CN217792839U - Automatic cleaning equipment - Google Patents
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- CN217792839U CN217792839U CN202220863759.2U CN202220863759U CN217792839U CN 217792839 U CN217792839 U CN 217792839U CN 202220863759 U CN202220863759 U CN 202220863759U CN 217792839 U CN217792839 U CN 217792839U
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Abstract
The embodiment of the disclosure provides automatic cleaning equipment, which comprises a machine main body and a cleaning module; the driving component is partially arranged in the machine main body; the first detection assembly is arranged on the side surface of the machine body facing the advancing direction of the automatic cleaning equipment and is used for generating a first detection signal; the second detection assembly is arranged on the side surface of the machine main body at intervals with the first detection assembly and is used for generating a second detection signal; and the control component receives the first detection signal, controls the automatic cleaning equipment to avoid the obstacle when the distance between the obstacle and the automatic cleaning equipment is within a preset threshold range, receives the second detection signal, and combines the second detection signal with the first detection signal to construct a map of the environment where the automatic cleaning equipment is located.
Description
Technical Field
The disclosure relates to the technical field of robots, in particular to an automatic cleaning device.
Background
With the development of robotics, home automatic cleaning apparatuses have become popular as a landmark application of indoor robots. Automatic cleaning devices typically achieve environmental perception through one or more sensors such as cameras, depth imaging devices, laser range finders (LDS), odometers, IMUs, and the like. For the automatic cleaning equipment with non-random collision, the equipment performs operations such as SLAM, depth estimation, obstacle detection and the like on the basis of sensor data, so that a position map and obstacle information required by navigation are obtained, and functions such as cleaning, obstacle avoidance and the like are realized.
SUMMERY OF THE UTILITY MODEL
In view of the above, the embodiments of the present disclosure provide an automatic cleaning device, so that a robot can overcome the technical problems in map building and obstacle detection.
An embodiment of the present disclosure provides an automatic cleaning apparatus, including:
a machine body and a cleaning module;
the driving assembly is partially arranged in the machine main body and is used for driving the automatic cleaning equipment to run on a working plane;
the first detection assembly is arranged on the side surface of the machine body facing the advancing direction of the automatic cleaning equipment and used for emitting pulse laser to an obstacle, receiving the pulse laser reflected by the obstacle and generating a first detection signal;
the second detection assembly is arranged on the side surface of the machine main body at a distance from the first detection assembly and is used for transmitting the pulse laser to an obstacle, receiving the pulse laser reflected from the obstacle and generating a second detection signal;
a control component configured to:
receiving the first detection signal, controlling the driving component to drive the automatic cleaning equipment to avoid the obstacle when the first detection signal indicates that the distance between the obstacle and the automatic cleaning equipment is within a preset threshold value range,
and receiving the second detection signal, combining the second detection signal with the first detection signal to construct a map of the environment where the automatic cleaning equipment is located, and planning the walking path of the automatic cleaning equipment according to the constructed map.
Optionally, the second detection component is arranged at the rear side of the machine body.
Optionally, the first detection assembly is a TOF detection assembly, and the TOF detection assembly has field angles in a horizontal direction and a vertical direction.
Optionally, the field angle range of the emission unit of the TOF detecting assembly in the vertical direction is 10 ° to 20 °.
Optionally, the transmitting unit of the TOF detecting assembly is an area array laser transmitter.
Optionally, the second detection component is a TOF detection component.
Optionally, the emission unit of the TOF detection assembly is an area array laser emitter.
Optionally, the control component is configured to:
and acquiring 3D point cloud information included by the first detection signal, filtering ground point cloud information and miscellaneous points, judging whether the 3D point cloud information exists in the preset threshold range, if so, determining that an obstacle exists in the preset threshold range, and controlling the driving component to drive the automatic cleaning equipment to avoid the obstacle.
Optionally, the control component is configured to:
receiving 3D point cloud information included by the first detection signal, and converting the 3D point cloud information into first 2D point cloud data of a world coordinate system where the automatic cleaning equipment is located;
receiving point cloud information included by the second detection signal, and converting the point cloud information into second 2D point cloud data of the world coordinate system where the automatic cleaning equipment is located;
and splicing the first 2D point cloud data and the second 2D point cloud data to construct a map of the environment where the automatic cleaning equipment is located.
The embodiment of the disclosure provides a control method of an automatic cleaning device, which comprises the following steps:
emitting pulse laser to an obstacle and receiving the pulse laser reflected from the obstacle and generating a first detection signal based on a first detection assembly, wherein the first detection assembly is arranged on the side surface of a machine body facing the advancing direction of the automatic cleaning equipment;
emitting pulse laser to an obstacle and receiving the pulse laser reflected from the obstacle based on a second detection component and generating a second detection signal, wherein the second detection component and the first detection component are arranged on the side surface of the machine main body at intervals;
based on the control component receiving the first detection signal, controlling a driving component to drive the automatic cleaning device to avoid the obstacle when the first detection signal indicates that the distance between the obstacle and the automatic cleaning device is within a preset threshold range,
and receiving the second detection signal based on a control component, combining the second detection signal with the first detection signal to construct a map of the environment where the automatic cleaning equipment is located, and planning the walking path of the automatic cleaning equipment according to the constructed map.
Optionally, the second detection component is arranged at the rear side of the machine body.
Optionally, the first detection assembly is a TOF detection assembly, and the TOF detection assembly has field angles in a horizontal direction and a vertical direction.
Optionally, the field angle range of the emission unit of the TOF detecting assembly in the vertical direction is 10 ° to 20 °.
Optionally, the emission unit of the TOF detection assembly is an area array laser emitter.
Optionally, the receiving, by the control component, the first detection signal, and controlling a driving component to drive the automatic cleaning device to avoid the obstacle when the first detection signal indicates that the distance between the obstacle and the automatic cleaning device is within a predetermined threshold range includes:
and acquiring 3D point cloud information included by the first detection signal based on a control assembly, filtering ground point cloud information and miscellaneous points, judging whether the 3D point cloud information exists in the preset threshold range, if so, determining that an obstacle exists in the preset threshold range, and controlling a driving assembly to drive the automatic cleaning equipment to avoid the obstacle.
Optionally, the receiving, by the control component, the second detection signal, combining with the first detection signal to construct a map of an environment where the automatic cleaning device is located, and planning a walking path of the automatic cleaning device according to the constructed map includes:
receiving 3D point cloud information included in the first detection signal based on a control component, and converting the 3D point cloud information into first 2D point cloud data of a world coordinate system where the automatic cleaning equipment is located;
receiving point cloud information included in the second detection signal based on a control component, and converting the point cloud information into second 2D point cloud data of the world coordinate system where the automatic cleaning equipment is located;
and splicing the first 2D point cloud data and the second 2D point cloud data to construct a map of the environment where the automatic cleaning equipment is located.
An embodiment of the present disclosure provides an automatic cleaning device, including a processor and a memory, where the memory stores computer program instructions executable by the processor, and the processor implements any of the method steps described above when executing the computer program instructions.
The disclosed embodiments provide a non-transitory computer readable storage medium storing computer program instructions which, when invoked and executed by a processor, implement the method steps as recited in any of the above.
The embodiment of the disclosure provides an automatic cleaning device and a control method thereof, wherein a first detection assembly and a second detection assembly are arranged on the side surface of a machine main body of the automatic cleaning device, and a laser range finder is not required to be arranged on the top surface of the machine main body, so that the height of the automatic cleaning device is reduced, the passability of the automatic cleaning device is improved, and in addition, data fed back by the first detection assembly arranged in front of the machine main body can be used for drawing a map of the surrounding environment of the automatic cleaning device and identifying obstacles.
Drawings
In order to clearly illustrate the embodiments of the present disclosure or technical solutions in related arts, the drawings used in the description of the embodiments or related arts will be briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present disclosure;
FIG. 2 is a top view of an automatic cleaning apparatus according to an embodiment of the present disclosure;
FIG. 3 is a perspective view of an automatic cleaning device probe assembly provided by an embodiment of the present disclosure;
FIG. 4 is a schematic view of a TOF light emission surface of an automatic cleaning apparatus provided by an embodiment of the present disclosure;
FIG. 5 is a schematic view of a TOF assembly of an automatic cleaning device provided by an embodiment of the present disclosure;
FIG. 6 is a schematic view of a TOF assembly of an automatic cleaning device according to another embodiment of the present disclosure;
FIG. 7 is a schematic flow chart diagram illustrating a method for mapping an automatic cleaning device according to an embodiment of the disclosure;
FIG. 8 is a schematic flow chart diagram illustrating a method for mapping an automatic cleaning device according to another embodiment of the present disclosure;
fig. 9 is an electronic schematic diagram of an automatic cleaning device according to an embodiment of the disclosure.
Detailed Description
The present disclosure will be described in further detail below with reference to the attached drawings, and it is to be understood that the described embodiments are only a few embodiments of the present disclosure, rather than all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The terminology used in the embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present disclosure. As used in the disclosed embodiments and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of another, identical element in a commodity or a device comprising the element.
Alternative embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
In the disclosed embodiment, as shown in fig. 1 and 2, the automatic cleaning apparatus 10 may include a machine body 100, a sensing system 120, a control system 130, a driving system 140, a cleaning system 150, an energy system, and a human-machine interaction system 170.
As shown in fig. 1, the machine body 100 includes a forward portion 111 and a rearward portion 110, and has an approximately circular shape (circular front to rear), and may have other shapes including, but not limited to, a front to rear circle, an approximately D-shaped shape behind a front circle, and a rectangular or square shape in front to rear.
As shown in fig. 1, the sensing system 120 includes a position determining device 121 provided on the machine body 100, a collision sensor and a proximity sensor provided on a bumper 122 of the forward portion 111 of the machine body 100, a cliff sensor provided on a lower portion of the machine body 100, and a sensing device such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the machine body 100, for providing various position information and motion state information of the machine to the control system 130.
In the disclosed embodiment, the components of the sensing system 120 can operate independently or together to achieve the objective function more accurately. For example, the surface to be cleaned is identified by the cliff sensors 123 and ultrasonic sensors to determine object characteristics of the surface to be cleaned, including surface material, degree of cleaning, etc., and other identification may be made in conjunction with the camera, position determining device 121, etc. For example, it may be determined whether the surface to be cleaned is a carpet by the ultrasonic sensor, or it may be determined whether the surface to be cleaned is a carpet by a camera or a combination of a camera and an ultrasonic sensor, and a cleaning mode or a movement mode of the automatic cleaning apparatus 10 may be controlled according to the determination result.
In the disclosed embodiment, the position determining device 121 includes, but is not limited to, a LDS (distance Sensor) component, a camera component, and the like. The LDS component may adopt a triangle ranging scheme, and may also adopt a TOF (Time Of Flight) scheme. In addition, the position determining device 121 may also use a light source such as a spot laser, a line laser, or a surface laser to measure the distance.
As shown in fig. 3, the forward portion 111 of the machine body 100 may carry a bumper 122, the bumper 122 may detect one or more events in the travel path of the automatic cleaning device 10 via a sensor system, such as an infrared sensor, provided thereon when the driving wheel module 141 propels the automatic cleaning device 10 across the floor during cleaning, and the automatic cleaning device 10 may control the driving wheel module 141 to cause the automatic cleaning device 10 to respond to the event, such as to move away from an obstacle, by the event detected by the bumper 122, such as an obstacle, a wall.
The control system 130 is disposed on a circuit board in the machine body 100, and includes a non-transitory memory, such as a hard disk, a flash memory, and a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor draws an instant map of an environment where the automatic cleaning apparatus is located by using a positioning algorithm, such as SLAM (instant positioning And Mapping) according to obstacle information fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the buffer 122 are combined to comprehensively judge the current working state and position of the automatic cleaning equipment, and the current pose of the automatic cleaning equipment, such as a threshold, a carpet on the cliff, a blocked part above or below the automatic cleaning equipment, a full dust box, a picked-up part and the like, and specific next-step action strategies can be provided according to different conditions, so that the automatic cleaning equipment has better cleaning performance and user experience.
As shown in fig. 2, drive system 140 may steer machine body 100 across the ground based on drive commands having distance and angle information (e.g., x, y, and theta components). The drive system 140 includes a drive wheel module 141, and the drive wheel module 141 can control both the left and right wheels, and in order to more precisely control the motion of the machine, the drive wheel module 141 can include a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are disposed along a transverse axis defined by the machine body 100. To provide for more consistent movement or greater mobility of the robotic cleaning device across the floor surface, the robotic cleaning device may include one or more driven wheels 142, including but not limited to universal wheels. The driving wheel module comprises a traveling wheel, a driving motor and a control circuit for controlling the driving motor, and can also be connected with a circuit for measuring driving current and a milemeter. The driving wheel module 141 may be detachably coupled to the machine body 100 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system, be movably secured, e.g., rotatably attached, to the machine body 100, and receive a spring bias biased downward and away from the machine body 100. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain ground contact force while the cleaning element of the robotic cleaning device also contacts the floor with a certain pressure.
Energy systems include rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The automatic cleaning equipment is connected with the charging pile through the charging electrode arranged on the side or below the machine body for charging.
The human-computer interaction system 170 includes keys on the host panel for user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type automatic cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed to a user at a mobile phone client, and richer and more humanized function items can be provided for the user.
In the disclosed embodiment, the cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400.
As shown in fig. 2, the dry cleaning module 151 includes a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The Dust removing capability of the automatic cleaning equipment can be represented by cleaning efficiency DPU (Dust pick up efficiency) of garbage, the cleaning efficiency DPU is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by a Dust suction port, a Dust box, a fan, an air outlet and connecting parts among the Dust suction port, the Dust box, the fan, the air outlet and the Dust box, the type and the power of the fan, and the automatic cleaning equipment is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability has greater significance for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once originally can be changed into a machine which can clean 180 square meters or more by charging once. And the service life of the battery with reduced charging times is greatly increased, so that the frequency of replacing the battery by a user is reduced. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning module may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.
The wet cleaning module 400 provided by the embodiment of the disclosure is configured to clean at least a portion of the operation surface by a wet cleaning method; wherein the wet cleaning module 400 comprises a cleaning head 410 and a drive unit, wherein the cleaning head 410 is adapted to clean at least a portion of the worktop and the drive unit is adapted to drive the cleaning head in a substantially reciprocating motion along a target surface, which is a portion of the worktop. The cleaning head 410 reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head 410 and the surface to be cleaned, and high-frequency friction is generated between the cleaning head 410 and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed. The cleaning head 410 may further comprise an active area 412 and a fixed area 411, the active area 412 may be located substantially centrally of the cleaning head 410. In other embodiments of the present disclosure, the cleaning head 410 may also include other forms, for example, the cleaning head 410 may include a plurality of active regions that may reciprocate in opposite directions when the cleaning head includes two active regions arranged in parallel.
Specifically, one of the embodiments of the present disclosure provides an automatic cleaning apparatus, as shown in fig. 3, the automatic cleaning apparatus includes: a machine body 100, a drive assembly partially disposed within the machine body for driving the automatic cleaning apparatus to operate on a work plane; a first detection assembly 1211 and a second detection assembly 1212. The first detection assembly is arranged on the side surface of the machine body facing the advancing direction of the automatic cleaning equipment and used for emitting pulse laser to an obstacle, receiving the pulse laser reflected by the obstacle and generating a first detection signal; the second detection assembly and the first detection assembly are arranged on the side surface of the machine main body at intervals and used for transmitting the pulse laser to an obstacle, receiving the pulse laser reflected from the obstacle and generating a second detection signal; and the control component is arranged in the control system 130 and configured to receive the first detection signal, control the driving component to drive the automatic cleaning device to avoid the obstacle when the first detection signal indicates that the distance between the obstacle and the automatic cleaning device is within a preset threshold range, receive the second detection signal, construct a map of the environment where the automatic cleaning device is located by combining with the first detection signal, and plan the walking path of the automatic cleaning device according to the constructed map.
In the embodiment of the present disclosure, a first detection assembly 1211 is disposed at a side of the machine body facing an advancing direction of the automatic cleaning apparatus, and is configured to emit a pulse laser to an obstacle, receive the pulse laser reflected from the obstacle, and generate a first detection signal. In this arrangement, the first detection component 1211 can detect an obstacle lower than the upper surface of the machine main body 100; in addition, the first detection unit 1211 disposed at the side of the machine body 100 may reduce the overall height of the automatic cleaning apparatus as compared to the first detection unit 1211 disposed at the top of the machine body 100, and improve the passability of the automatic cleaning apparatus, for example, when the automatic cleaning apparatus travels to a space edge having a low height such as a sofa, a bed, etc., it may be easy to get under the sofa, under the bed to perform a cleaning operation, and may not be easily caught.
The first detection component 1211 is disposed on a front side surface of the machine body 100 facing a forward direction of the automatic cleaning device, the first detection component 1211 obtains a first detection signal and sends the first detection signal to the control component, and when the first detection signal indicates that a distance between an obstacle and the automatic cleaning device is within a predetermined threshold range, the control component controls the driving component to drive the automatic cleaning device to avoid the obstacle.
In the embodiment of the present disclosure, the first detection assembly 1211 may include a light emitting unit and a light receiving unit, wherein the light emitting unit may be a line laser transmitter or a surface laser transmitter, etc. Wherein, if the transmitting unit is a line laser transmitter, in order to realize that the transmitting unit has angle of vision in horizontal direction and vertical direction, the transmitting unit is required to rotate at a high frequency within a certain angle. In the embodiment of the present disclosure, a specific technical solution is described by taking an example in which the emitting unit is a surface laser emitter. Additionally, in embodiments of the present disclosure, the first detection component may employ a TOF scheme to enable measurement of the distance to the obstacle. I.e., the first detection assembly 1211 may be a TOF assembly. The TOF assembly determines the distance of an object by measuring the time it takes for light to travel a distance in a medium. The light emitting unit of the TOF component emits pulsed light to reach the object and reflect the pulsed light to the light receiving unit, and the distance from the object to the TOF component can be determined according to the time difference between the pulsed light emitted by the light emitting unit and the pulsed light received by the light receiving unit.
In the embodiment of the present disclosure, a VCSEL (Vertical Cavity Surface Emitting Laser) that can emit a Surface Laser may be employed as the light source. The area array TOF detection component has the field angles in the horizontal direction and the vertical direction, and when the surface laser is adopted as the emission laser, the obstacle in the specified angles in the horizontal direction and the vertical direction can be measured without moving the TOF component.
In the embodiment of the disclosure, after receiving the pulse returned by the obstacle, the receiving unit of the TOF assembly can acquire the depth information of the obstacle, and the control system of the automatic cleaning device can control the obstacle avoidance behavior of the cleaning robot according to the depth information. For example, when an obstacle is located within a predetermined range around the automatic cleaning device, the automatic cleaning device performs an obstacle avoidance behavior, and in the embodiment of the present disclosure, an obstacle within the predetermined range may be referred to as a near-field obstacle. Since the body height of the automatic cleaning device is constant, in order to realize that the angle of view of the emission unit of the TOF assembly in the vertical direction can cover the near-field obstacle with a small emission power, the angle of view of the emission unit of the TOF assembly in the vertical direction can be determined according to the body height of the automatic cleaning device and the set near-field distance, for example, the preset range of the angle of view of the emission unit of the TOF assembly in the vertical direction is 10-20 °.
In the embodiment of the present disclosure, since the emission unit of the TOF assembly is a surface laser emission assembly, as shown in fig. 4, an effective area range of the TOF assembly, which is irradiated onto an obstacle, is a rectangular area, in order to achieve both a measurement distance as far as possible and a vertical detection range as wide as possible, optionally, an aspect ratio of an obstacle image obtained by the TOF assembly is greater than 16.
Specifically, the specific implementation method for determining the image of the near-field obstacle based on the TOF component is as follows: acquiring 3D point cloud information of an image in a view field range through a TOF assembly, wherein the 3D point cloud information comprises far-field obstacle 3D point cloud information, ground 3D point cloud information and near-field obstacle 3D point cloud information; and 3D point cloud information of the far-field obstacle is filtered, ground 3D point cloud information is filtered, and 3D point cloud information of the near-field obstacle is reserved. In the embodiment of the disclosure, when the predetermined near field range is 1 meter, the automatic cleaning device keeps point cloud information within the range of 1 meter, and after filtering ground point cloud information within the range, obtains point cloud information of a near field obstacle, and performs obstacle avoidance operation according to the information, for example, the automatic cleaning device may perform operations such as deceleration, turning around, retreating, and the like according to the information.
In the embodiment of the disclosure, according to the obstacle 3D point cloud fed back by the TOF assembly, mapping of the environment where the automatic cleaning device is located can also be performed. In the process of map drawing, the automatic cleaning equipment projects all the 3D point cloud information acquired by the TOF component to a ground plane, or the automatic cleaning equipment can project the 3D point cloud information within a specific height range to the ground plane to form 2D data, and the automatic cleaning equipment draws a map of the environment according to the formed 2D data.
In the embodiment of the disclosure, the 3D point cloud acquired by the TOF component is located in a TOF coordinate system, and in the process of creating the 2D map, the 3D point cloud needs to be subjected to coordinate conversion, and then the coordinate conversion is carried out into a world coordinate system where the automatic cleaning equipment is located. When coordinate conversion is performed, the formula P can be adopted robot ＝R*P ToF + T is carried out. Wherein, P robot Denotes the coordinate System of the automatic cleaning device, P TOF Representing the TOF coordinate system, R the transformation relation matrix between the two coordinate systems, and T the offset matrix.
In the disclosed embodiment, the automatic cleaning device further includes at least one second detecting assembly 1212 disposed at a side of the machine body spaced apart from the first detecting assembly. For example, when the automatic cleaning apparatus includes one second sensing assembly 1212, the second sensing assembly may be provided at the rear side of the machine body, as shown in fig. 5. When the automatic cleaning apparatus includes two second sensing assemblies 1212, the second sensing assemblies 1212 may be symmetrically disposed at the rear side of the machine body, as shown in fig. 6. In other embodiments of the present disclosure, the second detecting element 1212 may also have other setting manners, which are not described herein. In an embodiment of the present disclosure, the second detection assembly 1212 is used in conjunction with the first detection assembly 1211 to map the environment in which the automatic cleaning device is located. In the embodiment of the present disclosure, the automatic cleaning device is provided with one second detection assembly 1212, and the second detection assembly 1212 is disposed at the rear of the left side of the automatic cleaning device, in addition, the second detection assembly 1212 may be a TOF assembly disposed in the same way as the first detection assembly 1211, or may be another assembly, for example, the emitting unit of the second detection assembly 1212 may be a line laser or a point laser light source. When the second detecting element 1212 is configured identically to the first detecting element 1211, the 3D point cloud obtained by the second detecting element 1212 can be converted into 2D data in the same manner as described above. The second detection assembly 1212 can also realize a certain angle of view in the horizontal direction by arranging a turning mirror that can rotate at high speed when the emitting unit is a line laser or a point laser light source. The point cloud information obtained by the second detecting component 1212 is coordinate-converted from the second detecting component coordinate to the world coordinate, that is, the point cloud data obtained by the first detecting component 1211 and the second detecting component 1212 are converted to the same coordinate system. Since the horizontal field angles of the first detection assembly 1211 and the second detection assembly 1212 are fixed and the installation positions are fixed, the 2D point cloud data acquired by the first detection assembly 1211 and the second detection assembly 1212 can be spliced.
In the embodiment of the present disclosure, when the fields of view of the first detection assembly 1211 and the second detection assembly 1212 in the horizontal direction cannot cover 360 degrees around the automatic cleaning apparatus, the scanning of the automatic cleaning apparatus circumference 360 by the first detection assembly 1211 and the second detection assembly 1212 may be achieved by the rotation of the automatic cleaning apparatus, and thereby the drawing of the map of the environment around the automatic cleaning apparatus is obtained.
In other embodiments of the present disclosure, in addition to drawing a map with the first detection component 1211, the second detection component 1212 may further have a near-field obstacle recognition function, which may be implemented in the same manner as the above-mentioned near-field obstacle recognition by the first detection component 1211, or in other manners, for example, in a manner of structured light, etc.
The obstacle distance information obtained by the first and second detecting components is transmitted to the control system 130, and the control system 130 receives the sensed environmental information of the plurality of sensors transmitted from the sensing system 120 through a data processor, a storage unit, and the like, and draws an instant map of the environment in which the automatic cleaning apparatus is located by using a positioning algorithm, such as SLAM, according to the obstacle information and the like fed back by the position determining device 121.
As an alternative embodiment, the control system 130 comprises a control component configured to build a 2D cleaning map of the automatic cleaning device based on the first detection component. The method specifically comprises the following steps as shown in fig. 7:
step S702: and acquiring pose information of the first detection assembly relative to the ground, wherein the pose information comprises a pitch angle, a transverse angle and a height value. The pose information of the first detection assembly relative to the ground can be determined after installation on the cleaning apparatus.
Step S704: constructing a transformation relationship between the first detection assembly relative to a robot coordinate system based on the pose information: p _ robot = R × P _ ToF + T, where R is a rotation matrix, T is an offset matrix, P _ robot is a position parameter of the robot, and P _ ToF is a position parameter of the ToF ranging assembly.
Step S706: based on the transformation relation, converting the obstacle 3D point cloud information obtained by the first detection component into 2D point cloud information relative to a robot coordinate system;
the obstacle 3D point cloud information obtained by the first detection component is converted into 2D point cloud information relative to a robot coordinate system, the obstacle 3D point cloud information obtained by the first detection component can be converted into 3D point cloud information relative to the robot coordinate system through a transformation relation, point cloud information relative to the ground is further obtained, and the 2D point cloud information is obtained after the point cloud information relative to the ground is synthesized.
Step S708: constructing a 2D cleaning map of the automatic cleaning device based on the 2D point cloud information. At this time, if the 2D cleaning map is constructed only by the distance information obtained by the TOF unit at the front side of the main body of the robot, only the cleaning map within the range of the forward direction of the cleaning apparatus can be obtained, and the cleaning map within the range of 360 degrees can be obtained by the rotation of the robot at a plurality of angles.
As an alternative embodiment, the control component is configured to build a 2D cleaning map of the automatic cleaning device based on the first detection component and the second detection component, comprising the following method steps, as shown in fig. 8:
step S802: respectively acquiring pose information of a first detection assembly and pose information of a second detection assembly, wherein the pose information comprises a pitch angle, a transverse angle and a height value; pose information of the first and second detection assemblies relative to the ground can be determined upon installation into the robotic cleaning device.
Step S804: constructing a transformation relationship between the first detection assembly and the second detection assembly relative to a robot coordinate system based on the pose information: p _ robot = R × P _ ToF + T, where R is a rotation matrix and T is an offset matrix;
step S806: based on the transformation relation, converting the 3D point cloud information of the obstacles obtained by the first detection component and the second detection component into 2D point cloud information relative to a robot coordinate system;
as described above, the obstacle 3D point cloud information obtained by the first detection component and the second detection component is first converted into 3D point cloud information with respect to the robot coordinate system through a transformation relationship, and then point cloud information with respect to the ground is obtained, and the point cloud information with respect to the ground is synthesized to obtain 2D point cloud information.
Step S808: splicing the 2D point cloud information obtained by the first detection assembly and the second detection assembly; due to the overlapping of the fields of view of the first detection component and the second detection component, the positions of the overlapped 2D point cloud information need to be determined again after resampling and scanning.
Step S809: and constructing a 2D cleaning map of the automatic cleaning equipment based on the spliced 2D point cloud information.
As an optional embodiment, the control component is configured to receive the first detection signal based on the control component, and control the driving component to drive the automatic cleaning device to avoid the obstacle when the first detection signal indicates that the distance between the obstacle and the automatic cleaning device is within a predetermined threshold range, and the method comprises the following steps:
acquiring 3D point cloud information included by the first detection signal based on a control component, wherein the 3D point cloud information includes obstacle point cloud information, ground point cloud information and miscellaneous points;
after filtering ground point cloud information and miscellaneous points, judging whether 3D point cloud information exists in the preset threshold range or not, and if so, determining that an obstacle exists in the preset threshold range;
and controlling a driving component to drive the automatic cleaning equipment to avoid the obstacle.
As an optional implementation, the control component is configured to receive the second detection signal based on the control component, construct a map of the environment where the automatic cleaning device is located in combination with the first detection signal, and plan the walking path of the automatic cleaning device according to the constructed map, including the following method steps:
receiving 3D point cloud information included in the first detection signal based on a control component, and converting the 3D point cloud information into first 2D point cloud data of a world coordinate system where the automatic cleaning equipment is located;
receiving point cloud information included in the second detection signal based on a control component, and converting the point cloud information into second 2D point cloud data of the world coordinate system where the automatic cleaning equipment is located;
and splicing the first 2D point cloud data and the second 2D point cloud data to construct a map of the environment where the automatic cleaning equipment is located.
The embodiment of the disclosure provides automatic cleaning equipment and a control method thereof, wherein a first detection assembly and a second detection assembly are arranged on the side surface of a machine main body of the automatic cleaning equipment, and a laser range finder is not required to be arranged on the top surface of the machine main body, so that the height of the automatic cleaning equipment is reduced, the passability of the automatic cleaning equipment is improved, and meanwhile, the detection distance of the first detection assembly is increased by controlling the vertical transmission angle of the first detection assembly within a preset range, so that the first detection assembly not only can realize near-field obstacle avoidance, but also can be matched with one or more second detection assemblies to realize map construction.
Embodiments of the present disclosure provide a non-transitory computer readable storage medium storing computer program instructions which, when invoked and executed by a processor, implement the method steps as described in any of the above.
An embodiment of the present disclosure provides an automatic cleaning device, including a processor and a memory, where the memory stores computer program instructions executable by the processor, and the processor implements the method steps of any of the foregoing embodiments when executing the computer program instructions.
As shown in fig. 9, the automatic cleaning apparatus may include a processing device (e.g., a central processing unit, a graphic processor, etc.) 901, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 902 or a program loaded from a storage device 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data necessary for the operation of the automatic cleaning apparatus are also stored. The processing apparatus 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
Generally, the following devices may be connected to the I/O interface 905: input devices 906 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 907 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 908 including, for example, a hard disk; and a communication device 909. The communication means 909 may allow the electronic device to perform wireless or wired communication with other devices to exchange data. While fig. 9 illustrates an electronic device having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
The flowchart and block diagrams in the figures of the present disclosure illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Finally, it should be noted that: the embodiments in the present description 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. The system or the device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (8)
1. An automatic cleaning apparatus, comprising:
a machine body and a cleaning module;
the driving assembly is partially arranged in the machine main body and is used for driving the automatic cleaning equipment to run on a working plane;
the first detection assembly is arranged on the side surface of the machine body facing the advancing direction of the automatic cleaning equipment and used for emitting pulse laser to an obstacle, receiving the pulse laser reflected from the obstacle and generating a first detection signal;
the second detection assembly is arranged on the side surface of the machine main body at a distance from the first detection assembly and is used for transmitting the pulse laser to an obstacle, receiving the pulse laser reflected from the obstacle and generating a second detection signal;
a control component configured to:
receiving the first detection signal, controlling the driving component to drive the automatic cleaning equipment to avoid the obstacle when the first detection signal indicates that the distance between the obstacle and the automatic cleaning equipment is within a preset threshold value range,
and receiving the second detection signal, combining the second detection signal with the first detection signal to construct a map of the environment where the automatic cleaning equipment is located, and planning the walking path of the automatic cleaning equipment according to the constructed map.
2. The robotic cleaning device of claim 1, wherein the second detection assembly is disposed laterally rearward of the machine body.
3. The automatic cleaning apparatus of claim 1 or 2, wherein the first detection assembly is a TOF detection assembly having field angles in a horizontal direction and a vertical direction.
4. The robotic cleaning device of claim 3, wherein the field angle of the TOF detecting assembly's emitting unit in the vertical direction is in the range of 10 ° to 20 °.
5. The robotic cleaning device of claim 4, wherein the emission unit of the TOF detection assembly is an area array laser emitter.
6. The robotic cleaning device of claim 1, wherein the second detection assembly is a TOF detection assembly.
7. The automatic cleaning apparatus of claim 6, wherein the transmission unit of the TOF detection assembly is an area array laser transmitter.
8. The automatic cleaning device of claim 1 or 2, wherein the control assembly is configured to:
receiving 3D point cloud information included by the first detection signal, and converting the 3D point cloud information into first 2D point cloud data of a world coordinate system where the automatic cleaning equipment is located;
receiving point cloud information included by the second detection signal, and converting the point cloud information into second 2D point cloud data of the world coordinate system where the automatic cleaning equipment is located;
and splicing the first 2D point cloud data and the second 2D point cloud data to construct a map of the environment where the automatic cleaning equipment is located.
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| CN202220863759.2U CN217792839U (en) | 2022-04-14 | 2022-04-14 | Automatic cleaning equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117315508A (en) * | 2023-08-24 | 2023-12-29 | 北京智盟信通科技有限公司 | Power grid equipment monitoring method and system based on data processing |
| CN117315508B (en) * | 2023-08-24 | 2024-05-14 | 北京智盟信通科技有限公司 | Power grid equipment monitoring method and system based on data processing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117315508A (en) * | 2023-08-24 | 2023-12-29 | 北京智盟信通科技有限公司 | Power grid equipment monitoring method and system based on data processing |
| CN117315508B (en) * | 2023-08-24 | 2024-05-14 | 北京智盟信通科技有限公司 | Power grid equipment monitoring method and system based on data processing |
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