly dead angles can be quickly identified by identifying the three straight lines.
The step of determining the operation dead angle according to the straight line of the three straight lines intersected at the same point comprises the following steps: step S201, determining three straight lines intersecting at the same point as a straight line set, and determining the intersection point of the three straight lines as a preselected operation dead angle. And S202, when any straight line in the straight line set is close to vertical and the included angle between the other two straight lines is gradually increased along with the movement of the robot, determining the preselected operation dead angle corresponding to the straight line set as an operation dead angle.
The operation dead angle of the invention generally refers to the areas such as the corner, the table corner and the like which are difficult to clean by the existing robot.
According to the characteristics of the operation dead angle, the operation dead angle is usually formed by three straight lines, one straight line is close to and perpendicular to the ground, when the robot detects the operation dead angle, the only straight line close to and perpendicular to the ground can be detected, the included angle of the other two straight lines is larger and larger along with the approach of the robot, and when the characteristics are met, the operation dead angle of an operation area can be rapidly screened out.
Preferably, when the distance between the working dead angle and the machine is closer, the machine is determined to be approaching to the working dead angle; and when the distance between the machine and the operation dead angle is a preset threshold value, starting the preset operation process.
Preferably, the preset operation flow includes: step S401, starting at least one cleaning brush of the machine to aim at the dead angle to swing and clean for a preset number of times; the garbage at dead corners can be swept to an area which is easy to sweep by swinging sweeping; step S402, controlling the robot to clean along the left side of the operation dead angle; and a step S403 of controlling the robot to clean along the right side of the operation dead angle. Typically, the garbage is swept to both sides by the oscillating sweeping, so that the garbage is swept along the wall from both sides.
Preferably, the cleaning brush is connected with the robot through a telescopic structure, and when the robot works normally, the length of the cleaning brush is shortened for cleaning; and when a sanitary dead angle is detected, the cleaning brush is extended, so that the operation dead angle is cleaned in a swinging manner. The elongated sweeper brush will further ensure sweeping effectiveness.
A dead angle cleaning device based on vision robot, the front end of robot is equipped with image acquisition device, image acquisition device is used for gathering the place ahead region of robot, the robot includes two at least brushes, the device includes: the acquisition module 31 is used for starting the image acquisition device and acquiring an image acquired by the image acquisition device in the robot operation process; the image acquisition device can be a monocular high-definition image acquisition device or a binocular image acquisition device, and the acquired image is preferably a high-definition two-dimensional image or a three-dimensional point cloud image acquired by the binocular image acquisition device. A detection module 32, wherein the detection module 32 is configured to detect a straight line in the image through a hough algorithm; each pixel coordinate point is transformed into a unified metric that contributes to the straight line trait, such as: a straight line is a set of a series of discrete points in an image, and through a discrete polar coordinate formula of the straight line, a geometric equation of the discrete points of the straight line can be expressed as follows: x cos (theta) + y sin (theta) = r where angle theta refers to the angle between r and the X axis, and r is the geometric perpendicular distance to the line. Any point on a straight line, x, y, can be expressed where r, theta is constant. In the field of image processing implemented, the pixel coordinates P (x, y) of the image are known, while r, theta are the variables to be found. If we can plot each (r, theta) value according to the pixel point coordinate P (x, y) value, then we convert from the image cartesian coordinate system to the polar hough space system, and this point-to-curve transformation is called the hough transformation of straight lines. The transform equally divides or accumulates the grid for a finite interval of values by quantizing the hough parameter space. When the hough transform algorithm starts, each pixel coordinate point P (x, y) is transformed to the upper side of the curve point of (r, theta), and is accumulated to the corresponding grid data point, and when a peak appears, a straight line exists. The cleaning module 33 is configured to obtain straight lines where the three straight lines intersect at the same point, determine an operation dead angle according to the straight lines where the three straight lines intersect at the same point, and when the operation dead angle is determined, clean the operation dead angle by using a preset operation flow; the general operation dead angles are areas such as wall corners, table corners and the like, the areas have the common characteristic that three straight lines are intersected at one point, and the areas which are possibly dead angles can be quickly identified by identifying the three straight lines. The cleaning module 33 is further configured to determine three straight lines intersecting at the same point as a straight line set, determine an intersection point of the three straight lines as a preselected operation dead angle, and determine that the preselected operation dead angle corresponding to the straight line set is an operation dead angle when any one straight line in the straight line set is close to vertical and an included angle between the other two straight lines is gradually increased along with the movement of the robot.
The operation dead angle of the invention generally refers to the areas such as the corner, the table corner and the like which are difficult to clean by the existing robot. According to the characteristics of the operation dead angle, the operation dead angle is usually formed by three straight lines, one straight line is close to and perpendicular to the ground, when the robot detects the operation dead angle, the only straight line close to and perpendicular to the ground can be detected, the included angle of the other two straight lines is larger and larger along with the approach of the robot, and when the characteristics are met, the operation dead angle of an operation area can be rapidly screened out.
Preferably, the cleaning module 33 is further configured to determine that the own machine is approaching the working blind corner when the working blind corner is closer to the own machine; and when the distance between the machine and the operation dead angle is a preset threshold value, starting the preset operation process.
Preferably, the cleaning module 33 is further configured to start at least one cleaning brush of the machine to swing and clean the dead angle for a preset number of times; the swinging cleaning can clean the garbage in dead corners to an area which is easy to clean. Controlling the robot to clean along the left side of the operation dead angle; and controlling the robot to clean along the right side of the operation dead angle. The waste is typically swept to both sides by swinging, so sweeping along the wall from both sides, respectively.
Preferably, the cleaning brush is connected with the robot through a telescopic structure, and the cleaning module 33 is further configured to shorten the length of the cleaning brush for cleaning during normal operation; and when a sanitary dead angle is detected, the cleaning brush is extended, so that the operation dead angle is cleaned in a swinging manner. The elongated sweeper brush will further ensure sweeping effectiveness.
A chip for storing a computer program for controlling a robot to perform a method for blind spot cleaning based on a vision robot as described above.
A robot, the robot is a sweeping robot, the sweeping robot comprising: one or more processors; storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the method for blind spot cleaning based on a visual robot of any one of claims 1-4.
The scheme of each embodiment can rapidly identify the straight lines at the corner, the table corner and the like in the front area by acquiring the front area of the robot through the image acquisition device and detecting the straight lines in the image through a simple and practical Hough straight line detection algorithm, can reduce the memory occupation to the maximum extent due to small calculated amount, can directly screen out the straight lines which do not belong to the operation dead angle by identifying three straight lines which intersect at one point, can rapidly screen out the required straight lines, and the operation dead angle is often formed by three straight lines and one straight line is nearly vertical to the ground according to the characteristics of the dead angle, and can also detect only one straight line which is nearly vertical to the ground when the robot detects, the included angles of the other two straight lines are gradually larger along with the approach of the robot, so that the operation dead angle of the operation area can be rapidly screened out when the characteristics are met, when the dead angle of the operation is approached, cleaning is carried out through a preset operation flow. In the embodiment of the invention, the operation dead angle can be drawn close to the wall and cleaned to two sides firstly by adopting a mode of swinging firstly and then sweeping along the wall, and then the two sides are cleaned respectively, so that the cleaning effect of the operation dead angle is ensured.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Claims (10)
1. A method for cleaning dead corners based on a vision robot, characterized in that the front end of the robot is equipped with an image acquisition device for acquiring the front area of the robot, the robot comprises at least two cleaning brushes, the method comprises:
in the robot operation process, starting the image acquisition device and acquiring an image acquired by the image acquisition device;
detecting straight lines in the image through a Hough algorithm;
acquiring straight lines of which the three straight lines intersect at the same point, determining an operation dead angle according to the straight lines of which the three straight lines intersect at the same point, and cleaning the operation dead angle by adopting a preset operation flow when the operation dead angle is determined;
wherein the step of determining the operation dead angle according to the straight line of the three straight lines which intersect at the same point comprises the following steps,
three straight lines intersecting at the same point are determined as a straight line set, the intersection point of the three straight lines is determined as a preselected operation dead angle,
and when any straight line in the straight line set is close to be vertical and the included angle between the other two straight lines is gradually increased along with the movement of the robot, determining the preselected operation dead angle corresponding to the straight line set as the operation dead angle.
