CN106772421A - Indoor non-wall barrier determines method and device - Google Patents

Indoor non-wall barrier determines method and device Download PDF

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Publication number
CN106772421A
CN106772421A CN201510828506.6A CN201510828506A CN106772421A CN 106772421 A CN106772421 A CN 106772421A CN 201510828506 A CN201510828506 A CN 201510828506A CN 106772421 A CN106772421 A CN 106772421A
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China
Prior art keywords
distance
barrier
sweeping robot
wall
angle
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张鹏飞
夏勇峰
刘铁俊
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Beijing Xiaomi Technology Co Ltd
Xiaomi Inc
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Xiaomi Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Determine method and device the disclosure is directed to the indoor non-wall barrier of one kind, belong to application of electronic technology field.The method includes：When barrier is detected in moving process indoors, retreated along the direction away from barrier；Determine the first distance of sweeping robot and barrier near the one side of sweeping robot；The direction of the launch of the laser of laser range sensor of the adjustment on sweeping robot, the value for making the angle between the direction of the launch and ground is first angle；Using laser range sensor find range obtaining second distance；Judge whether the first distance is equal to the cosine value of first angle with the ratio of second distance；When the first distance is not equal to the cosine value of first angle with the ratio of second distance, determine that barrier is non-wall barrier.The disclosure solves the problems, such as that sweeping robot differentiation wall is relatively low with the accuracy of non-wall barrier, has reached and has improved the effect that sweeping robot distinguishes wall and the accuracy of non-wall barrier.

Description

Indoor non-wall barrier determines method and device
Technical field
This disclosure relates to application of electronic technology field, more particularly to a kind of indoor non-wall barrier determines method And device.
Background technology
With the development of science and technology the species of electronic product is more and more.Wherein, sweeping robot is exactly a kind of Typical electronic product.
Sweeping robot is a kind of intelligent home device that automatic cleaning can be carried out to ground.Sweeping robot Clean flooring during, can to flooring area (area of the closed area that wall is surrounded), Putting position of home equipment (being properly termed as non-wall barrier) of indoor placement etc. detected, according to Testing result is drawn indoor map and stores the indoor map, clear in order to the indoor map subsequently according to storage Sweep flooring.In correlation technique, sweeping robot can detect barrier (wall or non-wall obstacle Thing) position, using the position of barrier as the position of wall, the enclosed area that at least one wall is surrounded Then indoor map is drawn as flooring region in the flooring region in domain.
The content of the invention
In order in solving the problems, such as correlation technique, present disclose provides the indoor non-wall barrier determination side of one kind Method and device.The technical scheme is as follows：
According to the first aspect of the disclosure, there is provided a kind of indoor non-wall barrier determines method, methods described Including：
When barrier is detected in moving process indoors, retreated along the direction away from the barrier；
It is determined that after retreating sweeping robot and the barrier near the one side of the sweeping robot first away from From；
The direction of the launch of the laser of laser range sensor of the adjustment on the sweeping robot, makes described The value of the angle between the direction of the launch of laser and ground is first angle x, and makes the laser with described first It is in same plane apart from corresponding line segment, the first angle x is more than 0 degree and less than 90 degree；
Using the laser range sensor find range obtaining second distance；
Judge whether first distance is equal to the cosine of the first angle x with the ratio of the second distance Value；
When first distance and the ratio of the second distance are not equal to the cosine value of the first angle x, Determine that the barrier is non-wall barrier.
Optionally, methods described also includes：
When first distance is equal to the cosine value of the first angle x with the ratio of the second distance, edge Continue to retreat in direction away from the barrier；
It is determined that after retreating the sweeping robot and the barrier near the one side of the sweeping robot the Three distances；
Using the laser range sensor find range and obtain the 4th distance；
Judge whether the 3rd distance is equal to the cosine of the first angle x with the ratio of the 4th distance Value；
When the 3rd distance is equal to the cosine value of the first angle x with the ratio of the 4th distance, really The fixed barrier is wall.
Optionally, it is described to judge whether first distance is equal to described first with the ratio of the second distance The cosine value of angle x, including：
Theory is calculated apart from D according to theoretical distance computing formula, the theoretical distance computing formula is：The d is first distance, and the x is the first angle；
Judge whether the theoretical distance D is equal with the second distance；
When the theoretical distance D is unequal with the second distance, determine first distance with described The ratio of two distances is not equal to the cosine value of the first angle x.
Optionally, first distance is the distance for pre-setting, and the first angle x is the angle for pre-setting Degree, first distance meets preset relation formula with the first angle x：
The d be first distance, the H for indoor wall measurement highly, the H Span be：H-m≤H≤h, the h are the height of the indoor wall, and the m is default survey Amount error.
Optionally, sweeping robot is close to the sweeping robot with the barrier after the determination is retreated The first distance simultaneously, including：
It is determined that when detecting the barrier, the 5th distance between the barrier and the sweeping robot；
Determine the backoff time and astern speed of the sweeping robot；
Using the product of the backoff time and the astern speed as backway；
Using the 5th distance and the backway sum as first distance.
Optionally, methods described also includes：
Determine level of the non-wall barrier between the one side and target metope of the sweeping robot Apart from M, the target metope is relative away from the side of the sweeping robot with the non-wall barrier Wall on, positioned at indoor one side；
Determine the horizontal range N between the sweeping robot and the target metope；
Indoor map is drawn according to the horizontal range M and horizontal range N.
Optionally, the one side and target wall for determining the non-wall barrier near the sweeping robot Horizontal range M between face, including：
According to non-wall range formula, one side of the non-wall barrier near the sweeping robot is calculated With the horizontal range M between target metope, the non-wall range formula is：
M=E × cos (x)-d,
The horizontal range N determined between the sweeping robot and the target metope, including：
According to wall range formula, the horizontal range between the sweeping robot and the target metope is calculated N, the wall range formula is：
N=E × cos (x),
Wherein, the E is the second distance, and the d is first distance.
According to the second aspect of the disclosure, there is provided a kind of indoor non-wall barrier determining device, described device Including：
First fallback block, when being configured as detecting barrier in moving process indoors, along away from institute The direction for stating barrier retreats；
First determining module, sweeping robot is swept with the barrier near described after being configured to determine that retrogressing First distance of the one side of floor-washing robot；
Adjusting module, is configured as the laser of laser range sensor of the adjustment on the sweeping robot The direction of the launch, make the value of angle between the direction of the launch of the laser and ground for first angle x, and make The laser is in same plane with described first apart from corresponding line segment, and the first angle x is more than 0 degree And less than 90 degree；
First range finder module, is configured as using the laser range sensor find range obtaining second distance；
First judge module, be configured as judging first distance and the second distance ratio whether etc. In the cosine value of the first angle x；
Second determining module, is configured as first distance and is not equal to institute with the ratio of the second distance When stating the cosine value of first angle x, determine that the barrier is non-wall barrier.
Optionally, described device also includes：
Second fallback block, is configured as first distance with the ratio of the second distance equal to described During the cosine value of first angle x, continue to retreat along the direction away from the barrier；
3rd determining module, the sweeping robot is close to institute with the barrier after being configured to determine that retrogressing State the 3rd distance of the one side of sweeping robot；
Second range finder module, is configured as using the laser range sensor find range obtaining the 4th distance；
Second judge module, be configured as judging the 3rd distance and the 4th distance ratio whether etc. In the cosine value of the first angle x；
4th determining module, is configured as the 3rd distance with the ratio of the 4th distance equal to described During the cosine value of first angle x, determine that the barrier is wall.
Optionally, first judge module, is configured as：
Theory is calculated apart from D according to theoretical distance computing formula, the theoretical distance computing formula is：The d is first distance, and the x is the first angle；
Judge whether the theoretical distance D is equal with the second distance；
When the theoretical distance D is unequal with the second distance, determine first distance with described The ratio of two distances is not equal to the cosine value of the first angle x.
Optionally, first distance is the distance for pre-setting, and the first angle x is the angle for pre-setting Degree, first distance meets preset relation formula with the first angle x：
The d be first distance, the H for indoor wall measurement highly, the H Span be：H-m≤H≤h, the h are the height of the indoor wall, and the m is default survey Amount error.
Optionally, first determining module, is configured as：
It is determined that when detecting the barrier, the 5th distance between the barrier and the sweeping robot；
Determine the backoff time and astern speed of the sweeping robot；
Using the product of the backoff time and the astern speed as backway；
Using the 5th distance and the backway sum as first distance.
Optionally, described device also includes：
5th determining module, is configured to determine that the non-wall barrier near the one of the sweeping robot Horizontal range M between face and target metope, the target metope is away from institute with the non-wall barrier State on the relative wall in side of sweeping robot, positioned at indoor one side；
6th determining module, is configured to determine that the level between the sweeping robot and the target metope Apart from N；
Drafting module, is configured as drawing indoor map according to the horizontal range M and horizontal range N.
Optionally, the 5th determining module, is configured as：
According to non-wall range formula, one side of the non-wall barrier near the sweeping robot is calculated With the horizontal range M between target metope, the non-wall range formula is：
M=E × cos (x)-d,
6th determining module, is configured as：
According to wall range formula, the horizontal range between the sweeping robot and the target metope is calculated N, the wall range formula is：
N=E × cos (x),
Wherein, the E is the second distance, and the d is first distance.
According to the third aspect of the disclosure, there is provided a kind of indoor non-wall barrier determining device, including：
Processor；
Memory for storing the executable instruction of the processor；
Wherein, the processor is configured as：
When barrier is detected in moving process indoors, retreated along the direction away from the barrier；
It is determined that after retreating sweeping robot and the barrier near the one side of the sweeping robot first away from From；
The direction of the launch of the laser of laser range sensor of the adjustment on the sweeping robot, makes described The value of the angle between the direction of the launch of laser and ground is first angle x, and makes the laser with described first It is in same plane apart from corresponding line segment, the first angle x is more than 0 degree and less than 90 degree；
Using the laser range sensor find range obtaining second distance；
Judge whether first distance is equal to the cosine of the first angle x with the ratio of the second distance Value；
When first distance and the ratio of the second distance are not equal to the cosine value of the first angle x, Determine that the barrier is non-wall barrier.
The technical scheme that the disclosure is provided can include the following benefits：
The indoor non-wall barrier that the disclosure is provided determines method and device, due to when barrier is met, Sweeping robot is retreated to barrier and at the position of the first distance of the one side of sweeping robot, adjusted The direction of the launch of laser, the value for making the angle between the direction of the launch of laser and ground is first angle x, is gone forward side by side Row range finding obtains second distance, and whether the ratio according to the first distance and second distance is equal to more than first angle x String value determines whether barrier is non-wall barrier, when the first distance is not equal to the ratio of second distance During the cosine value of first angle x, barrier is illustrated than relatively low, therefore, the barrier is non-wall barrier. The disclosure solves sweeping robot area in correlation technique by adjusting the direction of the launch of laser and being found range The problem for dividing wall relatively low with the accuracy of non-wall barrier, has reached raising sweeping robot and has distinguished wall With the effect of the accuracy of non-wall barrier.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary, can not The limitation disclosure.
Brief description of the drawings
In order to illustrate more clearly of embodiment of the disclosure, embodiment will be described below needed for be used Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some implementations of the disclosure Example, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the method that a kind of indoor non-wall barrier according to an exemplary embodiment determines method Flow chart；
Fig. 2-1 is that a kind of indoor non-wall barrier according to another exemplary embodiment determines method Method flow diagram；
Fig. 2-2 is that sweeping robot is close to barrier after a kind of determination that Fig. 2-1 illustrated embodiments are provided is retreated The method flow diagram of the first distance of the one side of sweeping robot；
Fig. 2-3 be a kind of ratio for judging the first distance and second distance that Fig. 2-1 illustrated embodiments are provided whether Equal to the method flow diagram of the cosine value of first angle；
Fig. 2-4 is the signal that a kind of determination barrier that Fig. 2-1 illustrated embodiments are provided is non-wall barrier Figure；
Fig. 2-5 is the schematic diagram that a kind of non-wall barrier that Fig. 2-1 illustrated embodiments are provided blocks laser；
Fig. 2-6 is that a kind of determination barrier that Fig. 2-1 illustrated embodiments are provided is the schematic diagram of wall；
Fig. 3 is the block diagram of a kind of indoor non-wall barrier determining device according to an exemplary embodiment；
Fig. 4 is the frame of a kind of indoor non-wall barrier determining device according to another exemplary embodiment Figure；
Fig. 5 is the block diagram of a kind of indoor non-wall barrier determining device according to an exemplary embodiment.
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows and meets the disclosure Embodiment, and be used to explain the principle of the disclosure together with specification.
Specific embodiment
In order that the purpose, technical scheme and advantage of the disclosure are clearer, below in conjunction with accompanying drawing to this public affairs Open and be described in further detail, it is clear that described embodiment is only disclosure some embodiments, Rather than whole embodiments.Based on the embodiment in the disclosure, those of ordinary skill in the art are not doing Go out all other embodiment obtained under the premise of creative work, belong to the scope of disclosure protection.
The indoor non-wall barrier that the embodiment of the present disclosure is provided determines that method can be performed by sweeping robot. Sweeping robot can meet barrier during flooring is cleaned, and the barrier is probably wall, May be non-wall barrier (such as, putting home equipment indoors).It is provided with sweeping robot Laser range sensor, the laser range sensor with cognitive disorders thing and can measure sweeping robot and obstacle The distance between thing, but it is that wall is also non-wall obstacle that the laser range sensor cannot be distinguished by barrier Thing, therefore, sweeping robot cannot be distinguished by wall and non-wall barrier, and in practical application, sweeper Device people can draw indoor map during ground is cleaned and realize that flooring cleans in order to follow-up, but It is the interior for causing sweeping robot to be drawn because sweeping robot cannot be distinguished by wall and non-wall barrier The accuracy on ground is relatively low.
Fig. 1 is the method that a kind of indoor non-wall barrier according to an exemplary embodiment determines method Flow chart, the present embodiment determines that method is applied in sweeping robot carry out with the indoor non-wall barrier For example, referring to Fig. 1, the indoor non-wall barrier determines that method can include following several steps：
In a step 101, when barrier is detected in moving process indoors, along the side away from barrier Draw back.
In a step 102, it is determined that sweeping robot and barrier are near the one side of sweeping robot after retreating First distance.
In step 103, the launch party of the laser of laser range sensor of the adjustment on sweeping robot To, make the value of angle between the direction of the launch of laser and ground for first angle x, and make laser and first away from It is in same plane from corresponding line segment, first angle x is more than 0 degree and less than 90 degree.
At step 104, using laser range sensor find range obtaining second distance.
In step 105, judge whether the first distance is equal to the cosine of first angle x with the ratio of second distance Value.
In step 106, when the first distance is not equal to the cosine value of first angle x with the ratio of second distance When, determine that barrier is non-wall barrier.
In sum, the indoor non-wall barrier that the embodiment of the present disclosure is provided determines method, due to meeting During barrier, sweeping robot retreat to barrier near the position of the first distance of the one side of sweeping robot Place is put, the direction of the launch of laser is adjusted, the value for making the angle between the direction of the launch of laser and ground is first Whether angle x, and find range obtaining second distance, the ratio according to the first distance and second distance is equal to the The cosine value of one angle x determines whether barrier is non-wall barrier, when the first distance and second distance When ratio is not equal to the cosine value of first angle x, barrier is illustrated than relatively low, therefore, the barrier is non-wall Body barrier.The disclosure solved and sweep in correlation technique by adjusting the direction of the launch of laser and found range Floor-washing robot distinguishes the wall problem relatively low with the accuracy of non-wall barrier, has reached and has improved machine of sweeping the floor People distinguishes the effect of wall and the accuracy of non-wall barrier.
Optionally, after step 105, the indoor non-wall barrier determines that method can also include：
When the first distance is equal to the cosine value of first angle x with the ratio of second distance, along away from barrier Continue to retreat in direction；
It is determined that the 3rd distance of sweeping robot and barrier near the one side of sweeping robot after retreating；
Using laser range sensor find range and obtain the 4th distance；
Judge whether the 3rd distance is equal to the cosine value of first angle x with the ratio of the 4th distance；
When the 3rd distance is equal to the cosine value of first angle x with the ratio of the 4th distance, determine that barrier is wall Body.
Optionally, step 105 can include：
Theory is calculated apart from D according to theoretical distance computing formula, theoretical distance computing formula is： D is the first distance, and x is first angle；
Judge whether theoretical distance D is equal with second distance；
When theoretical distance D and second distance are unequal, the ratio of the first distance and second distance is determined In the cosine value of first angle x.
Optionally, the first distance is the distance for pre-setting, and first angle x is the angle for pre-setting, first Distance meets preset relation formula with first angle x：
D be the first distance, H for indoor wall measurement highly, the span of H is： H-m≤H≤h, h are the height of indoor wall, and m is default measurement error.
Optionally, step 102 can include：
It is determined that when detecting barrier, the 5th distance between barrier and sweeping robot；
Determine the backoff time and astern speed of sweeping robot；
Using the product of backoff time and astern speed as backway；
Using the 5th distance and backway sum as the first distance.
Optionally, after step 106, the indoor non-wall barrier determines that method can also include：
Determine horizontal range M of the non-wall barrier between the one side and target metope of sweeping robot, Target metope is away from the relative wall in the side of sweeping robot, positioned at indoor with non-wall barrier Simultaneously；
Determine the horizontal range N between sweeping robot and target metope；
Indoor map is drawn according to horizontal range M and horizontal range N.
Optionally, level of the non-wall barrier between the one side and target metope of sweeping robot is determined Apart from M, including：
According to non-wall range formula, one side and target wall of the non-wall barrier near sweeping robot are calculated Horizontal range M between face, non-wall range formula is：
M=E × cos (x)-d,
Determine the horizontal range N between sweeping robot and target metope, including：
According to wall range formula, the horizontal range N between sweeping robot and target metope, wall are calculated Range formula is：
N=E × cos (x),
Wherein, E is second distance, and d is the first distance.
In sum, the indoor non-wall barrier that the embodiment of the present disclosure is provided determines method, due to meeting During barrier, sweeping robot retreat to barrier near the position of the first distance of the one side of sweeping robot Place is put, the direction of the launch of laser is adjusted, the value for making the angle between the direction of the launch of laser and ground is first Whether angle x, and find range obtaining second distance, the ratio according to the first distance and second distance is equal to the The cosine value of one angle x determines whether barrier is non-wall barrier, when the first distance and second distance When ratio is not equal to the cosine value of first angle x, barrier is illustrated than relatively low, therefore, the barrier is non-wall Body barrier.The disclosure solved and sweep in correlation technique by adjusting the direction of the launch of laser and found range Floor-washing robot distinguishes the wall problem relatively low with the accuracy of non-wall barrier, has reached and has improved machine of sweeping the floor People distinguishes the effect of wall and the accuracy of non-wall barrier.
Fig. 2-1 is that a kind of indoor non-wall barrier according to another exemplary embodiment determines method Method flow diagram, the present embodiment determines that method is applied to sweeping robot with the indoor non-wall barrier It is illustrated, referring to Fig. 2-1, the indoor non-wall barrier determines that method can include following several steps Suddenly：
In step 201, when barrier is detected in moving process indoors, sweeping robot along away from The direction of barrier retreats.
Wherein, laser range sensor can be set on sweeping robot, and the laser range sensor can be examined Barrier is surveyed, sweeping robot, can be by being arranged on the sweeping robot indoors in moving process Whether there is barrier, when an obstacle is detected, sweeping robot edge around laser range sensor detection Direction away from the barrier retreats.
It should be noted that the embodiment of the present disclosure is to detect to hinder by laser range sensor with sweeping robot Hinder what is illustrated as a example by thing, in practical application, ultrasonic sensor can also be set on sweeping robot, Sweeping robot can detect barrier by ultrasonic sensor, or, sweeping robot can also pass through Collided detection barrier with barrier, such as, sweeping robot may during moving indoors Collided with the barrier such as wall, home equipment, when colliding, sweeping robot detects obstacle Thing.
In step 202., sweeping robot is close to machine of sweeping the floor with barrier after sweeping robot determines to retreat First distance of the one side of people.
Sweeping robot can be retreated to target location, then determine to step back sweeping robot in target location With barrier near the one side of sweeping robot the first distance.Example, Fig. 2-2 are refer to, shown in it It is that sweeping robot is leaned on barrier after a kind of sweeping robot of Fig. 2-1 illustrated embodiments offer determines to retreat The method flow diagram of the first distance of the one side of nearly sweeping robot, referring to Fig. 2-2, the method flow can be wrapped Include following several steps：
In sub-step 2021, sweeping robot is determined when detecting barrier, barrier and sweeping robot Between the 5th distance.
Wherein, laser range sensor can be set on sweeping robot, when sweeping robot determines to detect During barrier, laser range sensor can be used to measure the 5th distance between barrier and sweeping robot, Assuming that the 5th distance is s, then the 5th can be apart from s：Wherein, c is the light velocity, and t is Five apart from s measurement duration, sweeping robot can determine time t, enter with configurable clock generator by the clock And the 5th is calculated apart from s.
In sub-step 2022, sweeping robot determines the backoff time and astern speed of sweeping robot.
Sweeping robot can be retreated at the uniform velocity when retreating, and sweeping robot can be by configuring in machine of sweeping the floor Clock on people determines backoff time, example, it is assumed that the backoff time of sweeping robot is t1, rear back speed It is v to spend.
In sub-step 2023, machine of sweeping the floor is using the product of backoff time and astern speed as backway.
After determining backoff time and astern speed, sweeping robot can multiplying backoff time and astern speed Product is used as backway.Example, it is assumed that backway is s1, then backway s1 is s1=v × t1.
In sub-step 2024, machine of sweeping the floor is using the 5th distance and backway sum as the first distance.
After determining the 5th distance and backway, sweeping robot can be by the 5th distance and backway sum As the first distance.Example, it is assumed that first distance be d, then this first apart from d be d=s+s1.
It should be noted that in practical application, sweeping robot can be surveyed directly using laser range sensor Amount retreat after sweeping robot and barrier near the one side of sweeping robot the first distance, the disclosure implemented Example is not limited this.
In step 203, laser range sensor of the sweeping robot adjustment on sweeping robot is sharp The direction of the launch of light, the value for making the angle between the direction of the launch of laser and ground is first angle x, and makes to swash Light is in same plane with first apart from corresponding line segment, and first angle x is more than 0 degree and less than 90 degree.
In the disclosed embodiments, generally, laser range sensor on sweeping robot The direction of the launch of laser is parallel with horizontal plane (ground), therefore, sweeping robot can adjust laser ranging The direction of the launch of the laser of sensor so that there is angle between the direction of the launch of laser and ground, and cause The value of the angle is first angle x, and first angle x is more than 0 degree and less than 90 degree.
Wherein, first angle x can be the angle for pre-setting, and first in above-mentioned steps 202 is apart from d Can be the distance for pre-setting, this first meets preset relation formula apart from d and first angle x：
Wherein, in the preset relation formula, H for indoor wall measurement highly, the span of H is： H-m≤H≤h, h are the height of indoor wall, and m is default measurement error.
In step 204, sweeping robot using laser range sensor find range obtaining second distance.
The direction of the launch of the laser of laser range sensor of the sweeping robot adjustment on sweeping robot Afterwards, can find range obtain second distance using the laser range sensor.Assuming that the second distance is E, Then second distance E is：Wherein, c is the light velocity, and t2 is the measurement duration of second distance E, Sweeping robot can determine time t2 with configurable clock generator by the clock, so be calculated this second away from From E.
In step 205, sweeping robot judges whether the first distance is equal to first with the ratio of second distance The cosine value of angle x.
After determining the first distance and second distance, sweeping robot may determine that the first distance and second distance Whether ratio is equal to the cosine value of first angle x.Example, Fig. 2-3 are refer to, it is illustrated that Fig. 2-1 Whether a kind of sweeping robot that illustrated embodiment is provided judges the ratio of the first distance and second distance equal to the The method flow diagram of the cosine value of one angle x, referring to Fig. 2-3, the method flow can include following several steps Suddenly：
In sub-step 2051, sweeping robot calculates theory apart from D according to theoretical distance computing formula.
Sweeping robot can according to theoretical distance computing formula calculate theory apart from D, wherein, the theory away from It is from computing formula：D is the first distance, and x is first angle.
In sub-step 2052, sweeping robot judges whether theoretical distance D is equal with second distance.
Sweeping robot may determine that whether theoretical distance D is equal with second distance E.
In sub-step 2053, when theoretical distance D and second distance are unequal, sweeping robot determines the One distance is not equal to the cosine value of first angle x with the ratio of second distance.
If in sub-step 2052, sweeping robot determines that theoretical distance D is unequal with second distance E, then Sweeping robot determines that the first distance is not equal to the cosine value of first angle x with the ratio of second distance.
In sub-step 2054, when theoretical distance D is equal with second distance, sweeping robot determines first Distance is equal to the cosine value of first angle x with the ratio of second distance.
If in sub-step 2052, sweeping robot determines that theoretical distance D is equal with second distance E, then sweep Floor-washing robot determines that the first distance is equal to the cosine value of first angle x with the ratio of second distance.
In step 206, when the first distance is not equal to the cosine value of first angle x with the ratio of second distance When, sweeping robot determines that barrier is non-wall barrier.
If in step 205, sweeping robot determines that the first distance is not equal to first with the ratio of second distance During the cosine value of angle x, then sweeping robot determines that barrier is non-wall barrier.
Example, Fig. 2-4 are refer to, it is illustrated that one kind that Fig. 2-1 illustrated embodiments are provided is swept the floor machine People determines the schematic diagram that barrier is non-wall barrier, and the Fig. 2-4 includes：Wall 011, wall 012, Ceiling 013 and flooring 014, it (can be sand that non-wall barrier is placed with the flooring 014 The home equipments such as hair), detect barrier during sweeping robot 03 is mobile on ground 014 indoors After 02, retreated to the one side that sweeping robot 03 is close to barrier 02 along the direction away from barrier 02 First at the position of d, the hair of the laser of laser range sensor of the adjustment on sweeping robot 03 Direction is penetrated, the value for making the angle between the direction of the launch of laser and flooring 014 is first angle x, then Using laser range sensor find range and obtain second distance E, judge first apart from d and second distance E Ratio whether be equal to first angle x cosine value.Example, sweeping robot 03 can according to theory away from Calculate theoretical distance D from computing formula, then by judge theoretical distance D and second distance E whether phase Etc. judging whether first be equal to the cosine value of first angle x apart from the ratio of d and second distance E.Referring to figure Geometrical relationship in schematic diagram shown in 2-4 understands that theoretical distance D is substantially not equal to second distance E, therefore, Whether first be equal to the cosine value of first angle x apart from the ratio of d and second distance E.
Understood referring to Fig. 2-4, be not equal to more than first angle x apart from the ratio of d and second distance E when first During string value, barrier 02 it is highly relatively low, therefore, barrier 02 be non-wall barrier.
In step 207, when the first distance is equal to the cosine value of first angle x with the ratio of second distance, Sweeping robot continues to retreat along the direction away from barrier.
If in step 205, sweeping robot determines that the first distance is equal to first jiao with the ratio of second distance The cosine value of x is spent, is then probably, because first is too small apart from d after sweeping robot retrogressing, to cause according to tune When laser direction after whole carries out laser ranging, laser is beaten on barrier, and barrier causes to block to laser, Therefore, in order to further, the barrier is specified for non-wall barrier or wall, sweeping robot can be with Continue to retreat and found range along the direction away from barrier.
It should be noted that as shown in Figure 2-5, it is illustrated that the schematic diagram that barrier causes to block to laser, Referring to Fig. 2-5, the barrier 02 has blocked laser, but sweeping robot cannot now determine the barrier 02 is that wall is also non-wall barrier, therefore, sweeping robot can continue along the direction away from barrier Continue to retreat and found range.
In a step 208, sweeping robot is close to machine of sweeping the floor with barrier after sweeping robot determines to retreat 3rd distance of the one side of people.
Sweeping robot can be retreated at the uniform velocity when retreating, and sweeping robot can be by configuring in machine of sweeping the floor Clock on people determines backoff time, and sweeping robot can be according to the backoff time for retreating again and rear back speed Degree determines backway again, using the first distance and backway sum again as the 3rd distance.Need Bright, in the disclosed embodiments, the 3rd distance can be two times of the first distance, three times etc., or, 3rd distance for barrier near sweeping robot to barrier near sweeping robot while phase To the distance between metope.That is, when sweeping robot continues to retreat, retreating extremely to be close to barrier and sweeping Untill the relative metope of the one side of floor-washing robot collides.
In step 209, sweeping robot using laser range sensor find range and obtains the 4th distance.
The implementation process of the step 209 may be referred to above-mentioned steps 204, and the embodiment of the present disclosure will not be repeated here. It should be understood that, in the step 209 measure the 4th apart from when, laser range sensor laser hair Penetrate direction identical with the Laser emission direction in step 204.That is, the Laser emission of laser range sensor The value of the angle between direction and ground is first angle x.
In step 210, sweeping robot judges whether the 3rd distance is equal to first with the ratio of the 4th distance The cosine value of angle x.
The implementation process of the step 210 may be referred to above-mentioned steps 205, and the embodiment of the present disclosure will not be repeated here.
In step 211, when the 3rd distance is equal to the cosine value of first angle x with the ratio of the 4th distance, Sweeping robot determines that barrier is wall.
When sweeping robot determines that the 3rd distance is equal to the cosine value of first angle x with the ratio of the 4th distance, Sweeping robot determines that barrier is wall.Example, Fig. 2-6 are refer to, it is illustrated that shown in Fig. 2-1 A kind of sweeping robot that embodiment is provided determines the schematic diagram that barrier is wall.Should be wrapped referring in Fig. 2-6 Include：Wall 011, wall 012, ceiling 013 and flooring 014, sweeping robot 03 is indoors On face 014 it is mobile during detect barrier (actually wall 011, simply sweeping robot be now It is wall not know the barrier also) after, retreated to barrier is close along the direction away from barrier and swept the floor At the position of d, adjustment is located at the Laser Measuring on sweeping robot 03 to the first of the one side of robot 03 The direction of the launch of the laser away from sensor, makes angle between the direction of the launch of laser and flooring 014 It is first angle x to be worth, and then using laser range sensor find range obtains second distance E, judges first Whether the ratio apart from d and second distance E is equal to the cosine value of first angle x, illustrates referring to Fig. 2-6 Suo Shi Geometrical relationship in figure understands, first is equal to the cosine value of first angle x apart from the ratio of d and second distance E. Due to when there is the situation shown in Fig. 2-5, first is also equal to first apart from the ratio of d and second distance E The cosine value of angle x, therefore, sweeping robot can't now determine that barrier is that wall is also non-wall barrier Thing, sweeping robot is hindered to continue to retreat extremely with barrier near sweeping robot 03 along the direction away from barrier One side the 3rd at the position of d1, continue between the direction of the launch of laser and flooring 014 The value of angle obtains the 4th apart from F for first angle x carries out laser ranging, and sweeping robot judges the 3rd distance Whether d1 and the 4th is equal to the cosine value of first angle x apart from the ratio of F, referring in schematic diagram shown in Fig. 2-6 Geometrical relationship understand, the 3rd apart from d1 and the 4th apart from F ratio equal to first angle x cosine value, Therefore, sweeping robot determines that barrier is wall.
It should be noted that the cosine value of first angle x is equal to apart from the ratio of d and second distance E when first, And the 3rd apart from d1 and the 4th apart from the ratio of F be not equal to the cosine value of first angle x when, sweeping robot Can determine that the barrier for detecting is non-wall barrier.When first apart from d and second distance E ratio Equal to the cosine value of first angle x, and the 3rd is equal to first angle x's apart from d1 and the 4th apart from the ratio of F During cosine value, sweeping robot can also repeat above-mentioned steps 207 to step 210, in order to improve really Determine the accuracy of wall.
It should be noted that the first distance and the 3rd distance in the embodiment of the present disclosure are all horizontal range.
In the step 212, sweeping robot determines one side and mesh of the non-wall barrier near sweeping robot Horizontal range M between mark metope, target metope is the side away from sweeping robot with non-wall barrier On relative wall, positioned at indoor one side.
Sweeping robot determines barrier for after non-wall barrier, it may be determined that non-wall barrier is close to and sweeps Horizontal range M between the one side and target metope of floor-washing robot.
Example, sweeping robot can be according to non-wall range formula, and the non-wall barrier of calculating is close to be swept Horizontal range M between the one side and target metope of floor-washing robot, non-wall range formula is：
M=E × cos (x)-d, wherein, E is second distance, and d is the first distance.
Example, please continue to refer to Fig. 2-4, sweeping robot 03 determines that non-wall barrier 02 is close to and sweeps the floor Horizontal range M between the one side and the target metope of wall 011 of robot 03, the target metope is wall 011 On, positioned at indoor one side.
It should be noted that when non-wall barrier 02 is close to the placement of wall 011, horizontal range M The length or width of as non-wall barrier 02.
In step 213, sweeping robot determines the horizontal range N between sweeping robot and target metope.
Sweeping robot determines barrier for after non-wall barrier, it may be determined that sweeping robot and target wall Horizontal range N between face is relative away from the side of sweeping robot in order to determine non-wall barrier The position of wall.
Example, sweeping robot is calculated between sweeping robot and target metope according to wall range formula Horizontal range N, wall range formula is：
N=E × cos (x), wherein, E is second distance, and d is the first distance.
Example, please continue to refer to Fig. 2-4, sweeping robot 03 determines sweeping robot 03 and wall 011 Horizontal range N between indoor one side.
Horizontal range of the barrier 02 between the one side and the target metope of wall 011 of sweeping robot 03 M, the target metope is on wall 011, positioned at indoor one side.
In step 214, sweeping robot draws indoor map according to horizontal range M and horizontal range N.
Determine horizontal range M of the non-wall barrier between the one side and target metope of sweeping robot with And after the horizontal range N between sweeping robot and target metope, sweeping robot can according to the level away from Indoor map is drawn from M and horizontal range N.
Example, sweeping robot can determine at least one wall, the length and width of non-wall barrier, Using the product of the length of non-wall barrier and width as the non-wall barrier floor space, will at least Room is then drawn in ground region indoors as in the region of flooring in the closed area that one wall is surrounded Interior map, example, sweeping robot by the corresponding region of floor space of non-wall barrier indoors Position in the region of face is used as the position of the non-wall barrier in the indoor map.
It should be noted that the detailed process that sweeping robot draws indoor map may be referred to correlation technique, The embodiment of the present disclosure will not be repeated here.
It should be added that, the indoor non-wall barrier that the embodiment of the present disclosure is provided determines method and step Sequencing can suitably be adjusted, step according to circumstances can also accordingly be increased and decreased, example, Step 212 may be located at after step 211, it is also possible to after step 206, any to be familiar with this technology In the technical scope that the disclosure is disclosed, the method that can readily occur in change should all be contained the technical staff in field Cover within the protection domain of the disclosure, therefore repeat no more.
In sum, the indoor non-wall barrier that the embodiment of the present disclosure is provided determines method, due to meeting During barrier, sweeping robot retreat to barrier near the position of the first distance of the one side of sweeping robot Place is put, the direction of the launch of laser is adjusted, the value for making the angle between the direction of the launch of laser and ground is first Whether angle x, and find range obtaining second distance, the ratio according to the first distance and second distance is equal to the The cosine value of one angle x determines whether barrier is non-wall barrier, when the first distance and second distance When ratio is not equal to the cosine value of first angle x, barrier is illustrated than relatively low, therefore, the barrier is non-wall Body barrier.The disclosure solved and sweep in correlation technique by adjusting the direction of the launch of laser and found range Floor-washing robot distinguishes the wall problem relatively low with the accuracy of non-wall barrier, has reached and has improved machine of sweeping the floor People distinguishes the effect of wall and the accuracy of non-wall barrier.
Following is disclosure device embodiment, can be used for performing method of disclosure embodiment.For the disclosure The details not disclosed in device embodiment, refer to method of disclosure embodiment.
Fig. 3 is a kind of indoor non-wall barrier determining device 300 according to an exemplary embodiment Block diagram, the indoor non-wall barrier determining device 300 can be by the combination of software, hardware or both The some or all of of sweeping robot is implemented as, referring to Fig. 3, the indoor non-wall barrier determining device 300 can include：
First fallback block 301, when being configured as detecting barrier in moving process indoors, along away from The direction of barrier retreats.
First determining module 302, sweeping robot is close to machine of sweeping the floor with barrier after being configured to determine that retrogressing First distance of the one side of people.
Adjusting module 303, is configured as the laser of laser range sensor of the adjustment on sweeping robot The direction of the launch, makes the value of angle between the direction of the launch of laser and ground for first angle x, and make laser with First is in same plane apart from corresponding line segment, and first angle x is more than 0 degree and less than 90 degree.
First range finder module 304, is configured as using laser range sensor find range obtaining second distance.
First judge module 305, is configured as judging whether the first distance is equal to first with the ratio of second distance The cosine value of angle x.
Second determining module 306, is configured as the first distance and is not equal to first angle with the ratio of second distance During the cosine value of x, determine that barrier is non-wall barrier.
In sum, the indoor non-wall barrier determining device that the embodiment of the present disclosure is provided, due to meeting During barrier, sweeping robot retreat to barrier near the position of the first distance of the one side of sweeping robot Place is put, the direction of the launch of laser is adjusted, the value for making the angle between the direction of the launch of laser and ground is first Whether angle x, and find range obtaining second distance, the ratio according to the first distance and second distance is equal to the The cosine value of one angle x determines whether barrier is non-wall barrier, when the first distance and second distance When ratio is not equal to the cosine value of first angle x, barrier is illustrated than relatively low, therefore, the barrier is non-wall Body barrier.The disclosure solved and sweep in correlation technique by adjusting the direction of the launch of laser and found range Floor-washing robot distinguishes the wall problem relatively low with the accuracy of non-wall barrier, has reached and has improved machine of sweeping the floor People distinguishes the effect of wall and the accuracy of non-wall barrier.
Fig. 4 is a kind of indoor non-wall barrier determining device 400 according to another exemplary embodiment Block diagram, the indoor non-wall barrier determining device 400 can be by the knot of software, hardware or both Conjunction is implemented as some or all of of sweeping robot, and referring to Fig. 4, the indoor non-wall barrier determines dress Putting 400 can include but is not limited to：
First fallback block 401, when being configured as detecting barrier in moving process indoors, along away from The direction of barrier retreats；
First determining module 402, sweeping robot is close to machine of sweeping the floor with barrier after being configured to determine that retrogressing First distance of the one side of people；
Adjusting module 403, is configured as the laser of laser range sensor of the adjustment on sweeping robot The direction of the launch, makes the value of angle between the direction of the launch of laser and ground for first angle x, and make laser with First is in same plane apart from corresponding line segment, and first angle x is more than 0 degree and less than 90 degree；
First range finder module 404, is configured as using laser range sensor find range obtaining second distance；
First judge module 405, is configured as judging whether the first distance is equal to first with the ratio of second distance The cosine value of angle x；
Second determining module 406, is configured as the first distance and is not equal to first angle with the ratio of second distance During the cosine value of x, determine that barrier is non-wall barrier.
Optionally, please continue to refer to Fig. 4, the indoor non-wall barrier determining device 400 can also include：
Second fallback block 407, is configured as the first distance and is equal to first angle x with the ratio of second distance Cosine value when, along away from barrier direction continue retreat；
3rd determining module 408, sweeping robot is close to machine of sweeping the floor with barrier after being configured to determine that retrogressing 3rd distance of the one side of people；
Second range finder module 409, is configured as using laser range sensor find range obtaining the 4th distance；
Second judge module 410, is configured as judging whether the 3rd distance is equal to first with the ratio of the 4th distance The cosine value of angle x；
4th determining module 411, is configured as the 3rd distance and is equal to first angle x with the ratio of the 4th distance Cosine value when, determine barrier be wall.
Optionally, the first judge module 405, is configured as：
Theory is calculated apart from D according to theoretical distance computing formula, theoretical distance computing formula is： D is the first distance, and x is first angle；
Judge whether theoretical distance D is equal with second distance；
When theoretical distance D and second distance are unequal, the ratio of the first distance and second distance is determined In the cosine value of first angle x.
Optionally, the first distance is the distance for pre-setting, and first angle x is the angle for pre-setting, first Distance meets preset relation formula with first angle x：
D be the first distance, H for indoor wall measurement highly, the span of H is： H-m≤H≤h, h are the height of indoor wall, and m is default measurement error.
Optionally, the first determining module 402, is configured as：
It is determined that when detecting barrier, the 5th distance between barrier and sweeping robot；
Determine the backoff time and astern speed of sweeping robot；
Using the product of backoff time and astern speed as backway；
Using the 5th distance and backway sum as the first distance.
Optionally, please continue to refer to Fig. 4, the indoor non-wall barrier determining device 400 can also include
5th determining module 412, is configured to determine that one side and mesh of the non-wall barrier near sweeping robot Horizontal range M between mark metope, target metope is the side away from sweeping robot with non-wall barrier On relative wall, positioned at indoor one side；
6th determining module 413, is configured to determine that the horizontal range between sweeping robot and target metope N；
Drafting module 414, is configured as drawing indoor map according to horizontal range M and horizontal range N.
Optionally, the 5th determining module 413, is configured as：
According to non-wall range formula, one side and target wall of the non-wall barrier near sweeping robot are calculated Horizontal range M between face, non-wall range formula is：
M=E × cos (x)-d,
6th determining module 414, is configured as：
According to wall range formula, the horizontal range N between sweeping robot and target metope, wall are calculated Range formula is：
N=E × cos (x),
Wherein, E is second distance, and d is the first distance.
In sum, the indoor non-wall barrier determining device that the embodiment of the present disclosure is provided, due to meeting During barrier, sweeping robot retreat to barrier near the position of the first distance of the one side of sweeping robot Place is put, the direction of the launch of laser is adjusted, the value for making the angle between the direction of the launch of laser and ground is first Whether angle x, and find range obtaining second distance, the ratio according to the first distance and second distance is equal to the The cosine value of one angle x determines whether barrier is non-wall barrier, when the first distance and second distance When ratio is not equal to the cosine value of first angle x, barrier is illustrated than relatively low, therefore, the barrier is non-wall Body barrier.The disclosure solved and sweep in correlation technique by adjusting the direction of the launch of laser and found range Floor-washing robot distinguishes the wall problem relatively low with the accuracy of non-wall barrier, has reached and has improved machine of sweeping the floor People distinguishes the effect of wall and the accuracy of non-wall barrier.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation relevant It has been described in detail in the embodiment of the method, explanation will be not set forth in detail herein.
Fig. 5 is a kind of indoor non-wall barrier determining device 500 according to an exemplary embodiment Block diagram.For example, device 500 can be sweeping robot or be able to carry out this on sweeping robot The indoor non-wall barrier that open embodiment is provided determines the device of method.
Reference picture 5, device 500 can include following one or more assemblies：Processing assembly 502, memory 504, power supply module 506, multimedia groupware 508, audio-frequency assembly 510, input/output (I/O) interface 512, Sensor cluster 514, and communication component 516.
The integrated operation of the usual control device 500 of processing assembly 502, such as with display, data communication, note The associated operation of record operation.Processing assembly 502 can refer to including one or more processors 520 to perform Order, to complete all or part of step of above-mentioned method.Additionally, processing assembly 502 can include one Or multiple modules, it is easy to the interaction between processing assembly 502 and other assemblies.
Memory 504 is configured as storing various types of data supporting the operation in device 500.These The example of data includes the instruction for any application program or method for operating on device 500, apart from, Data, computing formula etc..Memory 504 can be by any kind of volatibility or non-volatile memory device Or combinations thereof is realized, such as static RAM (SRAM), electrically erasable is read-only Memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM) may be programmed read-only storage Device (PROM), read-only storage (ROM), magnetic memory, flash memory, disk or CD.
Power supply module 506 provides electric power for the various assemblies of device 500.Power supply module 506 can include electricity Management system, one or more power supplys, and other with generate, manage and distribute electric power phase for device 500 The component of association.
Multimedia groupware 508 is included in one screen of output interface of offer between device 500 and user. In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If Screen includes touch panel, and screen may be implemented as touch-screen, to receive the input signal from user. Touch panel includes one or more touch sensors with the gesture on sensing touch, slip and touch panel. Touch sensor can not only sensing touch or sliding action border, but also detection with touch or slide behaviour Make related duration and pressure.
Audio-frequency assembly 510 is configured as output and/or input audio signal.For example, audio-frequency assembly 510 includes One microphone (MIC), when device 500 is in operator scheme, such as logging mode and during speech recognition mode, Microphone is configured as receiving external audio signal.The audio signal for being received can be further stored is depositing Reservoir 504 sends via communication component 516.In certain embodiments, audio-frequency assembly 510 also includes one Individual loudspeaker, for exports audio signal.
I/O interfaces 512 are that interface, above-mentioned peripheral interface are provided between processing assembly 502 and peripheral interface module Module can be click on wheel, button etc..These buttons may include but be not limited to：Volume button, start button And locking press button.
Sensor cluster 514 includes one or more sensors, for providing various aspects for device 500 State estimation.For example, sensor cluster 514 can detect the opening/closed mode of device 500, component Relative positioning, such as component is the display and keypad of device 500, and sensor cluster 514 can be with The position of 500 1 components of detection means 500 or device changes, presence that user contacts with device 500 or Do not exist, the temperature change of the orientation of device 500 or acceleration/deceleration and device 500.Sensor cluster 514 can Including proximity transducer, to be configured to the presence of the object near detection when without any physical contact. Sensor cluster 514 can also include laser range sensor, for detecting barrier and using laser ranging Away from measurement apparatus and the distance of barrier time.In certain embodiments, the sensor cluster 514 may be used also With including acceleration transducer, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 516 is configured to facilitate the logical of wired or wireless way between device 500 and other equipment Letter.Device 500 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or they Combination.In one exemplary embodiment, communication component 516 is received from outside wide via broadcast channel The broadcast singal or broadcast related information of broadcast management system.In one exemplary embodiment, communication component 516 Also include near-field communication (NFC) module, to promote junction service.For example, can be based on penetrating in NFC module Frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology is blue Tooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 500 can by one or more application specific integrated circuits (ASIC), Digital signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), Field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic component realities It is existing, for performing the above method.
In the exemplary embodiment, a kind of non-transitory computer-readable storage medium including instructing is additionally provided Matter, such as, including the memory 504 for instructing, above-mentioned instruction can be performed with complete by the processor 520 of device 500 Into the above method.For example, non-transitorycomputer readable storage medium can be ROM, random access memory Device (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is by device 500 When reason device is performed so that device 500 is able to carry out a kind of indoor non-wall barrier and determines method, the method Including：
When barrier is detected in moving process indoors, retreated along the direction away from barrier；
It is determined that the first distance of sweeping robot and barrier near the one side of sweeping robot after retreating；
The direction of the launch of the laser of laser range sensor of the adjustment on sweeping robot, makes the hair of laser The value of the angle penetrated between direction and ground is first angle x, and make laser with first at corresponding line segment In in same plane, first angle x is more than 0 degree and less than 90 degree；
Using laser range sensor find range obtaining second distance；
Judge whether the first distance is equal to the cosine value of first angle x with the ratio of second distance；
When the first distance is not equal to the cosine value of first angle x with the ratio of second distance, determine that barrier is Non- wall barrier.
Optionally, the method also includes：
When the first distance is equal to the cosine value of first angle x with the ratio of second distance, along away from barrier Continue to retreat in direction；
It is determined that the 3rd distance of sweeping robot and barrier near the one side of sweeping robot after retreating；
Using laser range sensor find range and obtain the 4th distance；
Judge whether the 3rd distance is equal to the cosine value of first angle x with the ratio of the 4th distance；
When the 3rd distance is equal to the cosine value of first angle x with the ratio of the 4th distance, determine that barrier is wall Body.
Optionally, judge whether the first distance is equal to the cosine value of first angle x, bag with the ratio of second distance Include：
Theory is calculated apart from D according to theoretical distance computing formula, theoretical distance computing formula is： D is the first distance, and x is first angle；
Judge whether theoretical distance D is equal with second distance；
When theoretical distance D and second distance are unequal, the ratio of the first distance and second distance is determined In the cosine value of first angle x.
Optionally, the first distance is the distance for pre-setting, and first angle x is the angle for pre-setting, first Distance meets preset relation formula with first angle x：
D be the first distance, H for indoor wall measurement highly, the span of H is： H-m≤H≤h, h are the height of indoor wall, and m is default measurement error.
Optionally, it is determined that after retreating sweeping robot and barrier near the one side of sweeping robot first away from From, including：
It is determined that when detecting barrier, the 5th distance between barrier and sweeping robot；
Determine the backoff time and astern speed of sweeping robot；
Using the product of backoff time and astern speed as backway；
Using the 5th distance and backway sum as the first distance.
Optionally, the method also includes：
Determine horizontal range M of the non-wall barrier between the one side and target metope of sweeping robot, Target metope is away from the relative wall in the side of sweeping robot, positioned at indoor with non-wall barrier Simultaneously；
Determine the horizontal range N between sweeping robot and target metope；
Indoor map is drawn according to horizontal range M and horizontal range N.
Optionally, level of the non-wall barrier between the one side and target metope of sweeping robot is determined Apart from M, including：
According to non-wall range formula, one side and target wall of the non-wall barrier near sweeping robot are calculated Horizontal range M between face, non-wall range formula is：
M=E × cos (x)-d,
Determine the horizontal range N between sweeping robot and target metope, including：
According to wall range formula, the horizontal range N between sweeping robot and target metope, wall are calculated Range formula is：
N=E × cos (x),
Wherein, E is second distance, and d is the first distance.
In sum, the indoor non-wall barrier determining device that the embodiment of the present disclosure is provided, due to meeting During barrier, sweeping robot retreat to barrier near the position of the first distance of the one side of sweeping robot Place is put, the direction of the launch of laser is adjusted, the value for making the angle between the direction of the launch of laser and ground is first Whether angle x, and find range obtaining second distance, the ratio according to the first distance and second distance is equal to the The cosine value of one angle x determines whether barrier is non-wall barrier, when the first distance and second distance When ratio is not equal to the cosine value of first angle x, barrier is illustrated than relatively low, therefore, the barrier is non-wall Body barrier.The disclosure solved and sweep in correlation technique by adjusting the direction of the launch of laser and found range Floor-washing robot distinguishes the wall problem relatively low with the accuracy of non-wall barrier, has reached and has improved machine of sweeping the floor People distinguishes the effect of wall and the accuracy of non-wall barrier.
Those skilled in the art will readily occur to this public affairs after considering specification and putting into practice invention disclosed herein Other embodiments opened.The application is intended to any modification, purposes or the adaptations of the disclosure, These modifications, purposes or adaptations follow the general principle of the disclosure and are not disclosed including the disclosure Common knowledge or conventional techniques in the art.Description and embodiments are considered only as exemplary , the true scope and spirit of the disclosure are pointed out by following claim.
It should be appreciated that the disclosure is not limited to the accurate knot for being described above and being shown in the drawings Structure, and can without departing from the scope carry out various modifications and changes.The scope of the present disclosure is only by appended Claim is limited.

Claims (15)

1. a kind of indoor non-wall barrier determines method, it is characterised in that methods described includes：
When barrier is detected in moving process indoors, retreated along the direction away from the barrier；
It is determined that after retreating sweeping robot and the barrier near the one side of the sweeping robot first away from From；
The direction of the launch of the laser of laser range sensor of the adjustment on the sweeping robot, makes described The value of the angle between the direction of the launch of laser and ground is first angle x, and makes the laser with described first It is in same plane apart from corresponding line segment, the first angle x is more than 0 degree and less than 90 degree；
Using the laser range sensor find range obtaining second distance；
Judge whether first distance is equal to the cosine of the first angle x with the ratio of the second distance Value；
When first distance and the ratio of the second distance are not equal to the cosine value of the first angle x, Determine that the barrier is non-wall barrier.
2. method according to claim 1, it is characterised in that methods described also includes：
When first distance is equal to the cosine value of the first angle x with the ratio of the second distance, edge Continue to retreat in direction away from the barrier；
It is determined that after retreating the sweeping robot and the barrier near the one side of the sweeping robot the Three distances；
Using the laser range sensor find range and obtain the 4th distance；
Judge whether the 3rd distance is equal to the cosine of the first angle x with the ratio of the 4th distance Value；
When the 3rd distance is equal to the cosine value of the first angle x with the ratio of the 4th distance, really The fixed barrier is wall.
3. method according to claim 1, it is characterised in that
It is described to judge whether first distance is equal to the first angle x's with the ratio of the second distance Cosine value, including：
Theory is calculated apart from D according to theoretical distance computing formula, the theoretical distance computing formula is：The d is first distance, and the x is the first angle；
Judge whether the theoretical distance D is equal with the second distance；
When the theoretical distance D is unequal with the second distance, determine first distance with described The ratio of two distances is not equal to the cosine value of the first angle x.
4. according to any described method of claims 1 to 3, it is characterised in that
First distance is the distance for pre-setting, and the first angle x is the angle for pre-setting, described First distance meets preset relation formula with the first angle x：
The d be first distance, the H for indoor wall measurement highly, the H Span be：H-m≤H≤h, the h are the height of the indoor wall, and the m is default survey Amount error.
5. according to any described method of claims 1 to 3, it is characterised in that
It is described determine to retreat after sweeping robot and the barrier near the of the one side of the sweeping robot One distance, including：
It is determined that when detecting the barrier, the 5th distance between the barrier and the sweeping robot；
Determine the backoff time and astern speed of the sweeping robot；
Using the product of the backoff time and the astern speed as backway；
Using the 5th distance and the backway sum as first distance.
6. method according to claim 1, it is characterised in that methods described also includes：
Determine level of the non-wall barrier between the one side and target metope of the sweeping robot Apart from M, the target metope is relative away from the side of the sweeping robot with the non-wall barrier Wall on, positioned at indoor one side；
Determine the horizontal range N between the sweeping robot and the target metope；
Indoor map is drawn according to the horizontal range M and horizontal range N.
7. method according to claim 6, it is characterised in that
It is described to determine the non-wall barrier between the one side and target metope of the sweeping robot Horizontal range M, including：
According to non-wall range formula, one side of the non-wall barrier near the sweeping robot is calculated With the horizontal range M between target metope, the non-wall range formula is：
M=E × cos (x)-d,
The horizontal range N determined between the sweeping robot and the target metope, including：
According to wall range formula, the horizontal range between the sweeping robot and the target metope is calculated N, the wall range formula is：
N=E × cos (x),
Wherein, the E is the second distance, and the d is first distance.
8. a kind of indoor non-wall barrier determining device, it is characterised in that described device includes：
First fallback block, when being configured as detecting barrier in moving process indoors, along away from institute The direction for stating barrier retreats；
First determining module, sweeping robot is swept with the barrier near described after being configured to determine that retrogressing First distance of the one side of floor-washing robot；
Adjusting module, is configured as the laser of laser range sensor of the adjustment on the sweeping robot The direction of the launch, make the value of angle between the direction of the launch of the laser and ground for first angle x, and make The laser is in same plane with described first apart from corresponding line segment, and the first angle x is more than 0 degree And less than 90 degree；
First range finder module, is configured as using the laser range sensor find range obtaining second distance；
First judge module, be configured as judging first distance and the second distance ratio whether etc. In the cosine value of the first angle x；
Second determining module, is configured as first distance and is not equal to institute with the ratio of the second distance When stating the cosine value of first angle x, determine that the barrier is non-wall barrier.
9. device according to claim 8, it is characterised in that described device also includes：
Second fallback block, is configured as first distance with the ratio of the second distance equal to described During the cosine value of first angle x, continue to retreat along the direction away from the barrier；
3rd determining module, the sweeping robot is close to institute with the barrier after being configured to determine that retrogressing State the 3rd distance of the one side of sweeping robot；
Second range finder module, is configured as using the laser range sensor find range obtaining the 4th distance；
Second judge module, be configured as judging the 3rd distance and the 4th distance ratio whether etc. In the cosine value of the first angle x；
4th determining module, is configured as the 3rd distance with the ratio of the 4th distance equal to described During the cosine value of first angle x, determine that the barrier is wall.
10. device according to claim 8, it is characterised in that
First judge module, is configured as：
Theory is calculated apart from D according to theoretical distance computing formula, the theoretical distance computing formula is：The d is first distance, and the x is the first angle；
Judge whether the theoretical distance D is equal with the second distance；
When the theoretical distance D is unequal with the second distance, determine first distance with described The ratio of two distances is not equal to the cosine value of the first angle x.
11. according to any described device of claim 8 to 10, it is characterised in that
First distance is the distance for pre-setting, and the first angle x is the angle for pre-setting, described First distance meets preset relation formula with the first angle x：
The d be first distance, the H for indoor wall measurement highly, the H Span be：H-m≤H≤h, the h are the height of the indoor wall, and the m is default survey Amount error.
12. according to any described device of claim 8 to 10, it is characterised in that
First determining module, is configured as：
It is determined that when detecting the barrier, the 5th distance between the barrier and the sweeping robot；
Determine the backoff time and astern speed of the sweeping robot；
Using the product of the backoff time and the astern speed as backway；
Using the 5th distance and the backway sum as first distance.
13. devices according to claim 8, it is characterised in that described device also includes：
5th determining module, is configured to determine that the non-wall barrier near the one of the sweeping robot Horizontal range M between face and target metope, the target metope is away from institute with the non-wall barrier State on the relative wall in side of sweeping robot, positioned at indoor one side；
6th determining module, is configured to determine that the level between the sweeping robot and the target metope Apart from N；
Drafting module, is configured as drawing indoor map according to the horizontal range M and horizontal range N.
14. devices according to claim 13, it is characterised in that
5th determining module, is configured as：
According to non-wall range formula, one side of the non-wall barrier near the sweeping robot is calculated With the horizontal range M between target metope, the non-wall range formula is：
M=E × cos (x)-d,
6th determining module, is configured as：
According to wall range formula, the horizontal range between the sweeping robot and the target metope is calculated N, the wall range formula is：
N=E × cos (x),
Wherein, the E is the second distance, and the d is first distance.
A kind of 15. indoor non-wall barrier determining devices, it is characterised in that including：
Processor；
Memory for storing the executable instruction of the processor；
Wherein, the processor is configured as：
When barrier is detected in moving process indoors, retreated along the direction away from the barrier；
It is determined that after retreating sweeping robot and the barrier near the one side of the sweeping robot first away from From；
The direction of the launch of the laser of laser range sensor of the adjustment on the sweeping robot, makes described The value of the angle between the direction of the launch of laser and ground is first angle x, and makes the laser with described first It is in same plane apart from corresponding line segment, the first angle x is more than 0 degree and less than 90 degree；
Using the laser range sensor find range obtaining second distance；
Judge whether first distance is equal to the cosine of the first angle x with the ratio of the second distance Value；
When first distance and the ratio of the second distance are not equal to the cosine value of the first angle x, Determine that the barrier is non-wall barrier.
CN201510828506.6A 2015-11-25 2015-11-25 Indoor non-wall barrier determines method and device Pending CN106772421A (en)

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