CN111366158A - Planning method and device for operation route of sweeping robot and chip - Google Patents
Planning method and device for operation route of sweeping robot and chip Download PDFInfo
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- CN111366158A CN111366158A CN201811603694.2A CN201811603694A CN111366158A CN 111366158 A CN111366158 A CN 111366158A CN 201811603694 A CN201811603694 A CN 201811603694A CN 111366158 A CN111366158 A CN 111366158A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention relates to a planning method, a device and a chip of a sweeping robot operation route, wherein the method comprises the following steps: selecting a preset point in a target area as a coordinate origin to establish a coordinate system, performing three-dimensional scanning on the target area according to a preset height in the moving process of the sweeping robot, and simultaneously recording the moving track of the sweeping robot; generating a three-dimensional image associated with the target area according to a three-dimensional scanning result by combining the mapping relation between the moving track of the sweeping robot and the coordinate origin; determining obstacle information of at least one obstacle in the target area based on the three-dimensional image; and determining coordinate information of the at least one obstacle based on the distribution information, and if the height information of the at least one obstacle is greater than a first preset value, combining the coordinate information and the height information to stipulate a working route of the sweeping robot to bypass the at least one obstacle. The invention solves the problem of obstacle avoidance of the sweeping robot in the operation process.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method, a device and a chip for planning a working route of a sweeping robot.
Background
Along with the development of science and technology, more and more users begin to use the floor sweeping robot to clean living areas or working areas, so that the labor input is reduced to a great extent, and the cleanness and the sanitation of living or working environments are guaranteed on the basis of saving the time of the users. In the prior art, when a sweeping robot is used, obstacles are often required to be manually marked, or the corresponding sensors are installed on the sweeping robot to identify the obstacles in real time, so that the phenomenon that the sweeping robot is damaged due to the fact that the sweeping robot touches the obstacles in the operation process is avoided. When the obstacle is marked manually, the positions of part of the obstacles in the working area are not fixed, and if the positions of the obstacles are changed, the obstacles need to be marked again, so that the use is inconvenient. However, the obstacle can not be recognized in time by installing a sensor on the sweeping robot in a real-time obstacle recognition mode.
Disclosure of Invention
The invention provides a method, a device and a chip for planning a working route of a sweeping robot. The specific technical scheme is as follows:
a planning method for a sweeping robot operation route comprises the following steps: selecting a preset point in a target area as a coordinate origin to establish a coordinate system, performing three-dimensional scanning on the target area according to a preset height in the moving process of the sweeping robot, and simultaneously recording the moving track of the sweeping robot; wherein the origin of coordinates is a center point of the ground in the target area or an end point on the boundary of the target area; generating a three-dimensional image associated with the target area according to a three-dimensional scanning result by combining the mapping relation between the moving track of the sweeping robot and the coordinate origin; determining obstacle information of at least one obstacle in the target area based on the three-dimensional image, wherein the obstacle information comprises distribution information of the at least one obstacle in the target area and height information of the at least one obstacle; and determining coordinate information of the at least one obstacle based on the distribution information, and if the height information of the at least one obstacle is greater than a first preset value, combining the coordinate information and the height information to stipulate a working route of the sweeping robot to bypass the at least one obstacle.
Further, the obstacle information further includes width information of the at least one obstacle, and the planning method of the sweeping robot operation route further includes: and if the width information of the at least one obstacle is larger than a second preset value, the operation route is specified to bypass the at least one obstacle.
Further, the mapping relationship between the movement track of the sweeping robot and the coordinate origin includes: and selecting a plurality of fixed points in the moving track, and determining the relative positions of the fixed points in the moving track and the origin of coordinates.
Further, the method further comprises: and in a preset time period, if the relative position of the at least one obstacle in the target area and the origin of coordinates remains unchanged, controlling the sweeping robot to operate along the operation route according to a preset frequency.
A planning device for a sweeping robot operation route comprises: the execution module is configured to select a preset point in the target area as a coordinate origin to establish a coordinate system, perform three-dimensional scanning on the target area according to a preset height in the moving process of the sweeping robot, and record the moving track of the sweeping robot; wherein the origin of coordinates is a center point of the ground in the target area or an end point on the boundary of the target area; the image generation module is configured to generate a three-dimensional image associated with the target area according to a three-dimensional scanning result by combining the mapping relation between the movement track of the sweeping robot and the coordinate origin; a determination module configured to determine obstacle information of at least one obstacle in the target area based on the three-dimensional image, wherein the obstacle information includes distribution information of the at least one obstacle within the target area and height information of the at least one obstacle; the route generating module is configured to determine coordinate information of the at least one obstacle based on the distribution information, and if the height information of the at least one obstacle is larger than a first preset value, a working route of the sweeping robot is regulated to bypass the at least one obstacle by combining the coordinate information and the height information.
Further, the obstacle information further includes width information of the at least one obstacle, and the route generation module further includes: and the planning unit is configured to prescribe the operation route to bypass the at least one obstacle if the width information of the at least one obstacle is greater than a second preset value.
Further, the image module includes: and the selecting unit is configured to select a plurality of fixed points in the moving track and determine the relative positions of the fixed points in the moving track and the coordinate origin.
Further, the apparatus further comprises: and the control unit is configured to control the sweeping robot to work along the working route at a preset frequency if the relative position of the at least one obstacle and the coordinate origin in the target area is kept unchanged within a preset time period.
A chip stores a computer program, and the computer program is used for controlling a sweeping robot to execute the planning method of the working route of the sweeping robot.
Compared with the prior art, the scheme of the invention has the following advantages:
according to the invention, a coordinate system is established by selecting a preset point as a coordinate origin in a target area, the target area is subjected to three-dimensional scanning in the moving process of the sweeping robot, and meanwhile, the moving track of the sweeping robot is recorded; generating a three-dimensional image associated with the target area according to a three-dimensional scanning result by combining the mapping relation between the moving track of the sweeping robot and the coordinate origin; determining obstacle information of at least one obstacle in the target area based on the three-dimensional image, wherein the obstacle information comprises distribution information of the at least one obstacle in the target area, and width information and/or height information of the at least one obstacle; and generating a working route by combining the three-dimensional image and the obstacle information. The obstacle of the target area is determined by utilizing the three-dimensional image, the information of the obstacle can be comprehensively reflected, the operation route can be conveniently planned by the sweeping robot based on the distribution information of the obstacle and the height information of the obstacle, and the obstacle avoidance problem of the sweeping robot in the operation process is solved.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a method for planning a work route of a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a planning device for an operation route of a sweeping robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention. In addition, if a detailed description of the known art is not necessary to show the features of the present invention, it is omitted.
It will be understood by those skilled in the art that, unless otherwise indicated, all numbers expressing "a," an, "" the, "and" the "are to be understood as being modified in all instances by the term" about. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Referring to fig. 1, the present invention provides a method for planning a working route of a sweeping robot, including the following steps:
step S11, selecting a preset point in a target area as a coordinate origin to establish a coordinate system, performing three-dimensional scanning on the target area according to a preset height in the moving process of the sweeping robot, and simultaneously recording the moving track of the sweeping robot; wherein the origin of coordinates is a center point of the ground within the target area or an end point on the boundary of the target area.
The target area, which is an area where the sweeping robot is to perform the cleaning operation, can be set as the target area regardless of whether the sweeping robot performs indoor or outdoor operations. In some optional embodiments of the present invention, first, after determining the target area, a coordinate system may be established based on the target area, and optionally, a specific preset point may be selected as an origin of the coordinate system in the target area, for example, a central point of a ground surface in the target area may be selected as the origin of the coordinate system, or a certain endpoint on a certain boundary of the target area may be selected as the origin of the coordinate system. After the coordinate system is established, a measurement accuracy, such as meters, decimeters, centimeters, and the like, is specified to determine the relative position of each position point in the target area and the origin. Then, the sweeping robot is moved to perform three-dimensional scanning on the target area, and since the operation height of the sweeping robot is limited, preferably, the target area only needs to be three-dimensionally scanned within a preset height, and the preset height can be set when the sweeping robot leaves a factory, and can also be adjusted or set by an operator according to actual conditions; certainly, the space corresponding to the target area may also be scanned stereoscopically, for example, when the target area is a living room, the sweeping robot may scan a wall, a ceiling, and the like in addition to scanning the floor of the living room and an environment close to the floor; meanwhile, in the scanning process of the sweeping robot, the moving track of the sweeping robot needs to be recorded. In particular, a plurality of fixed points corresponding to the scanning of the sweeping robot need to be recorded to determine the relative positions of the fixed points in the moving track and the coordinate origin.
And step S12, generating a three-dimensional image associated with the target area according to the three-dimensional scanning result by combining the mapping relation between the moving track of the sweeping robot and the coordinate origin.
When the sweeping robot carries out three-dimensional scanning, the relative positions of each position point in a scanning area and the sweeping robot are determined; in addition, since the relative position of the movement track of the sweeping robot and the origin of the coordinate system is also fixed, the relative position of the scanning area corresponding to different position points on the movement track of the sweeping robot and the origin of the coordinate system can be determined. Based on this, a three-dimensional image can be generated from the results of the scanning.
Step S13, determining obstacle information of at least one obstacle in the target area based on the three-dimensional image, wherein the obstacle information includes distribution information of the at least one obstacle in the target area and height information of the at least one obstacle.
After the three-dimensional image is determined, the contour of each object in the target area can be determined. Furthermore, by combining the relative positions of the objects in the target area and the origin of the coordinate system, the obstacles in the target area can be determined, and the obstacle information of at least one obstacle can be further determined. Wherein the obstacle information includes distribution information of at least one obstacle in the target area, the distribution information includes coordinate information of at least one obstacle in the coordinate system, relative positions of a plurality of obstacles in the target area, and the like; furthermore, the obstacle information further includes height information of the at least one obstacle.
Step S14, determining coordinate information of the at least one obstacle based on the distribution information, and if the height information of the at least one obstacle is greater than a first preset value, defining a working route of the sweeping robot to bypass the at least one obstacle by combining the coordinate information and the height information.
The three-dimensional image can simultaneously present ground information and obstacle information, and based on the ground information and the obstacle information, the operation route of the sweeping robot can be planned and generated by combining the ground information and the obstacle information.
As described above, since the distribution information includes the coordinate information of the at least one obstacle in the coordinate system, the coordinate information of the at least one obstacle, which indicates the relative position of the center point of the obstacle and the origin of the coordinate system, can be determined based on the distribution information. On the other hand, since the sweeping robot performs stereo scanning on the target area to obtain a three-dimensional image corresponding to the target area, the height value of the determined obstacle can be determined, or when the height of the obstacle is greater than the height scanned by the sweeping robot, the height of the obstacle in the three-dimensional image can also be determined. Generally, for an obstacle with a low height value, the sweeping robot can theoretically move forward beyond the obstacle; when the height value of the obstacle is larger than the first preset value, the sweeping robot is blocked by the obstacle and cannot move forward. The first preset value can be set by a user, and can also be set according to the configuration of the sweeping robot, for example, the first preset value is 8.0mm, 10.0mm, and so on. Therefore, based on the coordinate information of the obstacle and the height information of the obstacle, the operation route of the sweeping robot can be planned, when the height of the obstacle is larger than a first preset value, the operation route is specified to bypass the obstacle, otherwise, the operation route does not bypass the obstacle.
Further, since the sweeping robot performs stereo scanning on the target area, a three-dimensional image corresponding to the target area is obtained, and therefore, for the determined obstacle, the width value of the obstacle can be determined. When the width value of the obstacle is larger than the second preset value, the sweeping robot is blocked by the obstacle and cannot move forward. The second preset value can be set by a user, and can also be set according to the configuration of the sweeping robot, for example, the second preset value is a value greater than the width of the sweeping robot, or a value greater than half of the width of the sweeping robot, and so on. Therefore, based on the coordinate information of the obstacle and the width information of the obstacle, the operation route of the sweeping robot can be planned, when the width of the obstacle is larger than a second preset value, the operation route is specified to bypass the obstacle, otherwise, the operation route does not bypass the obstacle.
It should be noted that, for different obstacles, since the length and width of the obstacle are not explicitly defined, the width information is a general term, and may refer to the width value of the obstacle, may refer to the length value of the obstacle, and may also include both the width value and the height value of the obstacle.
In addition, within a certain preset time period, if the obstacle in the target area is fixed, that is, the relative position of the obstacle and the origin of coordinates in the target area is kept unchanged, the sweeping robot can operate according to the determined operation route within the preset time period, so that the operation route can be prevented from being re-planned before each operation, and the use is more convenient.
According to the planning method of the operation route of the sweeping robot, the three-dimensional image is used for determining the obstacle in the target area, and the coordinate information and the height information of the obstacle can be comprehensively reflected, so that the sweeping robot can conveniently plan the operation route based on the information of the obstacle, and the obstacle avoidance problem of the sweeping robot in the operation process is solved.
The present invention also provides corresponding apparatus for the above methods according to the modular programming concept, which will be described in detail below.
Referring to fig. 2, the planning apparatus for an operation route of a sweeping robot of the present invention includes an executing module 11, an image generating module 12, a determining module 13, and a route generating module 14. The planning device generally operates in accordance with an execution module 11, an image generation module 12, a determination module 13, and a route generation module 14. Specific embodiments thereof will be described below.
The execution module 11 is configured to select a preset point in the target area as a coordinate origin to establish a coordinate system, perform three-dimensional scanning on the target area according to a preset height in the moving process of the sweeping robot, and record a moving track of the sweeping robot; wherein the origin of coordinates is a center point of the ground within the target area or an end point on the boundary of the target area.
The target area, which is an area where the sweeping robot is to perform the cleaning operation, can be set as the target area regardless of whether the sweeping robot performs indoor or outdoor operations. In some optional embodiments of the present invention, first, after determining the target area, a coordinate system may be established based on the target area, and optionally, a specific preset point may be selected as an origin of the coordinate system in the target area, for example, a central point of a ground surface in the target area may be selected as the origin of the coordinate system, or a certain endpoint on a certain boundary of the target area may be selected as the origin of the coordinate system. After the coordinate system is established, a measurement accuracy, such as meters, decimeters, centimeters, and the like, is specified to determine the relative position of each position point in the target area and the origin. Then, the sweeping robot is moved to perform three-dimensional scanning on the target area, and since the operation height of the sweeping robot is limited, preferably, the target area only needs to be three-dimensionally scanned within a preset height, and the preset height can be set when the sweeping robot leaves a factory, and can also be adjusted or set by an operator according to actual conditions; certainly, the space corresponding to the target area may also be scanned stereoscopically, for example, when the target area is a living room, the sweeping robot may scan a wall, a ceiling, and the like in addition to scanning the floor of the living room and an environment close to the floor; meanwhile, in the scanning process of the sweeping robot, the moving track of the sweeping robot needs to be recorded. In particular, a plurality of fixed points corresponding to the scanning of the sweeping robot need to be recorded to determine the relative positions of the fixed points in the moving track and the coordinate origin.
And the image generation module 12 is configured to generate a three-dimensional image associated with the target area according to the stereoscopic scanning result by combining the mapping relation between the movement track of the sweeping robot and the coordinate origin.
The image generation module further comprises a selection unit configured to select a plurality of fixed points in the moving track and determine the relative positions of the plurality of fixed points in the moving track and the origin of coordinates. When the sweeping robot carries out three-dimensional scanning, the relative positions of each position point in a scanning area and the sweeping robot are determined; in addition, since the relative position of the movement track of the sweeping robot and the origin of the coordinate system is also fixed, the relative position of the scanning area corresponding to different position points on the movement track of the sweeping robot and the origin of the coordinate system can be determined. Based on this, a three-dimensional image can be generated from the results of the scanning.
A determining module 13 configured to determine obstacle information of at least one obstacle in the target area based on the three-dimensional image, wherein the obstacle information includes distribution information of the at least one obstacle in the target area and height information of the at least one obstacle.
After the three-dimensional image is determined, the contour of each object in the target area can be determined. Furthermore, by combining the relative positions of the objects in the target area and the origin of the coordinate system, the obstacles in the target area can be determined, and the obstacle information of at least one obstacle can be further determined. Wherein the obstacle information includes distribution information of at least one obstacle in the target area, the distribution information includes coordinate information of at least one obstacle in the coordinate system, relative positions of a plurality of obstacles in the target area, and the like; furthermore, the obstacle information further includes height information of the at least one obstacle.
A route generating module 14 configured to determine coordinate information of the at least one obstacle based on the distribution information, and if the height information of the at least one obstacle is greater than a first preset value, to specify that a working route of the sweeping robot bypasses the at least one obstacle by combining the coordinate information and the height information.
The three-dimensional image can simultaneously present ground information and obstacle information, and based on the ground information and the obstacle information, the operation route of the sweeping robot can be planned and generated by combining the ground information and the obstacle information.
As described above, since the distribution information includes the coordinate information of the at least one obstacle in the coordinate system, the coordinate information of the at least one obstacle, which indicates the relative position of the center point of the obstacle and the origin of the coordinate system, can be determined based on the distribution information. On the other hand, since the sweeping robot performs stereo scanning on the target area to obtain a three-dimensional image corresponding to the target area, the height value of the determined obstacle can be determined, or when the height of the obstacle is greater than the height scanned by the sweeping robot, the height of the obstacle in the three-dimensional image can also be determined. Generally, for an obstacle with a low height value, the sweeping robot can theoretically move forward beyond the obstacle; when the height value of the obstacle is larger than the first preset value, the sweeping robot is blocked by the obstacle and cannot move forward. The first preset value can be set by a user, and can also be set according to the configuration of the sweeping robot, for example, the first preset value is 8.0mm, 10.0mm, and so on. Therefore, based on the coordinate information of the obstacle and the height information of the obstacle, the operation route of the sweeping robot can be planned, when the height of the obstacle is larger than a first preset value, the operation route is specified to bypass the obstacle, otherwise, the operation route does not bypass the obstacle.
Further, the route generation module further comprises a planning unit configured to specify that the working route bypasses the at least one obstacle if the width information of the at least one obstacle is greater than a second preset value. Since the sweeping robot performs stereo scanning on the target area, a three-dimensional image corresponding to the target area is obtained, and therefore, the width value of the determined obstacle can be determined. When the width value of the obstacle is larger than the second preset value, the sweeping robot is blocked by the obstacle and cannot move forward. The second preset value can be set by a user, and can also be set according to the configuration of the sweeping robot, for example, the second preset value is a value greater than the width of the sweeping robot, or a value greater than half of the width of the sweeping robot, and so on. Therefore, based on the coordinate information of the obstacle and the width information of the obstacle, the operation route of the sweeping robot can be planned, when the width of the obstacle is larger than a second preset value, the operation route is specified to bypass the obstacle, otherwise, the operation route does not bypass the obstacle.
It should be noted that, for different obstacles, since the length and width of the obstacle are not explicitly defined, the width information is a general term, and may refer to the width value of the obstacle, may refer to the length value of the obstacle, and may also include both the width value and the height value of the obstacle.
In addition, the device further comprises a control unit, wherein the control unit is configured to control the sweeping robot to work along the working route at a preset frequency if the relative position of the at least one obstacle and the coordinate origin in the target area is kept unchanged within a preset time period. Generally, within a certain preset time period, if the obstacle in the target area is fixed, that is, the relative position between the obstacle and the origin of coordinates in the target area is kept unchanged, the sweeping robot can operate according to the determined operation route within the preset time period, so that the operation route can be prevented from being re-planned before each operation, and the use is more convenient.
According to the planning method of the operation route of the sweeping robot, the three-dimensional image is used for determining the obstacle in the target area, and the coordinate information and the height information of the obstacle can be comprehensively reflected, so that the sweeping robot can conveniently plan the operation route based on the information of the obstacle, and the obstacle avoidance problem of the sweeping robot in the operation process is solved.
The embodiment of the invention also provides a chip, which stores a computer program, wherein the computer program is used for controlling the sweeping robot to execute the planning method of the operation route of the sweeping robot.
In addition, the embodiment of the invention also provides a sweeping robot which is provided with a processor, and the processor is used for running the program. And when the program runs, executing the planning method of the operation route of the sweeping robot.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A planning method for a sweeping robot operation route is characterized by comprising the following steps:
selecting a preset point in a target area as a coordinate origin to establish a coordinate system, performing three-dimensional scanning on the target area according to a preset height in the moving process of the sweeping robot, and simultaneously recording the moving track of the sweeping robot; wherein the origin of coordinates is a center point of the ground in the target area or an end point on the boundary of the target area;
generating a three-dimensional image associated with the target area according to a three-dimensional scanning result by combining the mapping relation between the moving track of the sweeping robot and the coordinate origin;
determining obstacle information of at least one obstacle in the target area based on the three-dimensional image, wherein the obstacle information comprises distribution information of the at least one obstacle in the target area and height information of the at least one obstacle;
and determining coordinate information of the at least one obstacle based on the distribution information, and if the height information of the at least one obstacle is greater than a first preset value, combining the coordinate information and the height information to stipulate a working route of the sweeping robot to bypass the at least one obstacle.
2. The method of claim 1, wherein the obstacle information further comprises width information of the at least one obstacle, and the method for planning the sweeping robot working route further comprises:
and if the width information of the at least one obstacle is larger than a second preset value, the operation route is specified to bypass the at least one obstacle.
3. The method of claim 1, wherein the mapping of the combined sweeping robot movement trajectory to the origin of coordinates comprises:
and selecting a plurality of fixed points in the moving track, and determining the relative positions of the fixed points in the moving track and the origin of coordinates.
4. The method of claim 1, further comprising:
and in a preset time period, if the relative position of the at least one obstacle in the target area and the origin of coordinates remains unchanged, controlling the sweeping robot to operate along the operation route according to a preset frequency.
5. The utility model provides a planning device of robot operation route of sweeping floor which characterized in that includes:
the execution module is configured to select a preset point in the target area as a coordinate origin to establish a coordinate system, perform three-dimensional scanning on the target area according to a preset height in the moving process of the sweeping robot, and record the moving track of the sweeping robot; wherein the origin of coordinates is a center point of the ground in the target area or an end point on the boundary of the target area;
the image generation module is configured to generate a three-dimensional image associated with the target area according to a three-dimensional scanning result by combining the mapping relation between the movement track of the sweeping robot and the coordinate origin;
a determination module configured to determine obstacle information of at least one obstacle in the target area based on the three-dimensional image, wherein the obstacle information includes distribution information of the at least one obstacle within the target area and height information of the at least one obstacle;
the route generating module is configured to determine coordinate information of the at least one obstacle based on the distribution information, and if the height information of the at least one obstacle is larger than a first preset value, a working route of the sweeping robot is regulated to bypass the at least one obstacle by combining the coordinate information and the height information.
6. The apparatus of claim 5, wherein the obstacle information further comprises width information of the at least one obstacle, the route generation module further comprising:
and the planning unit is configured to prescribe the operation route to bypass the at least one obstacle if the width information of the at least one obstacle is greater than a second preset value.
7. The apparatus of claim 5, wherein the image generation module comprises:
and the selecting unit is configured to select a plurality of fixed points in the moving track and determine the relative positions of the fixed points in the moving track and the coordinate origin.
8. The apparatus of claim 5, further comprising:
and the control unit is configured to control the sweeping robot to work along the working route at a preset frequency if the relative position of the at least one obstacle and the coordinate origin in the target area is kept unchanged within a preset time period.
9. A chip storing a computer program for controlling a sweeping robot to perform the method of planning a work route of the sweeping robot according to any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811603694.2A CN111366158A (en) | 2018-12-26 | 2018-12-26 | Planning method and device for operation route of sweeping robot and chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811603694.2A CN111366158A (en) | 2018-12-26 | 2018-12-26 | Planning method and device for operation route of sweeping robot and chip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111366158A true CN111366158A (en) | 2020-07-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111993415A (en) * | 2020-07-30 | 2020-11-27 | 广州大学 | Autonomous patrol robot, mobile monitoring method and device thereof, and autonomous patrol system |
| CN112799400A (en) * | 2020-12-28 | 2021-05-14 | 深兰人工智能(深圳)有限公司 | Cleaning track planning method and device |
| CN114227694A (en) * | 2022-01-10 | 2022-03-25 | 珠海一微半导体股份有限公司 | Robot control method based on ground insertion detection, chip and robot |
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| CN114227694B (en) * | 2022-01-10 | 2024-05-03 | 珠海一微半导体股份有限公司 | Robot control method based on ground insertion detection, chip and robot |
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