2. The method of claim 1, further comprising:
when the distance between the operation dead angle and the local machine is closer, determining that the local machine is approaching to the operation dead angle;
and when the distance between the machine and the operation dead angle is a preset threshold value, starting the preset operation process.
3. The method of claim 2, wherein the predetermined operation flow comprises:
starting at least one cleaning brush of the machine to swing and clean the dead angle for a preset number of times;
controlling the robot to clean along the left side of the operation dead angle;
and controlling the robot to clean along the right side of the operation dead angle.
4. The method of claim 3,
the cleaning brush is connected with the robot through a telescopic structure, and the length of the cleaning brush is shortened for cleaning during normal operation; and when a sanitary dead angle is detected, the cleaning brush is extended, so that the operation dead angle is cleaned in a swinging manner.
5. The utility model provides a dead angle cleaning device based on vision robot, its characterized in that, the front end of robot is equipped with image acquisition device, image acquisition device is used for gathering the place ahead region of robot, the robot includes two at least cleaning brushes, the device includes:
the acquisition module is used for starting the image acquisition device and acquiring an image acquired by the image acquisition device in the robot operation process;
a detection module for detecting a straight line in the image by a Hough algorithm;
the cleaning module is used for acquiring straight lines of which the three straight lines intersect at the same point, determining an operation dead angle according to the straight lines of which the three straight lines intersect at the same point, and cleaning the operation dead angle by adopting a preset operation flow when the operation dead angle is determined;
wherein the cleaning module is further configured to,
three straight lines intersecting at the same point are determined as a straight line set, the intersection point of the three straight lines is determined as a preselected operation dead angle,
and when any straight line in the straight line set is close to be vertical and the included angle between the other two straight lines is gradually increased along with the movement of the robot, determining the preselected operation dead angle corresponding to the straight line set as the operation dead angle.
6. The apparatus of claim 5, wherein the sweeping module is further configured to,
when the distance between the operation dead angle and the local machine is closer, determining that the local machine is approaching to the operation dead angle;
and when the distance between the machine and the operation dead angle is a preset threshold value, starting the preset operation process.
7. The apparatus of claim 6, wherein the sweeping module is further configured to,
starting at least one cleaning brush of the machine to swing and clean the dead angle for a preset number of times;
controlling the robot to clean along the left side of the operation dead angle;
and controlling the robot to clean along the right side of the operation dead angle.
8. The apparatus of claim 5, wherein the sweeper brush is coupled to the robot via a telescoping structure, the sweeper module further configured to,
when the cleaning brush works normally, the length of the cleaning brush is shortened for cleaning; and when a sanitary dead angle is detected, the cleaning brush is extended, so that the operation dead angle is cleaned in a swinging manner.
9. A chip for storing a computer program for controlling a robot to perform a method for blind spot cleaning based on a vision robot as claimed in any one of claims 1 to 4.
10. A robot, characterized in that, the robot is the robot of sweeping the floor, the robot of sweeping the floor includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method for blind spot cleaning based on a visual robot of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811605047.5A CN111358364B (en) | 2018-12-26 | 2018-12-26 | Dead angle cleaning method and device based on visual robot, chip and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811605047.5A CN111358364B (en) | 2018-12-26 | 2018-12-26 | Dead angle cleaning method and device based on visual robot, chip and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111358364A CN111358364A (en) | 2020-07-03 |
| CN111358364B true CN111358364B (en) | 2021-09-07 |
Family
ID=71198172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811605047.5A Active CN111358364B (en) | 2018-12-26 | 2018-12-26 | Dead angle cleaning method and device based on visual robot, chip and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111358364B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112155476B (en) * | 2020-09-16 | 2021-07-20 | 珠海格力电器股份有限公司 | Robot control method and device, electronic equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103925920A (en) * | 2014-04-10 | 2014-07-16 | 西北工业大学 | Image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method |
| CN104063711A (en) * | 2014-06-23 | 2014-09-24 | 西北工业大学 | Corridor vanishing point rapid detection algorithm based on K-means method |
| CN105160341A (en) * | 2015-09-01 | 2015-12-16 | 西北工业大学 | Triangle detection method based on linear segment detection and inner natures |
| CN106580193A (en) * | 2016-12-19 | 2017-04-26 | 北京小米移动软件有限公司 | Intelligent floor sweeping method and device and floor sweeping robot |
| CN108369420A (en) * | 2015-11-02 | 2018-08-03 | 星船科技私人有限公司 | Device and method for autonomous positioning |
| CN109074084A (en) * | 2017-08-02 | 2018-12-21 | 珊口（深圳）智能科技有限公司 | Control method, device, system and the robot being applicable in of robot |
-
2018
- 2018-12-26 CN CN201811605047.5A patent/CN111358364B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103925920A (en) * | 2014-04-10 | 2014-07-16 | 西北工业大学 | Image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method |
| CN104063711A (en) * | 2014-06-23 | 2014-09-24 | 西北工业大学 | Corridor vanishing point rapid detection algorithm based on K-means method |
| CN105160341A (en) * | 2015-09-01 | 2015-12-16 | 西北工业大学 | Triangle detection method based on linear segment detection and inner natures |
| CN108369420A (en) * | 2015-11-02 | 2018-08-03 | 星船科技私人有限公司 | Device and method for autonomous positioning |
| CN106580193A (en) * | 2016-12-19 | 2017-04-26 | 北京小米移动软件有限公司 | Intelligent floor sweeping method and device and floor sweeping robot |
| CN109074084A (en) * | 2017-08-02 | 2018-12-21 | 珊口（深圳）智能科技有限公司 | Control method, device, system and the robot being applicable in of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111358364A (en) | 2020-07-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220022718A1 (en) | Cleaning control method and apparatus, cleaning robot and storage medium | |
| US10884420B2 (en) | Cleaning robot and shortest path planning method based on cleaning robot | |
| CN107822565B (en) | Intelligent household sweeper capable of achieving slit cleaning based on data analysis | |
| CN111789538B (en) | Method and device for determining degree of soiling of cleaning mechanism, and storage medium | |
| CN111528732B (en) | Cleaning robot operation control method, device and system and storage medium | |
| CN111358362B (en) | Cleaning control method and device of visual robot, chip and sweeping robot | |
| WO2019104798A1 (en) | Cleaning area selection method and device | |
| CN109567673A (en) | A kind of sweeping robot cleaning display control method | |
| US20170075353A1 (en) | Local obstacle avoidance walking method of self-moving robot | |
| CN105259918A (en) | Automatic charging returning method of robot dust collector | |
| CN108814429B (en) | High-efficient intelligence cleans all-in-one based on data update | |
| CN110968081B (en) | Control method and control device of sweeping robot with telescopic camera | |
| CN106200639A (en) | A kind of method of sweeping the floor of full-automatic sweeping robot | |
| CN111374597B (en) | Method and device for avoiding line of cleaning robot, storage medium and cleaning robot | |
| CN111358364B (en) | Dead angle cleaning method and device based on visual robot, chip and robot | |
| CN110946513A (en) | Control method and device of sweeping robot | |
| WO2019104855A1 (en) | Communication relationship establishing method and device, computer readable storage medium, electronic device and cleaning device | |
| US11819174B2 (en) | Cleaning control method and device, cleaning robot and storage medium | |
| CN108319266A (en) | Row method and its control system are swept based on shape recognition sweeping machine | |
| CN108903816A (en) | A kind of cleaning method, controller and intelligent cleaning equipment | |
| CN110916574A (en) | Sweeping robot system and sweeping robot control method | |
| CN111358359B (en) | Line avoiding method and device for robot, chip and sweeping robot | |
| CN111443694A (en) | Operation method and operation device of intelligent cleaning equipment | |
| CN204862994U (en) | Intelligence combination formula cleaning device | |
| CN111443695A (en) | Sweeping robot control method and device, storage medium and sweeping robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |