CN108508885A - A kind of navigation map construction method and device - Google Patents
A kind of navigation map construction method and device Download PDFInfo
- Publication number
- CN108508885A CN108508885A CN201810132784.1A CN201810132784A CN108508885A CN 108508885 A CN108508885 A CN 108508885A CN 201810132784 A CN201810132784 A CN 201810132784A CN 108508885 A CN108508885 A CN 108508885A
- Authority
- CN
- China
- Prior art keywords
- barrier
- scan position
- reflection
- wave
- target area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The present invention provides a kind of navigation map construction methods and device, this method to include：At least two scan positions are determined in target area；For each scan position at least two scan positions, in scan position, into target area, at least one scanning area emits ultrasonic wave, obtains the reflection configuration corresponding to each scanning area respectively according to the back wave of ultrasonic wave；For each reflection configuration, according to the information of wave crest included by reflection configuration, distance relation of each barrier relative to scan position corresponding to reflection configuration in scanning area corresponding to reflection configuration is determined；For each barrier, the distance relation according to barrier relative at least two scan positions determines direction relations of the barrier relative to each scan position；Distance relation and direction relations according to each barrier relative to each scan position, navigation map of the structure corresponding to target area.This programme can improve the structure efficiency of navigation map.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of navigation map construction method and device.
Background technology
With the continuous development and progress of computer technology and sensor technology, can in target area automatic moving
Self-propelled robot is widely used in every field, such as the sweeping robot etc. applied to household cleaning field.Self-propelled
The automatic moving of robot needs the navigation map according to target area where corresponding to it, with avoiding obstacles according to rational
Route automatic moving.
Currently, self-propelled robot can generate the navigation corresponding to target area during mobile in target area
Map.
For the current method for generating navigation map, self-propelled robot using ultrasonic sensor, infrared sensor or
When camera determines the barrier in target area, scanning every time only determines an obstacle nearest apart from self-propelled robot
Object generates navigation map needs and takes multiple scan, and causes navigation map to generate since Multiple-Scan needs consume a longer time
It is less efficient.
Invention content
An embodiment of the present invention provides a kind of navigation map construction method and devices, can improve the structure effect of navigation map
Rate.
In a first aspect, an embodiment of the present invention provides a kind of navigation map construction method, it is applied to self-propelled robot, packet
It includes：
At least two scan positions are determined in target area；
For each scan position at least two scan position, in the scan position to the target area
At least one scanning area emits ultrasonic wave in domain, is obtained respectively corresponding to described in each according to the back wave of the ultrasonic wave
The reflection configuration of scanning area；
The reflection is determined according to the information of wave crest included by the reflection configuration for reflection configuration described in each
Distance of each barrier relative to the scan position corresponding to the reflection configuration in the scanning area corresponding to waveform
Relationship；
For barrier described in each, the distance according to the barrier relative at least two scan positions is closed
System, determines direction relations of the barrier relative to each scan position；
Distance relation and direction relations according to each barrier relative to each scan position, structure correspond to
Navigation map in the target area.
Optionally,
The information according to wave crest included by the reflection configuration determines the scanning area corresponding to the reflection configuration
Distance relation of each barrier relative to the scan position corresponding to the reflection configuration in domain, including：
Remove the blind area interference waveform included by the reflection configuration head zone；
It determines that corresponding reflection wave strength is more than from reflection configuration described in remainder and predefines reflection wave strength threshold value
Each primary peak；
Multipath reflection is removed from each primary peak and interferes wave crest, using primary peak described in remainder as the
Two wave crests；
For secondary peak described in each, the barrier corresponding to the secondary peak is determined by following formula one
With the relative distance between the scan position corresponding to the reflection configuration, wherein the formula one includes：
Wherein, the L characterizes the barrier corresponding to the secondary peak and is swept with described corresponding to the reflection configuration
The relative distance between position is retouched, the v characterizes the velocity of sound, and the t characterizes the appearance of secondary peak described in the reflection configuration
Time.
Optionally,
The distance relation according to the barrier and at least two scan positions determines that the barrier is opposite
In the direction relations of each scan position, including：
The relative distance between the barrier and three difference scan positions is obtained respectively；
According to the coordinate value of three different scanning positions, the coordinate of the barrier is determined by following equation group
Value, wherein the equation group includes：
Wherein, (x, y) characterizes the coordinate value of the barrier, (x1, y1) characterize first in three different scanning positions
The coordinate value of scan position, (x2, y2) coordinate value of the second scan position, (x in characterization three different scanning positions3, y3)
Characterize the coordinate value of third scan position in three different scanning positions, the L1Characterize the barrier and described first
Relative distance between scan position, the L2The relative distance between the barrier and second scan position is characterized,
The L3Characterize the relative distance between the barrier and the third scan position, the Δ L1、ΔL2With Δ L3Characterize
Positioned at the internal constant of default error range；
According to the coordinate value of the coordinate value of the barrier and each scan position, determine that the barrier is relatively each
The direction relations of a scan position.
Optionally,
Determine that corresponding reflection wave strength is strong more than back wave is predefined from reflection configuration described in remainder described
It spends before each primary peak of threshold value, further comprises：
According to intensity, effective detection range and the ultrasonic wave for emitting the ultrasonic wave to the scanning area
Transmitting position relative to plane where the target area height and the fan-shaped scanning area central angle, by as follows
Formula two determines the reflection wave strength threshold value, wherein the formula two includes：
Wherein, the Q0The reflection wave strength threshold value is characterized, the Q, which is characterized to the scanning area, emits described surpass
The intensity of sound wave, the h characterize height of the ultrasonic wave transmitting position relative to plane where the target area, the T
Characterize the effective detection range of the ultrasonic wave, the number of degrees of the central angle of the fan-shaped scanning area of α characterizations.
Optionally,
Before navigation map of the structure corresponding to the target area, further comprise：
For barrier described in each, according to the width of wave crest corresponding to barrier described in each reflection configuration
Degree, respectively determine the barrier on it is opposite with scan position described in each and along the target area place in-plane ruler
The width in very little larger face is put down according to face opposite with each scan position on the barrier where the target area
Width on the direction of face, determine the barrier the target area projection of shape in the plane；
Correspondingly, described to be closed relative to the distance relation of each scan position and direction according to each barrier
System, structure correspond to the navigation map of the target area, including：
According to each barrier relative to the distance relation and direction relations of each scan position and each
The barrier is in the projection of shape where the target area on platform, and structure is with corresponding to the navigation of the target area
Figure.
Second aspect, the embodiment of the present invention additionally provide a kind of navigation map construction device, are applied to self-propelled robot,
Including：Sector scanning unit, apart from processing unit, direction processing unit and map constructing unit；
The sector scanning unit, for determining at least two scan positions in target area, and for described at least
Each scan position in two scan positions, in the scan position into the target area at least one scanning area
Emit ultrasonic wave, obtains the reflection configuration corresponding to each scanning area respectively according to the back wave of the ultrasonic wave；
It is described apart from processing unit, each described reflection configuration for being got for the sector scanning unit,
According to the information of wave crest included by the reflection configuration, each obstacle in the scanning area corresponding to the reflection configuration is determined
Distance relation of the object relative to the scan position corresponding to the reflection configuration；
The direction processing unit, for each determined apart from processing unit barrier, according to institute
Distance relation of the barrier relative at least two scan positions is stated, determines the barrier relative to each scanning
The direction relations of position；
The map constructing unit, for according to it is described determine apart from processing unit and the direction processing unit it is each
Distance relation and direction relations of a barrier relative to each scan position, structure correspond to the target area
Navigation map.
Optionally,
It is described to be executed apart from processing unit for being directed to each described reflection configuration：
Remove the blind area interference waveform included by the reflection configuration head zone；
It determines that corresponding reflection wave strength is more than from reflection configuration described in remainder and predefines reflection wave strength threshold value
Each primary peak；
Multipath reflection is removed from each primary peak and interferes wave crest, using primary peak described in remainder as the
Two wave crests；
For secondary peak described in each, the barrier corresponding to the secondary peak is determined by following formula one
With the relative distance between the scan position corresponding to the reflection configuration, wherein the formula one includes：
Wherein, the L characterizes the barrier corresponding to the secondary peak and is swept with described corresponding to the reflection configuration
The relative distance between position is retouched, the v characterizes the velocity of sound, and the t characterizes the appearance of secondary peak described in the reflection configuration
Time.
Optionally,
The direction processing unit is executed for being directed to each described barrier：
The relative distance between the barrier and three difference scan positions is obtained respectively；
According to the coordinate value of three different scanning positions, the coordinate of the barrier is determined by following equation group
Value, wherein the equation group includes：
Wherein, (x, y) characterizes the coordinate value of the barrier, (x1, y1) characterize first in three different scanning positions
The coordinate value of scan position, (x2, y2) coordinate value of the second scan position, (x in characterization three different scanning positions3, y3)
Characterize the coordinate value of third scan position in three different scanning positions, the L1Characterize the barrier and described first
Relative distance between scan position, the L2The relative distance between the barrier and second scan position is characterized,
The L3Characterize the relative distance between the barrier and the third scan position, the Δ L1、ΔL2With Δ L3Characterize
Positioned at the internal constant of default error range；
According to the coordinate value of the coordinate value of the barrier and each scan position, determine that the barrier is relatively each
The direction relations of a scan position.
Optionally,
The navigation map construction device further comprises：Threshold value generation unit；
The threshold value generation unit, for emitting the ultrasound to the scanning area according to the sector scanning unit
Height of the intensity, effective detection range and ultrasonic wave transmitting position of wave relative to plane where the target area
With the central angle of the fan-shaped scanning area, the reflection wave strength threshold value is determined by following formula two, wherein the formula
Two include：
Wherein, the Q0The reflection wave strength threshold value is characterized, the Q, which is characterized to the scanning area, emits described surpass
The intensity of sound wave, the h characterize height of the ultrasonic wave transmitting position relative to plane where the target area, the T
Characterize the effective detection range of the ultrasonic wave, the number of degrees of the central angle of the fan-shaped scanning area of α characterizations.
Optionally,
The navigation map construction device further comprises：Shape processing unit；
The shape processing unit is obtained for being directed to each described barrier according to the sector scanning unit
The width of wave crest corresponding to barrier described in each reflection configuration, respectively determine the barrier on described in each
Scan position is opposite and along the width in the larger face of in-plane size where the target area, according on the barrier and each
The opposite face of a scan position the target area width in the in-plane direction, determine the barrier described
Target area projection of shape in the plane；
The map constructing unit, for each institute determined apart from processing unit and the direction processing unit
Barrier is stated to determine relative to the distance relation and direction relations of each scan position and the shape processing unit
Each barrier in the projection of shape where the target area on platform, structure being led corresponding to the target area
Navigate map.
Navigation map construction method and device provided in an embodiment of the present invention determine at least two scannings in target area
Behind position, in each scan position, into target area, at least one scanning area emits ultrasonic wave respectively, according to ultrasonic wave
Back wave obtain the reflection configuration combined corresponding to scan position and scanning area, due in same scanning area there may be
Multiple barriers, each barrier respectively reflect ultrasonic wave, therefore same reflection waveform may include to correspond to not
With multiple wave crests of barrier, different reflection configurations may include the wave crest corresponding to same barrier, to according to each
The information of wave crest included by reflection configuration can determine distance of each barrier relative to each scan position in target area
Relationship and direction relations realize the structure of navigation map.Since each reflection configuration can reflect multiple barriers to ultrasound
The reflectance signature of wave is individually scanned without being directed to each barrier, reduces required progress during structure navigation map
The number of scanning shortens the time that scanning process is consumed, so as to improve the structure efficiency of navigation map.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of navigation map construction method provided by one embodiment of the present invention；
Fig. 2 is the flow chart of another navigation map construction method provided by one embodiment of the present invention；
Fig. 3 is the schematic diagram of equipment where a kind of navigation map construction device provided by one embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of navigation map construction device provided by one embodiment of the present invention；
Fig. 5 is the schematic diagram of another navigation map construction device provided by one embodiment of the present invention；
Fig. 6 is the schematic diagram of another navigation map construction device provided by one embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, an embodiment of the present invention provides a kind of navigation map construction method applied to self-propelled robot,
This method may comprise steps of：
Step 101：At least two scan positions are determined in target area；
Step 102：For each scan position at least two scan positions, in scan position into target area
At least one scanning area emits ultrasonic wave, is obtained respectively corresponding to the anti-of each scanning area according to the back wave of ultrasonic wave
Ejected wave shape；
Step 103：Reflection configuration is determined according to the information of wave crest included by reflection configuration for each reflection configuration
Distance relation of each barrier relative to scan position corresponding to reflection configuration in corresponding scanning area；
Step 104：For each barrier, the distance relation according to barrier relative at least two scan positions,
Determine direction relations of the barrier relative to each scan position；
Step 105：Distance relation and direction relations according to each barrier relative to each scan position, structure correspond to
Navigation map in target area.
An embodiment of the present invention provides a kind of navigation map construction methods applied to self-propelled robot, in target area
After at least two scan position of interior determination, at least one scanning area transmitting into target area in each scan position respectively
Ultrasonic wave obtains the reflection configuration combined corresponding to scan position and scanning area according to the back wave of ultrasonic wave, due to same
There may be multiple barriers in scanning area, each barrier respectively reflects ultrasonic wave, therefore same reflection waveform
May include multiple wave crests corresponding to different barriers, different reflection configurations may include corresponding to same barrier
Wave crest, to determine that each barrier is relative to each in target area according to the information of wave crest included by each reflection configuration
The distance relation and direction relations of a scan position, realize the structure of navigation map.Since each reflection configuration can reflect
Multiple barriers individually scan the reflectance signature of ultrasonic wave without being directed to each barrier, reduce structure navigation ground
The number being scanned needed for during figure shortens the time that scanning process is consumed, so as to improve the structure of navigation map
Build efficiency.
Specifically, after self-propelled robot enters target area, self-propelled robot is with its in the target area initial
Position is origin, using the opposite direction of emitting head in its provisioned supersonic generator as X-axis, with target area where plane
It is parallel and with the perpendicular direction of X-axis be Y-axis build plane right-angle coordinate.Later, self-propelled robot according to setting in advance
After fixed travel distance and direction of travel advances to a scan position, self-propelled robot can determine that the scan position exists
Corresponding coordinate value in constructed plane right-angle coordinate, to which self-propelled robot can determine between each scan position
Relative position relation, and the corresponding coordinate value of each scan position is recorded.Self-propelled robot can be according to its wheel
Son size and wheel turnning circle come determine its advance distance, can be according to set gyroscope, gravity sensor
Deng the direction for determining that it is advanced.
For example, self-propelled robot is after building plane right-angle coordinate, it only can be along the positive and negative direction of X-axis and Y-axis
Orthogonal motion is done in positive and negative direction, every time along X-axis positive direction, X-axis negative direction, Y-axis positive direction or Y-axis since coordinate origin
Negative direction moves 30cm, will be determined as a scan position the location of after each movement.In this way, self-propelled robot is by mesh
Mark region division is multiple grids, and each grid is the square that the length of side is equal to 30cm, and self-propelled robot can be by its energy
It gets at each grid reached and is determined as a scan position.
It, can be super to different direction transmittings in the scan position after self-propelled robot reaches each scan position
Sound wave is scanned different scanning areas, each scanning area can pass through the coordinate value of corresponding scan position
It is identified with the direction of transmitting ultrasonic wave, wherein the direction of emitted ultrasonic wave can be determined by direction sensor,
Each scanning area can be distinguished in this way.
Optionally, as shown in Figure 1, step 103 according to the information of wave crest included by reflection configuration determine barrier relative to
When the distance relation of scan position, it can specifically be realized by following process for each reflection configuration got：
A1：By the blind area interference waveform removal included by the reflection wave head zone；
A2：Determine that corresponding reflection wave strength is more than each the of reflection wave strength threshold value from the reflection configuration remainder
One wave crest, wherein reflection wave strength threshold value are predetermined；
A3：Multipath reflection is removed from each primary peak determined and interferes wave crest, by the primary peak of remainder
It is determined as secondary peak；
A4：For each secondary peak determined, obstacle corresponding to the secondary peak is determined by following formula one
Relative distance between scan position corresponding to object and the reflection configuration, wherein formula one include：
Wherein, L characterize between scan position corresponding to barrier and reflection configuration corresponding to the secondary peak it is opposite away from
From v characterizes the velocity of sound, and t characterizes the time that the secondary peak occurs in reflection configuration.
During emitting ultrasonic wave to a scanning area from a target location, since supersonic generator is lateral
Leaky wave will appear the higher continuous wave crest of reflection wave strength by short distance ground return, on the head of obtained reflection configuration,
Reflection configuration can not reflect the reflectance signature of the barrier in supersonic generator immediate area under the interference of lateral leaky wave, i.e.,
For the blind area being scanned to barrier, therefore the continuous wave crest that reflection configuration head occurs is defined as blind area interference waveform.
In order to avoid the formed wave crest of the lateral leaky wave of supersonic generator interferes the analysis of reflection configuration, to reflection configuration into
It needs to remove blind area interference waveform before row analysis.
After barrier in scanning area reflects ultrasonic wave, a wave crest can be formed in reflection configuration,
The formed wave crest of barrier is corresponding with the reflection wave strength of bigger relative to the formed wave crest of other disturbing factors, shows as reflecting
The height of waveform medium wave peak, in addition, from scan position apart from the position of different barriers corresponding wave crest in reflection configuration
Difference, therefore reflection wave strength threshold value can be predefined, barrier is screened from reflection configuration by reflection wave strength threshold value
It is formed by primary peak.
After barrier reflects ultrasonic wave, the portion of ultrasonic sound wave reflected can pass through other one or more barriers
Secondary reflection again can return to ultrasonic receiver, will be formed in reflection configuration at this time multipath reflection interference wave crest, portion
It can be more than reflection wave strength threshold value to divide the reflection wave strength of multipath reflection interference wave crest, it is therefore desirable to will from each primary peak
Multipath reflection interferes wave crest removal, the primary peak of remainder to be only progress barrier individual reflection and be formed by wave crest, will
The primary peak of remainder is determined as secondary peak to determine that barrier is closed relative to the position relationship of scan position and direction
System can ensure the accuracy of constructed navigation map.It specifically, can be according to the actual size of target area, wave crest
The reflection configurations feature such as cyclically-varying of attenuation degree, wave crest removes multipath reflection interference wave crest from each primary peak
It removes.
Ultrasonic wave sends out arrival barrier from supersonic generator, is reflected through barrier and returns to ultrasonic receiver (ultrasound
Wave producer and ultrasonic receiver are integral type integrated morphology), this process ultrasonic wave institute propagation distance is equal to ultrasonic wave
2 times of distance between device place scan position and barrier position, and the second wave corresponding to the barrier in reflection configuration
The time of occurrence at peak is the propagation time of ultrasonic wave, therefore can calculate the barrier by above-mentioned formula one and be sent out with ultrasonic wave
Relative distance between scan position where raw device.
It, can be by the reflection configuration to each in scanning area corresponding to the reflection configuration for each reflection configuration
A barrier is marked.Scan position corresponding to the barrier and each reflection configuration that comprehensive multiple reflection configurations are marked
Distribution situation, it may be determined that go out the barrier corresponding to each secondary peak in each reflection configuration, you can every to determine
One barrier secondary peak corresponding in different reflection configurations.
Optionally, as shown in Figure 1, distance relation of the step 104 according to barrier relative to scan position determines barrier
When direction relations relative to scan position, the barrier phase can be specifically determined by following process for each barrier
For the direction relations of each scan position：
B1：According to three reflection configurations for including secondary peak corresponding to the barrier, these three back waves are determined
Relative distance between scan position corresponding to shape and the barrier, wherein three scan positions determined are different；
B2：It is true by following equation group according to coordinate value of three scan positions determined in created coordinate system
The coordinate value of the fixed barrier, wherein equation group includes：
Wherein, (x, y) characterizes the coordinate value of the barrier, (x1, y1) characterize the first scanning position in three different scanning positions
The coordinate value set, (x2, y2) characterization three different scanning positions in the second scan position coordinate value, (x3, y3) characterization three is not
With the coordinate value of third scan position in scan position, L1Characterize the relative distance between the barrier and the first scan position, L2
Characterize the relative distance between the barrier and the second scan position, L3Characterize the phase between the barrier and third scan position
It adjusts the distance, Δ L1、ΔL2With Δ L3Characterization is located at the internal constant of default error range；
B3：According to the coordinate value of the coordinate value of the barrier and each scan position, determine the barrier relative to each
The direction relations of scan position.
All include the secondary peak corresponding to the barrier for each barrier, in multiple reflection configurations, from packet
It includes and determines three reflection configurations in multiple reflection configurations of secondary peak corresponding to the barrier, and ensure three determined instead
Scan position corresponding to ejected wave shape is different, then by the processing step of above-described embodiment A1 to A3, determines these three respectively
Relative distance between scan position corresponding to reflection configuration and the barrier.
It is pre-created coordinate system, the coordinate value of each scan position in the coordinate system is may thereby determine that out, according to step
The coordinate value for three relative distances between scan position and barrier and these three scan positions that rapid B1 is determined, passes through
Above-mentioned equation group can calculate the coordinate value of the barrier in the coordinate system.It should be noted that in different scanning position
Transmitting ultrasonic waveform determines phase of the barrier relative to each scan position at reflection configuration, and according to formed reflection configuration
When adjusting the distance, each relative distance determined can have certain error, in order to guarantee according to three scan positions
Relative distance between coordinate value and these three scan positions and barrier finds out the coordinate value of the barrier, in above-mentioned equation group
Middle introducing Δ L1、ΔL2With Δ L3Three relocation constants, these three relocation constants can under the premise of ensureing that above-mentioned equation group has solution
To change in the error range of setting, for example error range is 0~10cm.
In the same coordinate system, after obtaining the coordinate value in each barrier coordinate system, exist in conjunction with each scan position
Coordinate value in the coordinate system, it may be determined that go out the relative angle of each barrier and each scan position.In this way, defining
Relative distance between each barrier and each scan position and relative angle define each barrier in target area
Distribution situation in domain, so as to build the navigation map for corresponding to target area.
Optionally, before above-described embodiment step A2, it is thus necessary to determine that reflection wave strength threshold value, it specifically can be according to sweeping
The transmitting position of the intensity of the emitted ultrasonic wave in region, effective detection range and ultrasonic wave is retouched relative to where target area
The central angle of the height and sectoring region of plane determines reflection wave strength threshold value, wherein formula two by following formula two
Including：
Wherein, Q0Reflection wave strength threshold value is characterized, Q characterizes the intensity to the emitted ultrasonic wave of scanning area, h characterization ultrasounds
Wave emits height of the position relative to plane where target area, and T characterizes the effective detection range of ultrasonic wave, and α characterization sectors are swept
Retouch the number of degrees of the central angle in region.
The intensity of the emitted ultrasonic wave of supersonic generator is bigger, then reflection is formed by after ultrasonic wave is reflected by barrier
The intensity of wave is also bigger, thus to the intensity of the emitted ultrasonic wave of scanning area need as determination reflection wave strength threshold value one
A reference factor.The position for emitting ultrasonic wave is higher relative to the height of plane where target location, the smaller barrier pair of height
The reflecting surface of ultrasonic wave is opposite to be reduced, and the intensity of back wave can be caused to reduce, it is therefore desirable to which the position for emitting ultrasonic wave is opposite
The height of plane is as a reference factor for determining reflection wave strength threshold value where target area.Effective detection of ultrasonic wave
The strength retrogression of the bigger back wave of distance is more serious, it is therefore desirable to which the effective detection range of emitted ultrasonic wave is anti-as determining
One reference factor of ejected wave intensity threshold.Supersonic generator is when emitting ultrasonic wave, from launch point with diffusion type to scanning
Field emission ultrasonic wave, i.e. scanning area are sector, and the angle of sectoring region central angle is bigger, the intensity dispersion of ultrasonic wave
Property it is stronger, the intensity of the formed back wave of unit area barrier is smaller, it is therefore desirable to make the central angle in sectoring region
To determine a reference factor of reflection wave strength threshold value.
Emit position relative to plane where target area according to the intensity to the emitted ultrasonic wave of scanning area, ultrasonic wave
Height, the effective detection range of emitted ultrasonic wave and the central angle in sectoring region, determined by above-mentioned formula two
Go out suitable reflection wave strength threshold value, guarantees corresponding to barrier through reflection wave strength threshold value from reflection configuration
One wave crest is determined, while it is primary peak to prevent that other disturbing factors are formed by wave crest and are accidentally screened, and guarantees root
The barrier in target area is accurately determined according to reflection configuration, promotes the accuracy of constructed navigation map.
Optionally, as shown in Figure 1, distance relation in step 105 according to each barrier relative to each scan position
Before corresponding to the navigation map of target area with direction relations structure, it can also determine each barrier where target area
Projection of shape in plane, detailed process are as follows：
It is determined respectively according to the width of wave crest corresponding to the barrier in each reflection configuration for each barrier
Width opposite with each scan position and the larger face of in-plane size where the target area, Jin Erke on the barrier
With according to face opposite with each scan position on the barrier target area width in the plane, may thereby determine that
The barrier target area projection of shape in the plane.
Correspondingly, determine each barrier in target area after projection of shape in the plane, corresponded in structure
When the navigation map of target area, in addition to being closed relative to the distance relation of each scan position and direction according to each barrier
System is outer, can also according to each barrier target area projection of shape in the plane.The navigation gone out constructed by this way
Figure, can not only embody distribution situation of each barrier in target area, additionally it is possible to experience each barrier shape feature
And size characteristic, when self-propelled robot moves according to the navigation map can more rational programming movement route, have
Imitate the generation avoided collision so that movement line is more reasonable.
For a barrier and a scan position, the barrier and the perpendicular plane of the scan position line are determined
(plane is vertical with plane where target area), projected area of the barrier in this plane is bigger, then the barrier
Bigger to the reflective surface area from the emitted ultrasonic wave of the scan position, the duration of back wave is longer, in corresponding reflection configuration
In wave crest corresponding to the barrier width it is bigger.Therefore, barrier can be determined according to the width of wave crest corresponding to barrier
Target area width in the plane, to combine the wave crest in barrier reflection configuration corresponding to different scanning position
Width, it may be determined that the barrier target area projection of shape in the plane.
Below by taking the navigation map for building sweeping robot as an example, to navigation map provided in an embodiment of the present invention structure side
Method is described in further details, as shown in Fig. 2, this method may comprise steps of：
Step 201：Multiple scan positions are determined in target area.
In embodiments of the present invention, using a room as target area, sweeping robot, which needs to build, corresponds to the room
Between navigation map, which, using present position as origin grid, is multiple etc. by sweeping robot
Big grid, sweeping robot move between the grid of not barrier, each lattice that sweeping robot can be reached
Grid are determined as a scan position.
Step 202：Emit ultrasonic wave at least one of target area scanning area in each scan position, and connects
Receive back wave.
In embodiments of the present invention, sweeping robot often reaches a scan position, the scan position with diffusion type to
At least one direction emits ultrasonic wave, i.e., at least one sectoring field emission ultrasonic wave, the ultrasonic wave emitted is by position
Back wave is formed after the barrier reflection in respective scan area, sweeping robot receives each barrier and is formed by reflection
Wave.
For example, sweeping robot is in each scan position, the perpendicular bisector along square grid four edges is to grid outskirt
Domain emits ultrasonic wave, i.e., each scan position corresponds to 4 sectoring regions.
Step 203：According to the back wave received, the back wave combined corresponding to scan position and scanning area is obtained
Shape.
In embodiments of the present invention, for each scan position, sweeping robot is swept in the scan position to each
After retouching field emission ultrasonic wave, is obtained according to received back wave and correspond to the scan position and scanning area combination
Reflection configuration.
For example, target area is divided into 100 grids, the grid that wherein sweeping robot can reach by sweeping robot
Total to have 60, that is, amounting to has 60 scan positions, emits 4 ultrasonic waves in each scan position, emits ultrasonic wave every time
A reflection configuration is obtained afterwards, it is total to obtain 240 reflection configurations.
Step 204：The relative distance between barrier and corresponding scan position is determined according to reflection configuration.
In embodiments of the present invention, for each reflection configuration, the blind area interference waveform on the reflection configuration head is gone
After removing, determine that corresponding reflection wave strength is more than the primary peak of reflection wave strength threshold value from remainder waveform, from first
Multipath reflection interference wave crest is removed in wave crest obtains secondary peak, for each secondary peak that the reflection configuration includes,
The secondary peak corresponds to a barrier and is counted by formula one according to time of occurrence of the secondary peak in the reflection configuration
Calculate the relative distance between scan position corresponding to barrier and the reflection configuration corresponding to the secondary peak.Wherein formula one
Including：
Wherein, L characterizes the relative distance between scan position corresponding to barrier and reflection configuration corresponding to secondary peak,
V characterizes the velocity of sound, and t characterizes the time that secondary peak occurs in reflection configuration.
May include the secondary peak corresponding to same barrier in different reflection configurations, according to each reflection configuration, institute is right
Answer the distribution situation of scan position and the wave crest information of each reflection configuration, it may be determined that go out same barrier in different back waves
Corresponding secondary peak in shape.
For example, 3 secondary peaks are determined from the reflection configuration A1 corresponding to scan position A and scanning area 1, according to
The distribution of scan position corresponding to each reflection configuration and the wave crest information of each reflection configuration, are determined in 3 secondary peaks
Secondary peak 1, secondary peak 2 and secondary peak 3 correspond respectively to barrier 1, barrier 2 and obstacle in scanning area 1
Object 3.And then according to the time of occurrence of three secondary peaks in reflection configuration A1, barrier is calculated separately out by above-mentioned formula one
1, the relative distance between barrier 2 and barrier 3 and scan position A.
Step 205：According to the coordinate value of relative distance and scan position between barrier and scan position, obstacle is determined
The coordinate value of object.
In embodiments of the present invention, for each barrier, the phase between the barrier and scan position is being determined
After adjusting the distance, it includes 3 of secondary peak corresponding to the barrier that corresponding reflection configuration is selected from each scan position
A scan position, according to the relative distance between the coordinate value and the barrier and these three scan positions of this 3 scan positions,
The coordinate value of the barrier is calculated by following equation group：
Wherein, (x, y) characterizes the coordinate value of the barrier, (x1, y1) characterize the first scanning position in three different scanning positions
The coordinate value set, (x2, y2) characterization three different scanning positions in the second scan position coordinate value, (x3, y3) characterization three is not
With the coordinate value of third scan position in scan position, L1Characterize the relative distance between the barrier and the first scan position, L2
Characterize the relative distance between the barrier and the second scan position, L3Characterize the phase between the barrier and third scan position
It adjusts the distance, Δ L1、ΔL2With Δ L3Characterization is located at the internal constant of default error range.
For example, in scan position A, scan position B and the corresponding reflection configuration A1 of scan position C, reflection configuration B1
With include 1 corresponding second waveform of barrier in reflection configuration C1, then by scan position A, scan position B and scan position
Relative distance between the coordinate value and barrier 1 and scan position A of C, scan position B and scan position C substitutes into above-mentioned side
Journey group calculates the coordinate value of acquired disturbance object 1.
Step 206：According to the coordinate value of barrier, the relative direction of barrier and each scan position is determined.
In embodiments of the present invention, after the coordinate value for obtaining each barrier, in conjunction with each scanning in the same coordinate system
The coordinate value of position obtains the relative direction of each barrier and each scan position respectively.
Step 207：According to the width of barrier corresponding secondary peak in different reflection configurations, determine barrier in mesh
Mark region shape project in the plane.
In embodiments of the present invention, for each barrier determined, according to secondary peak corresponding to the barrier
Width in each reflection configuration determines the width of the barrier and each scan position opposite face, in conjunction with each scanning position
Set and the relative position relation of the barrier, determine the barrier target area projection of shape in the plane.
For example, barrier 1 corresponds to secondary peak in 10 reflection configurations, according to barrier in this 10 reflection configurations
Opposite position corresponding to the width of secondary peak corresponding to 1 and this 10 reflection configurations between scan position and the barrier
Set relationship, determine barrier 1 target area projection of shape in the plane be to occupy the square of 4 grids.
Step 208：According to the relative distance and relative direction and each between each barrier and each scan position
Barrier target area projection of shape in the plane, navigation map of the structure corresponding to target area.
In embodiments of the present invention, the barrier determined includes the wall in room corresponding to target area, according to each
The relative distance and relative direction of a barrier and each scan position determine distribution feelings of each barrier in target area
Condition, according to each barrier target area projection of shape in the plane determine shape of each barrier on navigation map
Shape and shared size, complete the structure of navigation map.
As shown in Figure 3, Figure 4, an embodiment of the present invention provides a kind of navigation map construction devices.Device embodiment can lead to
Software realization is crossed, can also be realized by way of hardware or software and hardware combining.For hardware view, as shown in figure 3, being
A kind of hardware structure diagram of equipment where navigation map construction device provided in an embodiment of the present invention, in addition to processing shown in Fig. 3
Except device, memory, network interface and nonvolatile memory, the equipment in embodiment where device usually can also include
Other hardware, such as it is responsible for the forwarding chip of processing message.For implemented in software, as shown in figure 4, anticipating as a logic
Device in justice is to be read corresponding computer program instructions in nonvolatile memory by the CPU of equipment where it
Operation is formed in memory.Navigation map construction device provided in this embodiment, including：Sector scanning unit 401, distance processing
Unit 402, direction processing unit 403 and map constructing unit 404；
Sector scanning unit 401 for determining at least two scan positions in target area, and is swept at least two
Each scan position in position is retouched, at least one scanning area emits ultrasonic wave, root into target area in scan position
Obtain the reflection configuration corresponding to each scanning area respectively according to the back wave of ultrasonic wave；
Apart from processing unit 402, each reflection configuration for being got for sector scanning unit 401, according to anti-
The information of wave crest included by ejected wave shape determines that each barrier is relative to reflection configuration institute in scanning area corresponding to reflection configuration
The distance relation of corresponding scan position；
Direction processing unit 403, each barrier for being determined apart from processing unit 402, according to barrier phase
For the distance relation of at least two scan positions, direction relations of the barrier relative to each scan position are determined；
Map constructing unit 404, for each according to being determined apart from processing unit 402 and direction processing unit 403
Distance relation and direction relations of the barrier relative to each scan position, navigation map of the structure corresponding to target area.
Optionally, as shown in figure 4,
It is executed apart from processing unit 402 for being directed to each reflection configuration：
Remove the blind area interference waveform included by reflection configuration head zone；
It determines that corresponding reflection wave strength is more than from remainder reflection configuration and predefines each of reflection wave strength threshold value
A primary peak；
Multipath reflection is removed from each primary peak and interferes wave crest, using remainder primary peak as secondary peak；
For each secondary peak, barrier and reflection configuration institute corresponding to secondary peak are determined by following formula one
Relative distance between corresponding scan position, wherein formula one includes：
Wherein, L characterizes the relative distance between scan position corresponding to barrier and reflection configuration corresponding to secondary peak,
V characterizes the velocity of sound, and t characterizes the time that secondary peak occurs in reflection configuration.
Optionally, as shown in figure 4,
Direction processing unit 403 is executed for being directed to each barrier：
The relative distance between barrier and three different scanning positions is obtained respectively；
According to the coordinate value of three different scanning positions, the coordinate value of barrier is determined by following equation group, wherein side
Journey group includes：
Wherein, (x, y) characterizes the coordinate value of barrier, (x1, y1) characterize the first scan position in three different scanning positions
Coordinate value, (x2, y2) characterization three different scanning positions in the second scan position coordinate value, (x3, y3) three differences of characterization
The coordinate value of third scan position, L in scan position1Characterize the relative distance between barrier and the first scan position, L2Characterization
Relative distance between barrier and the second scan position, L3The relative distance between barrier and third scan position is characterized,
ΔL1、ΔL2With Δ L3Characterization is located at the internal constant of default error range；
According to the coordinate value of the coordinate value of barrier and each scan position, the relatively each scan position of barrier is determined
Direction relations.
Optionally, on the basis of navigation map construction device shown in Fig. 4, as shown in figure 5, the navigation map construction device
It may further include：Threshold value generation unit 405；
Threshold value generation unit 405, for according to intensity from sector scanning unit 401 to the emitted ultrasonic wave of scanning area,
The circle of effective detection range and ultrasonic wave transmitting position relative to the height and sectoring region of plane where target area
Heart angle passes through following formula two and determines reflection wave strength threshold value, wherein formula two includes：
Wherein, Q0Reflection wave strength threshold value is characterized, Q characterizes the intensity to the emitted ultrasonic wave of scanning area, h characterization ultrasounds
Wave emits height of the position relative to plane where target area, and T characterizes the effective detection range of ultrasonic wave, and α characterization sectors are swept
Retouch the number of degrees of the central angle in region.
Optionally, on the basis of navigation map construction device shown in Fig. 4, as shown in fig. 6, the navigation map construction device
Can also include：Shape processing unit 406；
Shape processing unit 406 obtains each anti-for being directed to each barrier according to sector scanning unit 401
The width of wave crest corresponding to barrier in ejected wave shape determines opposite with each scan position and along target area on barrier respectively
The width in the larger face of in-plane size where domain, according to face opposite with each scan position on barrier in target area institute
Width in the in-plane direction, determine barrier target area projection of shape in the plane；
Map constructing unit 404, each obstacle for being determined apart from processing unit 402 and direction processing unit 403
Each obstacle that object is determined relative to the distance relation and direction relations and shape processing unit 406 of each scan position
Object is in the projection of shape where target area on platform, navigation map of the structure corresponding to target area.
The contents such as the information exchange between each unit, implementation procedure in above-mentioned apparatus, due to implementing with the method for the present invention
Example is based on same design, and particular content can be found in the narration in the method for the present invention embodiment, and details are not described herein again.
The embodiment of the present invention additionally provides a kind of readable medium, including executes instruction, when the processor of storage control is held
When being executed instruction described in row, the storage control executes the navigation map construction method that above-mentioned each embodiment provides.
The embodiment of the present invention additionally provides a kind of storage control, including：Processor, memory and bus；
The memory is executed instruction for storing, and the processor is connect with the memory by the bus, when
When the storage control operation, the processor executes the described of memory storage and executes instruction, so that the storage
Controller executes the navigation map construction method that above-mentioned each embodiment provides.
In conclusion navigation map construction method and device that each embodiment of the present invention provides, at least have has as follows
Beneficial effect：
1, in embodiments of the present invention, it after determining at least two scan positions in target area, sweeps respectively at each
Position at least one scanning area transmitting ultrasonic wave into target area is retouched, is obtained according to the back wave of ultrasonic wave and corresponds to scanning
The reflection configuration of position and scanning area combination, since there may be multiple barriers, each barriers in same scanning area
Ultrasonic wave is reflected respectively, therefore same reflection waveform may include multiple wave crests corresponding to different barriers, no
May include the wave crest corresponding to same barrier with reflection configuration, to according to the letter of wave crest included by each reflection configuration
Breath can determine distance relation and direction relations of each barrier relative to each scan position in target area, realize navigation
The structure of map.Since each reflection configuration can reflect reflectance signature of multiple barriers to ultrasonic wave, without for every
One barrier is individually scanned, and is reduced the required number being scanned during structure navigation map, is shortened scanning process
The time consumed, so as to improve the structure efficiency of navigation map.
2, in embodiments of the present invention, after getting reflection configuration, wave will be interfered positioned at the blind area on reflection configuration head
Primary peak is determined after shape removal, and removes multipath reflection interference wave crest from primary peak and obtains secondary peak, passes through second
Wave crest determines distance relation and direction relations of the barrier relative to scan position, ensures the accurate of constructed navigation map
Property.
3, in embodiments of the present invention, position phase is emitted according to the intensity to the emitted ultrasonic wave of scanning area, ultrasonic wave
For height, the effective detection range of emitted ultrasonic wave and the center of circle in sectoring region of plane where target area
Suitable reflection wave strength threshold value is determined in angle by above-mentioned formula two, guarantees through reflection wave strength threshold value from reflection
Waveform determines the primary peak corresponding to barrier, while preventing from other disturbing factors being formed by wave crest accidentally screening
For primary peak, guarantee accurately to determine the barrier in target area according to reflection configuration, promotes constructed navigation ground
The accuracy of figure.
4, in embodiments of the present invention, correspondingly, determine each barrier target area throwing in the plane
After shadow shape, structure corresponding to target area navigation map when, in addition to according to each barrier relative to each scanning position
Outside the distance relation and direction relations set, can also according to each barrier target area projection of shape in the plane.
The navigation map gone out constructed by this way, can not only embody distribution situation of each barrier in target area, additionally it is possible to body
Each barrier shape feature and size characteristic are tested, it can more adduction when self-propelled robot moves according to the navigation map
The programming movement route of reason, the generation effectively avoided collision so that movement line is more reasonable.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment including a series of elements includes not only those elements,
But also include other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including
There is also other identical factors in the process, method, article or equipment of the element.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
In the various media that can store program code such as disk.
Finally, it should be noted that：The foregoing is merely presently preferred embodiments of the present invention, is merely to illustrate the skill of the present invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of navigation map construction method is applied to self-propelled robot, which is characterized in that including：
At least two scan positions are determined in target area；
For each scan position at least two scan position, in the scan position into the target area
At least one scanning area emits ultrasonic wave, is obtained respectively according to the back wave of the ultrasonic wave and corresponds to each described scanning
The reflection configuration in region；
The reflection configuration is determined according to the information of wave crest included by the reflection configuration for reflection configuration described in each
Distance relation of each barrier relative to the scan position corresponding to the reflection configuration in the corresponding scanning area；
For barrier described in each, the distance relation according to the barrier relative at least two scan positions,
Determine direction relations of the barrier relative to each scan position；
Distance relation and direction relations according to each barrier relative to each scan position, structure correspond to institute
State the navigation map of target area.
2. according to the method described in claim 1, it is characterized in that, the letter according to wave crest included by the reflection configuration
Breath determines that each barrier is relative to described corresponding to the reflection configuration in the scanning area corresponding to the reflection configuration
The distance relation of scan position, including：
Remove the blind area interference waveform included by the reflection configuration head zone；
It determines that corresponding reflection wave strength is more than from reflection configuration described in remainder and predefines each of reflection wave strength threshold value
A primary peak；
Multipath reflection is removed from each primary peak and interferes wave crest, using primary peak described in remainder as the second wave
Peak；
For secondary peak described in each, the barrier and institute corresponding to the secondary peak are determined by following formula one
State the relative distance between the scan position corresponding to reflection configuration, wherein the formula one includes：
Wherein, the L characterizes the barrier corresponding to the secondary peak and the scanning position corresponding to the reflection configuration
Relative distance between setting, the v characterize the velocity of sound, and the t characterizes the time of the appearance of secondary peak described in the reflection configuration.
3. according to the method described in claim 2, it is characterized in that, described according to the barrier and at least two scannings
The distance relation of position determines direction relations of the barrier relative to each scan position, including：
The relative distance between the barrier and three difference scan positions is obtained respectively；
According to the coordinate value of three different scanning positions, the coordinate value of the barrier is determined by following equation group,
In, the equation group includes：
Wherein, (x, y) characterizes the coordinate value of the barrier, (x1, y1) characterize the first scanning in three different scanning positions
The coordinate value of position, (x2, y2) coordinate value of the second scan position, (x in characterization three different scanning positions3, y3) characterization
The coordinate value of third scan position, the L in three different scanning positions1The barrier is characterized to scan with described first
Relative distance between position, the L2Characterize the relative distance between the barrier and second scan position, the L3
Characterize the relative distance between the barrier and the third scan position, the Δ L1、ΔL2With Δ L3Characterization is located at pre-
If the internal constant of error range；
According to the coordinate value of the coordinate value of the barrier and each scan position, the relatively each institute of the barrier is determined
State the direction relations of scan position.
4. according to the method described in claim 2, it is characterized in that, described determining pair from reflection configuration described in remainder
It answers reflection wave strength to be more than before each primary peak for predefining reflection wave strength threshold value, further comprises：
According to emitting the intensity of the ultrasonic wave, the hair of effective detection range and the ultrasonic wave to the scanning area
Central angle of the position relative to the height of plane where the target area and the fan-shaped scanning area is penetrated, following formula is passed through
Two determine the reflection wave strength threshold values, wherein the formula two includes：
Wherein, the Q0The reflection wave strength threshold value is characterized, the Q, which is characterized to the scanning area, emits the ultrasonic wave
Intensity, the h characterizes height of the ultrasonic wave transmitting position relative to plane where the target area, the T characterizations
The effective detection range of the ultrasonic wave, the number of degrees of the central angle of the fan-shaped scanning area of α characterizations.
5. according to any method in Claims 1-4, which is characterized in that
Before navigation map of the structure corresponding to the target area, further comprise：
Divided according to the width of wave crest corresponding to barrier described in each reflection configuration for barrier described in each
Not Que Ding it is opposite with scan position described in each on the barrier and along in-plane size where the target area compared with
The width in big face, according to face opposite with each scan position on the barrier in plane side where the target area
Upward width, determine the barrier the target area projection of shape in the plane；
The distance relation and direction relations according to each barrier relative to each scan position, structure correspond to
Navigation map in the target area, including：
According to each barrier relative to the distance relation and direction relations of each scan position and each described
Barrier is in the projection of shape where the target area on platform, navigation map of the structure corresponding to the target area.
6. a kind of navigation map construction device is applied to self-propelled robot, which is characterized in that including：Sector scanning unit, away from
From processing unit, direction processing unit and map constructing unit；
The sector scanning unit for determining at least two scan positions in target area, and is directed to described at least two
Each scan position in scan position, at least one scanning area transmitting into the target area in the scan position
Ultrasonic wave obtains the reflection configuration corresponding to each scanning area according to the back wave of the ultrasonic wave respectively；
It is described apart from processing unit, each described reflection configuration for being got for the sector scanning unit, according to
The information of wave crest included by the reflection configuration determines each barrier phase in the scanning area corresponding to the reflection configuration
For the distance relation of the scan position corresponding to the reflection configuration；
The direction processing unit, for each determined apart from processing unit barrier, according to the barrier
Hinder object relative to the distance relation of at least two scan positions, determines the barrier relative to each scan position
Direction relations；
The map constructing unit, for according to each institute determined apart from processing unit and the direction processing unit
Distance relation and direction relations of the barrier relative to each scan position are stated, structure is led corresponding to the target area
Navigate map.
7. device according to claim 6, which is characterized in that
It is described to be executed apart from processing unit for being directed to each described reflection configuration：
Remove the blind area interference waveform included by the reflection configuration head zone；
It determines that corresponding reflection wave strength is more than from reflection configuration described in remainder and predefines each of reflection wave strength threshold value
A primary peak；
Multipath reflection is removed from each primary peak and interferes wave crest, using primary peak described in remainder as the second wave
Peak；
For secondary peak described in each, the barrier and institute corresponding to the secondary peak are determined by following formula one
State the relative distance between the scan position corresponding to reflection configuration, wherein the formula one includes：
Wherein, the L characterizes the barrier corresponding to the secondary peak and the scanning position corresponding to the reflection configuration
Relative distance between setting, the v characterize the velocity of sound, and the t characterizes the time of the appearance of secondary peak described in the reflection configuration.
8. device according to claim 7, which is characterized in that
The direction processing unit is executed for being directed to each described barrier：
The relative distance between the barrier and three difference scan positions is obtained respectively；
According to the coordinate value of three different scanning positions, the coordinate value of the barrier is determined by following equation group,
In, the equation group includes：
Wherein, (x, y) characterizes the coordinate value of the barrier, (x1, y1) characterize the first scanning in three different scanning positions
The coordinate value of position, (x2, y2) coordinate value of the second scan position, (x in characterization three different scanning positions3, y3) characterization
The coordinate value of third scan position, the L in three different scanning positions1The barrier is characterized to scan with described first
Relative distance between position, the L2Characterize the relative distance between the barrier and second scan position, the L3
Characterize the relative distance between the barrier and the third scan position, the Δ L1、ΔL2With Δ L3Characterization is located at pre-
If the internal constant of error range；
According to the coordinate value of the coordinate value of the barrier and each scan position, the relatively each institute of the barrier is determined
State the direction relations of scan position.
9. device according to claim 7, which is characterized in that further comprise：Threshold value generation unit；
The threshold value generation unit, for emitting the ultrasonic wave to the scanning area according to the sector scanning unit
The height and fan of intensity, effective detection range and ultrasonic wave transmitting position relative to plane where the target area
The central angle of scanning area described in shape determines the reflection wave strength threshold value by following formula two, wherein the formula two wraps
It includes：
Wherein, the Q0The reflection wave strength threshold value is characterized, the Q, which is characterized to the scanning area, emits the ultrasonic wave
Intensity, the h characterizes height of the ultrasonic wave transmitting position relative to plane where the target area, the T characterizations
The effective detection range of the ultrasonic wave, the number of degrees of the central angle of the fan-shaped scanning area of α characterizations.
10. according to any device in claim 6 to 9, which is characterized in that further comprise：Shape processing unit；
The shape processing unit obtains each for being directed to each described barrier according to the sector scanning unit
The width of wave crest corresponding to barrier described in the reflection configuration, respectively determine the barrier on scanning described in each
Position is opposite and along the width in the larger face of in-plane size where the target area, according on the barrier with each institute
State the opposite face of scan position the target area width in the in-plane direction, determine the barrier in the target
Region projection of shape in the plane；
The map constructing unit, for each barrier determined apart from processing unit and the direction processing unit
Object is hindered to be determined relative to the distance relation and direction relations of each scan position and the shape processing unit each
A barrier is in the projection of shape where the target area on platform, and structure is with corresponding to the navigation of the target area
Figure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810132784.1A CN108508885B (en) | 2018-02-09 | 2018-02-09 | Navigation map construction method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810132784.1A CN108508885B (en) | 2018-02-09 | 2018-02-09 | Navigation map construction method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108508885A true CN108508885A (en) | 2018-09-07 |
| CN108508885B CN108508885B (en) | 2021-03-23 |
Family
ID=63374639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810132784.1A Active CN108508885B (en) | 2018-02-09 | 2018-02-09 | Navigation map construction method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108508885B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109432568A (en) * | 2018-10-24 | 2019-03-08 | Oppo广东移动通信有限公司 | A kind of method, apparatus of assisting sleep, storage medium and terminal |
| CN111443699A (en) * | 2018-12-28 | 2020-07-24 | 深圳市优必选科技有限公司 | Positioning drift detection method and device and robot |
| CN112767476A (en) * | 2020-12-08 | 2021-05-07 | 中国科学院深圳先进技术研究院 | Rapid positioning system, method and application |
| CN113440054A (en) * | 2021-06-30 | 2021-09-28 | 北京小狗吸尘器集团股份有限公司 | Method and device for determining range of charging base of sweeping robot |
| CN114898640A (en) * | 2022-03-23 | 2022-08-12 | 合肥嘉石科普服务有限公司 | Method, system and device for displaying wave diffraction phenomenon |
| CN112767476B (en) * | 2020-12-08 | 2024-04-26 | 中国科学院深圳先进技术研究院 | Rapid positioning system, method and application |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58221111A (en) * | 1982-06-16 | 1983-12-22 | Aisin Seiki Co Ltd | Display for position on vehicle |
| EP0297811A2 (en) * | 1987-06-27 | 1989-01-04 | Shinko Electric Co. Ltd. | Control systems for self-contained unmanned vehicles |
| CN101101203A (en) * | 2006-07-05 | 2008-01-09 | 三星电子株式会社 | Apparatus, method, medium and mobile robot using characteristic point for dividing area |
| CN101619985A (en) * | 2009-08-06 | 2010-01-06 | 上海交通大学 | Service robot autonomous navigation method based on deformable topological map |
| CN102890507A (en) * | 2011-07-21 | 2013-01-23 | 鸿奇机器人股份有限公司 | Self-walking robot, cleaning robot and positioning method thereof |
| CN104731101A (en) * | 2015-04-10 | 2015-06-24 | 河海大学常州校区 | Indoor scene map modeling method of cleaning robot and robot |
| CN104899855A (en) * | 2014-03-06 | 2015-09-09 | 株式会社日立制作所 | Three-dimensional obstacle detection method and apparatus |
| CN105115498A (en) * | 2015-09-30 | 2015-12-02 | 长沙开山斧智能科技有限公司 | Robot location navigation system and navigation method |
| CN105629970A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot positioning obstacle-avoiding method based on supersonic wave |
| CN106781685A (en) * | 2017-03-06 | 2017-05-31 | 苏州悦驻智能科技有限公司 | A kind of city intelligent shutdown system that robot is managed based on parking garage |
| CN107390203A (en) * | 2016-05-16 | 2017-11-24 | 杭州海康机器人技术有限公司 | A kind of ultrasonic ranging method, apparatus and system |
| CN107462892A (en) * | 2017-07-28 | 2017-12-12 | 深圳普思英察科技有限公司 | Mobile robot synchronous superposition method based on more sonacs |
| CN107662607A (en) * | 2016-07-27 | 2018-02-06 | 夏普株式会社 | Autonomous mobile devices |
-
2018
- 2018-02-09 CN CN201810132784.1A patent/CN108508885B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58221111A (en) * | 1982-06-16 | 1983-12-22 | Aisin Seiki Co Ltd | Display for position on vehicle |
| EP0297811A2 (en) * | 1987-06-27 | 1989-01-04 | Shinko Electric Co. Ltd. | Control systems for self-contained unmanned vehicles |
| CN101101203A (en) * | 2006-07-05 | 2008-01-09 | 三星电子株式会社 | Apparatus, method, medium and mobile robot using characteristic point for dividing area |
| CN101619985A (en) * | 2009-08-06 | 2010-01-06 | 上海交通大学 | Service robot autonomous navigation method based on deformable topological map |
| CN102890507A (en) * | 2011-07-21 | 2013-01-23 | 鸿奇机器人股份有限公司 | Self-walking robot, cleaning robot and positioning method thereof |
| CN104899855A (en) * | 2014-03-06 | 2015-09-09 | 株式会社日立制作所 | Three-dimensional obstacle detection method and apparatus |
| CN105629970A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot positioning obstacle-avoiding method based on supersonic wave |
| CN104731101A (en) * | 2015-04-10 | 2015-06-24 | 河海大学常州校区 | Indoor scene map modeling method of cleaning robot and robot |
| CN105115498A (en) * | 2015-09-30 | 2015-12-02 | 长沙开山斧智能科技有限公司 | Robot location navigation system and navigation method |
| CN107390203A (en) * | 2016-05-16 | 2017-11-24 | 杭州海康机器人技术有限公司 | A kind of ultrasonic ranging method, apparatus and system |
| CN107662607A (en) * | 2016-07-27 | 2018-02-06 | 夏普株式会社 | Autonomous mobile devices |
| CN106781685A (en) * | 2017-03-06 | 2017-05-31 | 苏州悦驻智能科技有限公司 | A kind of city intelligent shutdown system that robot is managed based on parking garage |
| CN107462892A (en) * | 2017-07-28 | 2017-12-12 | 深圳普思英察科技有限公司 | Mobile robot synchronous superposition method based on more sonacs |
Non-Patent Citations (4)
| Title |
|---|
| N. ACHOUR: "Building an environment map using a sweeping system based on a single ultrasonic sensor", 《2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS》 * |
| 刘海成: "《AVR单片机原理及测控工程应用》", 30 June 2015, 北京航空航天大学出版社 * |
| 方俊: "《无线传感器网络信号处理》", 31 January 2016, 国防工业出版社 * |
| 许笑寒: "基于超声波的室内环境下移动机器人同时定位及地图构建", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109432568A (en) * | 2018-10-24 | 2019-03-08 | Oppo广东移动通信有限公司 | A kind of method, apparatus of assisting sleep, storage medium and terminal |
| CN109432568B (en) * | 2018-10-24 | 2021-08-06 | Oppo广东移动通信有限公司 | Sleep assisting method, device, storage medium and terminal |
| CN111443699A (en) * | 2018-12-28 | 2020-07-24 | 深圳市优必选科技有限公司 | Positioning drift detection method and device and robot |
| CN111443699B (en) * | 2018-12-28 | 2023-05-23 | 深圳市优必选科技有限公司 | Positioning drift detection method and device and robot |
| CN112767476A (en) * | 2020-12-08 | 2021-05-07 | 中国科学院深圳先进技术研究院 | Rapid positioning system, method and application |
| CN112767476B (en) * | 2020-12-08 | 2024-04-26 | 中国科学院深圳先进技术研究院 | Rapid positioning system, method and application |
| CN113440054A (en) * | 2021-06-30 | 2021-09-28 | 北京小狗吸尘器集团股份有限公司 | Method and device for determining range of charging base of sweeping robot |
| CN114898640A (en) * | 2022-03-23 | 2022-08-12 | 合肥嘉石科普服务有限公司 | Method, system and device for displaying wave diffraction phenomenon |
| CN114898640B (en) * | 2022-03-23 | 2024-02-06 | 合肥嘉石科普服务有限公司 | Wave diffraction phenomenon display method, system and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108508885B (en) | 2021-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108508885A (en) | A kind of navigation map construction method and device | |
| CN108549385B (en) | Robot dynamic path planning method combining A-x algorithm and VFH obstacle avoidance algorithm | |
| CN110403528B (en) | Method and system for improving cleaning coverage rate based on cleaning robot | |
| WO2020140860A1 (en) | Dynamic region division and region channel identification method, and cleaning robot | |
| US20190072639A1 (en) | Positioning light beam emission system, method and indoor positioning system | |
| EP4043988A1 (en) | Robot edge treading areal sweep planning method, chip, and robot | |
| JP5541410B2 (en) | Laser radar equipment | |
| CN105425809B (en) | A kind of unmanned plane barrier-avoiding method and system | |
| KR20070095384A (en) | Autonomous vehicle and planar obstacle recognition method | |
| CN105259918A (en) | Automatic charging returning method of robot dust collector | |
| US10509980B2 (en) | Method to provide a vehicle environment contour polyline from detection data | |
| CN111582566A (en) | Path planning method and planning device, intelligent robot and storage medium | |
| EP3677977A1 (en) | Self-mobile device and control method for moving path thereof | |
| CN110488809A (en) | A kind of indoor mobile robot independently builds drawing method and device | |
| CN113475977B (en) | Robot path planning method and device and robot | |
| WO2017008742A1 (en) | Method and device for determining indoor approachable area | |
| CN112237403B (en) | Covering path generation method for cleaning device and cleaning device | |
| CN115205454B (en) | Space division acceleration method and system suitable for ray tracing wireless channel modeling | |
| CN106019286A (en) | Multi-scanning multi-pulse-repetition-frequency full-airspace meteorological target detection method for airborne weather radar | |
| Visser et al. | Beyond frontier exploration | |
| CN102621557B (en) | Dynamic target two-dimensional capture method | |
| CN110146070B (en) | Laser navigation method suitable for pet attraction | |
| WO2024001263A1 (en) | Safety limiting method and apparatus for dual-arm collaborative robot, device, and storage medium | |
| CN108508449B (en) | Positioning method and device | |
| CN112859807A (en) | Underwater vehicle collaborative search efficiency evaluation method based on situation simulation and Monte Carlo |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |