CN108508885B - Navigation map construction method and device - Google Patents

Navigation map construction method and device Download PDF

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CN108508885B
CN108508885B CN201810132784.1A CN201810132784A CN108508885B CN 108508885 B CN108508885 B CN 108508885B CN 201810132784 A CN201810132784 A CN 201810132784A CN 108508885 B CN108508885 B CN 108508885B
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obstacle
scanning
distance
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scanning position
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CN108508885A (en
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修晓鸣
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Enno Electronics Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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

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Abstract

The invention provides a navigation map construction method and a navigation map construction device, wherein the method comprises the following steps: determining at least two scanning positions within the target region; for each of at least two scanning positions, transmitting ultrasonic waves to at least one scanning area in a target area at the scanning position, and respectively obtaining a reflection waveform corresponding to each scanning area according to reflection waves of the ultrasonic waves; for each reflection waveform, determining the distance relation of each obstacle in a scanning area corresponding to the reflection waveform relative to the scanning position corresponding to the reflection waveform according to the information of the wave crest included in the reflection waveform; for each obstacle, determining the direction relation of the obstacle relative to each scanning position according to the distance relation of the obstacle relative to at least two scanning positions; and constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position. The scheme can improve the construction efficiency of the navigation map.

Description

Navigation map construction method and device
Technical Field
The invention relates to the technical field of automation, in particular to a navigation map construction method and device.
Background
With the continuous development and progress of computer technology and sensor technology, a self-propelled robot capable of moving in a target area by itself is widely applied to various fields, such as a sweeping robot in the field of household cleaning. The self-propelled robot can move along a reasonable route according to a navigation map corresponding to a target area where the self-propelled robot is located, so that obstacles are avoided from moving automatically.
Currently, a self-propelled robot can generate a navigation map corresponding to a target area during the movement of the self-propelled robot in the target area.
Aiming at the existing method for generating the navigation map, when the self-propelled robot determines the obstacles in the target area by using an ultrasonic sensor, an infrared sensor or a camera, only one obstacle closest to the self-propelled robot is determined in each scanning, the navigation map is generated by scanning for many times, and the generation efficiency of the navigation map is low due to the fact that the scanning for many times consumes long time.
Disclosure of Invention
The embodiment of the invention provides a navigation map construction method and device, which can improve the construction efficiency of a navigation map.
In a first aspect, an embodiment of the present invention provides a navigation map construction method, which is applied to a self-propelled robot, and includes:
determining at least two scanning positions within the target region;
for each scanning position of the at least two scanning positions, transmitting ultrasonic waves to at least one scanning area in the target area at the scanning position, and respectively obtaining a reflection waveform corresponding to each scanning area according to reflection waves of the ultrasonic waves;
for each reflection waveform, determining the distance relation of each obstacle in the scanning area corresponding to the reflection waveform relative to the scanning position corresponding to the reflection waveform according to the information of the wave crest included in the reflection waveform;
for each obstacle, determining the direction relation of the obstacle relative to each scanning position according to the distance relation of the obstacle relative to at least two scanning positions;
and constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position.
Alternatively,
determining, according to information of a peak included in the reflected waveform, a distance relationship between each obstacle in the scanning area corresponding to the reflected waveform and the scanning position corresponding to the reflected waveform, including:
removing blind area interference waveforms included in the head area of the reflection waveforms;
determining from the remaining portion of the reflected waveform respective first peaks corresponding to reflected wave intensities greater than a predetermined reflected wave intensity threshold;
removing multiple reflection interference peaks from each first peak, and taking the rest first peaks as second peaks;
for each second peak, determining a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform by a first formula, wherein the first formula comprises:
Figure BDA0001575408540000021
wherein L represents a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform, v represents a speed of sound, and t represents a time at which the second peak appears in the reflected waveform.
Alternatively,
the determining the direction relationship of the obstacle relative to each scanning position according to the distance relationship between the obstacle and at least two scanning positions includes:
respectively acquiring relative distances between the barrier and three different scanning positions;
determining coordinate values of the obstacle according to the coordinate values of the three different scanning positions through the following equation system, wherein the equation system comprises:
Figure BDA0001575408540000031
wherein (x, y) coordinate values characterizing the obstacle, (x)1，y1) (x) coordinate values characterizing a first of the three different scanning positions2，y2) (x) coordinate values characterizing a second of the three different scan positions3，y3) A coordinate value characterizing a third scanning position of the three different scanning positions, the L1Characterizing a relative distance between the obstacle and the first scanning position, L2Characterizing a relative distance between the obstacle and the second scanning position, the L3Characterizing a relative distance, the Δ L, between the obstacle and the third scanning position1、ΔL2And Δ L3All represent constants within a preset error range;
and determining the direction relation of the obstacle relative to each scanning position according to the coordinate values of the obstacle and the coordinate values of each scanning position.
Alternatively,
before the determining, from the remaining portion of the reflected waveform, each first peak whose corresponding reflected wave intensity is greater than a predetermined reflected wave intensity threshold, further comprising:
according to the intensity of the ultrasonic wave transmitted to the scanning area, the effective detection distance, the height of the transmitting position of the ultrasonic wave relative to the plane of the target area and the central angle of the sector-shaped scanning area, determining the reflected wave intensity threshold value by the following formula two, wherein the formula two comprises:
Figure BDA0001575408540000032
wherein, Q is0Characterizing the reflected wave intensity threshold, Q characterizing the intensity of the ultrasonic wave transmitted to the scanning area, h characterizing the height of the ultrasonic wave transmitting position relative to the plane of the target area, T characterizing the effective detection distance of the ultrasonic wave, and a characterizing the degree of the central angle of the sector of the scanning area.
Alternatively,
prior to the constructing a navigation map corresponding to the target area, further comprising:
for each obstacle, respectively determining the width of a surface, opposite to each scanning position, of the obstacle and larger in size along the plane direction of the target area according to the width of a peak corresponding to the obstacle in each reflected waveform, and determining the projection shape of the obstacle on the plane of the target area according to the width of the surface, opposite to each scanning position, of the obstacle in the plane direction of the target area;
correspondingly, the constructing a navigation map corresponding to the target area according to the distance relationship and the direction relationship of each obstacle relative to each scanning position includes:
and constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position and the projection shape of each obstacle on the platform where the target area is located.
In a second aspect, an embodiment of the present invention further provides a navigation map building apparatus, which is applied to a self-propelled robot, and includes: the system comprises an area scanning unit, a distance processing unit, a direction processing unit and a map building unit;
the region scanning unit is used for determining at least two scanning positions in a target region, transmitting ultrasonic waves to at least one scanning region in the target region at the scanning positions aiming at each scanning position in the at least two scanning positions, and respectively obtaining a reflection waveform corresponding to each scanning region according to reflection waves of the ultrasonic waves;
the distance processing unit is configured to determine, for each reflected waveform obtained by the area scanning unit, a distance relationship between each obstacle in the scanning area corresponding to the reflected waveform and the scanning position corresponding to the reflected waveform according to information of a peak included in the reflected waveform;
the direction processing unit is used for determining the direction relationship of each obstacle determined by the distance processing unit relative to each scanning position according to the distance relationship of the obstacle relative to at least two scanning positions;
and the map construction unit is used for constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position, which are determined by the distance processing unit and the direction processing unit.
Alternatively,
the distance processing unit is configured to, for each of the reflection waveforms, perform:
removing blind area interference waveforms included in the head area of the reflection waveforms;
determining from the remaining portion of the reflected waveform respective first peaks corresponding to reflected wave intensities greater than a predetermined reflected wave intensity threshold;
removing multiple reflection interference peaks from each first peak, and taking the rest first peaks as second peaks;
for each second peak, determining a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform by a first formula, wherein the first formula comprises:
Figure BDA0001575408540000051
wherein L represents a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform, v represents a speed of sound, and t represents a time at which the second peak appears in the reflected waveform.
Alternatively,
the direction processing unit is configured to, for each obstacle, perform:
respectively acquiring relative distances between the barrier and three different scanning positions;
determining coordinate values of the obstacle according to the coordinate values of the three different scanning positions through the following equation system, wherein the equation system comprises:
Figure BDA0001575408540000061
wherein (x, y) coordinate values characterizing the obstacle, (x)1，y1) (x) coordinate values characterizing a first of the three different scanning positions2，y2) (x) coordinate values characterizing a second of the three different scan positions3，y3) A coordinate value characterizing a third scanning position of the three different scanning positions, the L1Characterizing a relative distance between the obstacle and the first scanning position, L2Characterizing a relative distance between the obstacle and the second scanning position, the L3Characterizing a relative distance, the Δ L, between the obstacle and the third scanning position1、ΔL2And Δ L3All represent constants within a preset error range;
and determining the direction relation of the obstacle relative to each scanning position according to the coordinate values of the obstacle and the coordinate values of each scanning position.
Alternatively,
the navigation map construction apparatus further includes: a threshold value generation unit;
the threshold generation unit is configured to determine the reflected wave intensity threshold according to the intensity of the ultrasonic wave transmitted to the scanning area by the area scanning unit, an effective detection distance, a height of the ultrasonic wave transmission position relative to a plane in which the target area is located, and a central angle of the sector-shaped scanning area, by using a second formula, where the second formula includes:
Figure BDA0001575408540000062
wherein, Q is0Characterizing the reflected wave intensity threshold, Q characterizing the intensity of the ultrasonic wave transmitted to the scanning area, h characterizing the height of the ultrasonic wave transmitting position relative to the plane of the target area, T characterizing the effective detection distance of the ultrasonic wave, and a characterizing the degree of the central angle of the sector of the scanning area.
Alternatively,
the navigation map construction apparatus further includes: a shape processing unit;
the shape processing unit is configured to, for each obstacle, determine, according to the width of a peak corresponding to the obstacle in each reflected waveform obtained by the area scanning unit, the width of a surface, which is opposite to each scanning position on the obstacle and has a larger size in the plane direction of the target area, and determine, according to the width of a surface, which is opposite to each scanning position on the obstacle, in the plane direction of the target area, a projection shape of the obstacle on the plane of the target area;
the map construction unit is used for constructing a navigation map corresponding to the target area according to the distance relationship and the direction relationship of each obstacle relative to each scanning position determined by the distance processing unit and the direction processing unit, and the projection shape of each obstacle determined by the shape processing unit on the platform where the target area is located.
The navigation map construction method and the navigation map construction device provided by the embodiment of the invention have the advantages that after at least two scanning positions are determined in a target area, ultrasonic waves are respectively transmitted to at least one scanning area in the target area at each scanning position, reflection waveforms corresponding to the combination of the scanning positions and the scanning area are obtained according to the reflection waves of the ultrasonic waves, and because a plurality of obstacles possibly exist in the same scanning area and each obstacle reflects the ultrasonic waves respectively, the same reflection waveform possibly comprises a plurality of wave crests corresponding to different obstacles, and different reflection waveforms possibly comprise wave crests corresponding to the same obstacle, so that the distance relation and the direction relation of each obstacle in the target area relative to each scanning position can be determined according to the information of the wave crests included by each reflection waveform, and the construction of the navigation map is realized. Because each reflection waveform can reflect the reflection characteristics of a plurality of obstacles to ultrasonic waves, each obstacle does not need to be scanned independently, the scanning times required in the process of constructing the navigation map are reduced, the time consumed in the scanning process is shortened, and the construction efficiency of the navigation map can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a navigation map construction method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another navigation map construction method provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a device in which a navigation map building apparatus according to an embodiment of the present invention is located;
FIG. 4 is a schematic diagram of a navigation map building apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another navigation map building apparatus provided in one embodiment of the present invention;
FIG. 6 is a diagram of another navigation map building apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a navigation map construction method applied to a self-propelled robot, where the method may include the following steps:
step 101: determining at least two scanning positions within the target region;
step 102: for each of at least two scanning positions, transmitting ultrasonic waves to at least one scanning area in a target area at the scanning position, and respectively obtaining a reflection waveform corresponding to each scanning area according to reflection waves of the ultrasonic waves;
step 103: for each reflection waveform, determining the distance relation of each obstacle in a scanning area corresponding to the reflection waveform relative to the scanning position corresponding to the reflection waveform according to the information of the wave crest included in the reflection waveform;
step 104: for each obstacle, determining the direction relation of the obstacle relative to each scanning position according to the distance relation of the obstacle relative to at least two scanning positions;
step 105: and constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position.
The embodiment of the invention provides a navigation map construction method applied to a self-propelled robot, which comprises the steps of determining at least two scanning positions in a target area, respectively emitting ultrasonic waves to at least one scanning area in the target area at each scanning position, a reflected waveform corresponding to a combination of the scanning position and the scanning area is obtained from the reflected wave of the ultrasonic wave, since a plurality of obstacles may exist in the same scanning area, each obstacle reflects the ultrasonic wave, the same reflected waveform may therefore include multiple peaks corresponding to different obstacles, different reflected waveforms may include peaks corresponding to the same obstacle, therefore, the distance relation and the direction relation of each obstacle in the target area relative to each scanning position can be determined according to the information of the wave crest included by each reflection waveform, and the construction of a navigation map is realized. Because each reflection waveform can reflect the reflection characteristics of a plurality of obstacles to ultrasonic waves, each obstacle does not need to be scanned independently, the scanning times required in the process of constructing the navigation map are reduced, the time consumed in the scanning process is shortened, and the construction efficiency of the navigation map can be improved.
Specifically, after the self-propelled robot enters the target area, the self-propelled robot takes the initial position of the self-propelled robot in the target area as an origin, takes the direction opposite to the emitting head in the ultrasonic generator equipped with the self-propelled robot as an X axis, and takes the direction parallel to the plane of the target area and vertical to the X axis as a Y axis to construct a plane rectangular coordinate system. And then, after the self-propelled robot travels to a scanning position according to the preset travel distance and the travel direction, the self-propelled robot can determine the coordinate value corresponding to the scanning position in the constructed plane rectangular coordinate system, so that the self-propelled robot can determine the relative position relation among the scanning positions and record the coordinate value corresponding to each scanning position. The self-propelled robot can determine the traveling distance according to the size of the wheels and the number of turns of the wheels, and can determine the traveling direction according to the arranged gyroscope, gravity sensor and the like.
For example, after a plane rectangular coordinate system is constructed, the self-propelled robot can only do orthogonal movement along the X-axis positive and negative directions and the Y-axis positive and negative directions, the self-propelled robot moves 30cm in the X-axis positive direction, the X-axis negative direction, the Y-axis positive direction or the Y-axis negative direction each time from the origin of the coordinate system, and the position of the self-propelled robot after each movement is determined as a scanning position. In this way, the self-propelled robot divides the target area into a plurality of grids each having a square side of 30cm, and the self-propelled robot can determine each of the grids that the self-propelled robot can reach as one scanning position.
After the self-propelled robot reaches each scanning position, the self-propelled robot can emit ultrasonic waves to different directions in the scanning position, namely different scanning areas are scanned, each scanning area can be identified through coordinate values of the corresponding scanning position and the direction of the emitted ultrasonic waves, the direction of the emitted ultrasonic waves can be determined through the direction sensor, and therefore all the scanning areas can be distinguished.
Optionally, as shown in fig. 1, when determining the distance relationship between the obstacle and the scanning position according to information of peaks included in the reflected waveforms in step 103, specifically, the following process may be implemented for each acquired reflected waveform:
a1: removing a blind area interference waveform included in the head area of the reflected wave waveform;
a2: determining from the remaining portion of the reflected waveform respective first peaks corresponding to reflected wave intensities greater than a reflected wave intensity threshold, wherein the reflected wave intensity threshold is predetermined;
a3: removing multiple reflection interference wave peaks from the determined first wave peaks, and determining the remaining first wave peaks as second wave peaks;
a4: for each determined second peak, determining a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform by using a first formula, wherein the first formula comprises:
Figure BDA0001575408540000101
wherein, L represents the relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform, v represents the sound velocity, and t represents the time when the second peak appears in the reflected waveform.
In the process of transmitting ultrasonic waves from a target position to a scanning area, because the lateral leakage waves of the ultrasonic generator are reflected by the ground in a short distance, continuous wave peaks with higher reflected wave intensity appear at the head of the obtained reflected wave, the reflected wave cannot reflect the reflection characteristics of an obstacle in an area close to the ultrasonic generator under the interference of the lateral leakage waves, namely, the reflected wave is a blind zone for scanning the obstacle, and the continuous wave peaks appearing at the head of the reflected wave are defined as blind zone interference waves. In order to avoid interference of a wave crest formed by lateral leaky waves of the ultrasonic generator on analysis of a reflected waveform, a blind zone interference waveform needs to be removed before the reflected waveform is analyzed.
After the ultrasonic wave is reflected by the obstacle in the scanning area, a wave crest is formed in the reflected wave form, the wave crest formed by the obstacle has larger reflected wave intensity relative to the wave crest formed by other interference factors, the wave crest is expressed as the height of the wave crest in the reflected wave form, in addition, the positions of the wave crests corresponding to the obstacle with different distances from the scanning position in the reflected wave form are different, therefore, the reflected wave intensity threshold value can be determined in advance, and the first wave crest formed by the obstacle is screened from the reflected wave form through the reflected wave intensity threshold value.
After the obstacle reflects the ultrasonic wave, part of the reflected ultrasonic wave can return to the ultrasonic wave receiver after being reflected again by other one or more obstacles, at this time, multiple reflection interference wave crests are formed in the reflected waveform, the reflected wave intensity of the part of the multiple reflection interference wave crests exceeds the reflected wave intensity threshold value, therefore, the multiple reflection interference wave crests need to be removed from each first wave crest, the rest of the first wave crests are the wave crests formed by single reflection of the obstacle, the rest of the first wave crests are determined as the second wave crests to determine the position relation and the direction relation of the obstacle relative to the scanning position, and the accuracy of the constructed navigation map can be guaranteed. Specifically, the multiple reflection interference peak may be removed from each first peak according to the actual size of the target region, the attenuation degree of the peak, the periodic variation of the peak, and other reflection waveform characteristics.
The ultrasonic wave is emitted from the ultrasonic generator to reach the obstacle and is reflected by the obstacle to return to the ultrasonic receiver (the ultrasonic generator and the ultrasonic receiver are of an integrated structure), the propagation distance of the ultrasonic wave is equal to 2 times of the distance between the scanning position of the ultrasonic generator and the position of the obstacle in the process, the appearance time of a second peak corresponding to the obstacle in the reflected waveform is the propagation time of the ultrasonic wave, and therefore the relative distance between the obstacle and the scanning position of the ultrasonic generator can be calculated through the first formula.
For each reflection waveform, each obstacle in the scanning area corresponding to the reflection waveform can be marked through the reflection waveform. By integrating the obstacles marked by the plurality of reflected waveforms and the distribution of the scanning positions corresponding to the reflected waveforms, the obstacle corresponding to each second peak in each reflected waveform can be determined, that is, the second peak corresponding to each obstacle in different reflected waveforms can be determined.
Alternatively, as shown in fig. 1, when the step 104 determines the direction relationship of the obstacle with respect to the scanning position according to the distance relationship of the obstacle with respect to the scanning position, the direction relationship of the obstacle with respect to each scanning position may be specifically determined for each obstacle by the following procedure:
b1: determining the relative distance between the scanning positions corresponding to the three reflection waveforms and the obstacle according to the three reflection waveforms comprising the second wave crest corresponding to the obstacle, wherein the three determined scanning positions are different from each other;
b2: according to the coordinate values of the three determined scanning positions in the created coordinate system, the coordinate values of the obstacle are determined through the following equation system, wherein the equation system comprises the following steps:
Figure BDA0001575408540000121
wherein (x, y) are coordinate values characterizing the obstacle, (x)1，y1) Coordinate values representing a first of three different scanning positions, (x)2，y2) Coordinate values characterizing a second of the three different scan positions, (x)3，y3) Coordinate values, L, characterizing a third of the three different scanning positions1Characterizing a relative distance, L, between the obstacle and a first scanning position2Characterizing a relative distance, L, between the obstacle and a second scanning position3Characterizing a relative distance, Δ L, between the obstacle and a third scanning position1、ΔL2And Δ L3All represent constants within a preset error range;
b3: and determining the direction relation of the obstacle relative to each scanning position according to the coordinate value of the obstacle and the coordinate value of each scanning position.
For each obstacle, the plurality of reflected waveforms includes the second peak corresponding to the obstacle, three reflected waveforms are determined from the plurality of reflected waveforms including the second peak corresponding to the obstacle, and it is ensured that the scanning positions corresponding to the determined three reflected waveforms are different, and then the processing steps of the above embodiments a1 to A3 are used to determine the relative distances between the scanning positions corresponding to the three reflected waveforms and the obstacle, respectively.
A coordinate system is created in advance so that coordinate values of the respective scanning positions in the coordinate system can be determined, and the coordinate values of the obstacle in the coordinate system can be calculated by the above equation system according to the relative distances between the three scanning positions and the obstacle determined in step B1 and the coordinate values of the three scanning positions. When the ultrasonic waves are emitted at different scanning positions to form reflection waveforms and the relative distances of the obstacles with respect to the respective scanning positions are determined based on the formed reflection waveforms, the respective scanning positions are determinedCertain error exists in relative distance, and in order to ensure that the coordinate value of the obstacle can be obtained according to the coordinate values of the three scanning positions and the relative distances between the three scanning positions and the obstacle, the delta L is introduced into the equation set1、ΔL2And Δ L3And the three floating constants can be changed within a set error range on the premise of ensuring that the equation set has a solution, for example, the error range is 0-10 cm.
After coordinate values of the obstacles in the coordinate system are obtained in the same coordinate system, the coordinate values of the scanning positions in the coordinate system are combined, and the relative angles of the obstacles and the scanning positions can be determined. In this way, the relative distance and the relative angle between each obstacle and each scanning position are determined, that is, the distribution of each obstacle in the target area is determined, so that a navigation map corresponding to the target area can be constructed.
Alternatively, before step a2 in the above embodiment, the reflected wave intensity threshold needs to be determined, and specifically, the reflected wave intensity threshold may be determined according to the intensity of the ultrasonic wave transmitted to the scanning area, the effective detection distance, the height of the transmission position of the ultrasonic wave relative to the plane of the target area, and the central angle of the sector scanning area, by the following formula two, where the formula two includes:
Figure BDA0001575408540000131
wherein Q is0The method comprises the steps of representing a reflected wave intensity threshold value, Q representing the intensity of ultrasonic waves transmitted to a scanning area, h representing the height of an ultrasonic wave transmitting position relative to a plane where a target area is located, T representing the effective detection distance of the ultrasonic waves, and alpha representing the degree of a central angle of a sector scanning area.
The intensity of the ultrasonic wave emitted by the ultrasonic generator is larger, the intensity of the reflected wave formed after the ultrasonic wave is reflected by the obstacle is also larger, and therefore, the intensity of the ultrasonic wave emitted to the scanning area needs to be used as a reference factor for determining the threshold value of the intensity of the reflected wave. The higher the height of the position of the transmitted ultrasonic wave relative to the plane of the target position, the smaller the height of the obstacle relative to the reflecting surface of the ultrasonic wave, the lower the intensity of the reflected wave, and therefore the height of the position of the transmitted ultrasonic wave relative to the plane of the target area needs to be used as a reference factor for determining the threshold value of the intensity of the reflected wave. The greater the effective detection range of the ultrasonic wave, the more the intensity of the reflected wave is attenuated, and therefore the effective detection range of the transmitted ultrasonic wave needs to be a reference factor for determining the threshold value of the intensity of the reflected wave. When the ultrasonic generator emits ultrasonic waves, the ultrasonic waves are emitted from an emitting point to a scanning area in a diffusion shape, namely the scanning area is in a fan shape, the larger the angle of the central angle of the fan-shaped scanning area is, the stronger the intensity dispersion of the ultrasonic waves is, and the smaller the intensity of reflected waves formed by obstacles in unit area is, so that the central angle of the fan-shaped scanning area is required to be used as a reference factor for determining the intensity threshold of the reflected waves.
According to the intensity of the ultrasonic waves transmitted to the scanning area, the height of the ultrasonic wave transmitting position relative to the plane of the target area, the effective detection distance of the transmitted ultrasonic waves and the central angle of the sector scanning area, a proper reflected wave intensity threshold value is determined through the formula II, the first wave peak corresponding to the obstacle can be determined from the reflected wave through the reflected wave intensity threshold value, meanwhile, the wave peak formed by other interference factors is prevented from being mistakenly screened as the first wave peak, the obstacle in the target area can be accurately determined according to the reflected wave, and the accuracy of the constructed navigation map is improved.
Optionally, as shown in fig. 1, before constructing the navigation map corresponding to the target area according to the distance relationship and the direction relationship of each obstacle with respect to each scanning position in step 105, the projection shape of each obstacle on the plane where the target area is located may also be determined, and the specific process is as follows:
for each obstacle, respectively determining the width of a surface, which is opposite to each scanning position and has a larger size along the plane direction of the target area, on the obstacle according to the width of the peak corresponding to the obstacle in each reflected waveform, and further determining the projection shape of the obstacle on the plane of the target area according to the width of the surface, which is opposite to each scanning position, on the obstacle on the plane of the target area.
Correspondingly, after the projection shape of each obstacle on the plane where the target area is located is determined, when a navigation map corresponding to the target area is constructed, the projection shape of each obstacle on the plane where the target area is located can be further determined according to the distance relation and the direction relation of each obstacle relative to each scanning position. The navigation map constructed in this way can not only reflect the distribution situation of each obstacle in the target area, but also experience the shape characteristics and the size characteristics of each obstacle, and the self-propelled robot can plan the movement route more reasonably when moving according to the navigation map, so that the occurrence of collision is effectively avoided, and the movement route is more reasonable.
For an obstacle and a scanning position, determining a plane (the plane is vertical to the plane of a target area) which is vertical to the connecting line of the obstacle and the scanning position, wherein the larger the projection area of the obstacle on the plane is, the larger the reflection area of the obstacle to the ultrasonic wave emitted from the scanning position is, the longer the duration of the reflected wave is, and the larger the width of the peak corresponding to the obstacle in the corresponding reflected wave form is. Therefore, the width of the plane where the target area of the obstacle is located can be determined according to the width of the peak corresponding to the obstacle, and therefore the projection shape of the obstacle on the plane where the target area is located can be determined by combining the widths of the peaks in the reflected waveforms corresponding to the obstacle at different scanning positions.
The method for constructing a navigation map provided by the embodiment of the invention is further described in detail below by taking the construction of the navigation map of the sweeping robot as an example, and as shown in fig. 2, the method may include the following steps:
step 201: a plurality of scan positions are determined within the target region.
In the embodiment of the invention, a room is taken as a target area, a sweeping robot needs to construct a navigation map corresponding to the room, the sweeping robot takes the current position as an origin grid, the floor area of the room is divided into a plurality of grids with equal size, the sweeping robot moves among the grids without obstacles, and each grid which can be reached by the sweeping robot is determined as a scanning position.
Step 202: ultrasonic waves are transmitted to at least one of the scanning regions in the target region at each of the scanning positions, and reflected waves are received.
In the embodiment of the invention, when the sweeping robot reaches a scanning position, ultrasonic waves are emitted in a diffusion shape in at least one direction at the scanning position, namely the ultrasonic waves are emitted to at least one sector scanning area, the emitted ultrasonic waves are reflected by obstacles in the corresponding scanning area to form reflected waves, and the sweeping robot receives the reflected waves formed by the obstacles.
For example, the sweeping robot emits ultrasonic waves to the outer area of the grid along the midperpendicular of the four sides of the square grid at each scanning position, i.e. each scanning position corresponds to 4 sector-shaped scanning areas.
Step 203: from the received reflected wave, a reflected waveform corresponding to a combination of the scanning position and the scanning area is obtained.
In the embodiment of the invention, for each scanning position, after the sweeping robot transmits ultrasonic waves to each scanning area at the scanning position, the reflection waveform corresponding to the combination of the scanning position and the scanning area is obtained according to the received reflected waves.
For example, the sweeping robot divides the target area into 100 grids, wherein the number of the grids that the sweeping robot can reach is 60 in total, that is, 60 scanning positions in total, and the ultrasonic wave is emitted 4 times at each scanning position, and one reflection waveform is obtained after each ultrasonic wave emission, and 240 reflection waveforms in total can be obtained.
Step 204: the relative distance between the obstacle and the corresponding scanning position is determined from the reflected waveform.
In the embodiment of the invention, after removing the blind zone interference waveform at the head of each reflected waveform, a first peak corresponding to the intensity of the reflected wave greater than the threshold value of the intensity of the reflected wave is determined from the rest of the waveforms, a multiple reflection interference peak is removed from the first peak to obtain a second peak, for each second peak included in the reflected waveform, the second peak corresponds to an obstacle, and the relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform is calculated by a formula I according to the appearance time of the second peak in the reflected waveform. Wherein the first formula comprises:
Figure BDA0001575408540000161
l represents the relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform, v represents the sound velocity, and t represents the time when the second peak appears in the reflected waveform.
The different reflected waveforms may include a second peak corresponding to the same obstacle, and the second peaks corresponding to the same obstacle in the different reflected waveforms may be determined according to the distribution of the scanning positions corresponding to the respective reflected waveforms and the peak information of the respective reflected waveforms.
For example, 3 second peaks are determined from the reflected waveform a1 corresponding to the scanning position a and the scanning area 1, and from the distribution of the scanning positions corresponding to the respective reflected waveforms and the peak information of the respective reflected waveforms, it is determined that the second peak 1, the second peak 2, and the second peak 3 of the 3 second peaks correspond to the obstacle 1, the obstacle 2, and the obstacle 3 in the scanning area 1, respectively. Further, the relative distances between the obstacle 1, the obstacle 2, and the obstacle 3 and the scanning position a are calculated by the above formula one by one based on the appearance times of the three second peaks in the reflected waveform a 1.
Step 205: and determining the coordinate value of the obstacle according to the relative distance between the obstacle and the scanning position and the coordinate value of the scanning position.
In the embodiment of the present invention, after determining the relative distance between the obstacle and the scanning position, for each obstacle, 3 scanning positions including the second peak corresponding to the obstacle in the corresponding reflected waveform are selected from the respective scanning positions, and according to the coordinate values of the 3 scanning positions and the relative distances between the obstacle and the three scanning positions, the coordinate value of the obstacle is calculated by the following equation set:
Figure BDA0001575408540000171
wherein (x, y) are coordinate values characterizing the obstacle, (x)1，y1) Coordinate values representing a first of three different scanning positions, (x)2，y2) Coordinate values characterizing a second of the three different scan positions, (x)3，y3) Coordinate values, L, characterizing a third of the three different scanning positions1Characterizing a relative distance, L, between the obstacle and a first scanning position2Characterizing a relative distance, L, between the obstacle and a second scanning position3Characterizing a relative distance, Δ L, between the obstacle and a third scanning position1、ΔL2And Δ L3All represent constants within a preset error range.
For example, if the second waveform corresponding to the obstacle 1 is included in each of the reflected waveforms a1, B1, and C1 corresponding to the scanning position a, B, and C, respectively, the coordinate values of the scanning position a, B, and C and the relative distances between the obstacle 1 and the scanning position a, B, and C are substituted into the above equation set, and the coordinate value of the obstacle 1 is calculated.
Step 206: and determining the relative direction of the obstacle and each scanning position according to the coordinate value of the obstacle.
In the embodiment of the invention, after the coordinate values of each obstacle are obtained, the coordinate values of each scanning position in the same coordinate system are combined to respectively obtain the relative direction of each obstacle and each scanning position.
Step 207: and determining the shape projection of the obstacle on the plane of the target area according to the widths of the second wave crests corresponding to the obstacle in different reflected waveforms.
In the embodiment of the invention, for each determined obstacle, the width of the opposite surface of the obstacle and each scanning position is determined according to the width of the second peak corresponding to the obstacle in each reflected waveform, and the projection shape of the obstacle on the plane where the target area is located is determined by combining the relative position relationship between each scanning position and the obstacle.
For example, the obstacle 1 corresponds to the second peak in 10 reflected waveforms, and according to the width of the second peak corresponding to the obstacle 1 in the 10 reflected waveforms and the relative positional relationship between the scanning position corresponding to the 10 reflected waveforms and the obstacle, it is determined that the projection shape of the obstacle 1 on the plane where the target area is located is a square occupying 4 grids.
Step 208: and constructing a navigation map corresponding to the target area according to the relative distance and the relative direction between each obstacle and each scanning position and the projection shape of each obstacle on the plane of the target area.
In the embodiment of the invention, the determined obstacles comprise the walls of the rooms corresponding to the target areas, the distribution condition of each obstacle in the target areas is determined according to the relative distance and the relative direction between each obstacle and each scanning position, the shape and the occupied size of each obstacle on the navigation map are determined according to the projection shape of each obstacle on the plane of the target areas, and the construction of the navigation map is completed.
As shown in fig. 3 and 4, an embodiment of the present invention provides a navigation map constructing apparatus. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. From a hardware level, as shown in fig. 3, a hardware structure diagram of a device in which the navigation map building apparatus provided in the embodiment of the present invention is located is shown, where in addition to the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 3, the device in which the apparatus is located in the embodiment may also include other hardware, such as a forwarding chip responsible for processing a packet, and the like. Taking a software implementation as an example, as shown in fig. 4, as a logical apparatus, the apparatus is formed by reading a corresponding computer program instruction in a non-volatile memory into a memory by a CPU of a device in which the apparatus is located and running the computer program instruction. The navigation map constructing device provided by the embodiment comprises: an area scanning unit 401, a distance processing unit 402, a direction processing unit 403, and a map construction unit 404;
a region scanning unit 401, configured to determine at least two scanning positions in a target region, and for each of the at least two scanning positions, transmit an ultrasonic wave to at least one scanning region in the target region at the scanning position, and obtain a reflection waveform corresponding to each scanning region according to a reflection wave of the ultrasonic wave;
a distance processing unit 402, configured to determine, for each reflected waveform obtained by the area scanning unit 401, a distance relationship between each obstacle in a scanning area corresponding to the reflected waveform and a scanning position corresponding to the reflected waveform according to information of a peak included in the reflected waveform;
a direction processing unit 403, configured to determine, for each obstacle determined by the distance processing unit 402, a direction relationship of the obstacle with respect to each scanning position according to a distance relationship of the obstacle with respect to at least two scanning positions;
a map construction unit 404, configured to construct a navigation map corresponding to the target area according to the distance relationship and the direction relationship of each obstacle with respect to each scanning position, which are determined by the distance processing unit 402 and the direction processing unit 403.
Alternatively, as shown in FIG. 4,
a distance processing unit 402 configured to, for each of the reflection waveforms:
removing blind area interference waveforms included in the head area of the reflection waveforms;
determining from the remaining portion of the reflected waveform respective first peaks corresponding to reflected wave intensities greater than a predetermined reflected wave intensity threshold;
removing multiple reflection interference wave peaks from each first wave peak, and taking the rest first wave peaks as second wave peaks;
for each second peak, determining a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform by using a first formula, wherein the first formula comprises:
Figure BDA0001575408540000191
l represents the relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform, v represents the sound velocity, and t represents the time when the second peak appears in the reflected waveform.
Alternatively, as shown in FIG. 4,
a direction processing unit 403, configured to execute, for each obstacle:
respectively acquiring relative distances between the barrier and three different scanning positions;
determining the coordinate value of the obstacle according to the coordinate values of the three different scanning positions through the following equation system, wherein the equation system comprises:
Figure BDA0001575408540000192
wherein (x, y) coordinate values characterizing the obstacle, (x)1，y1) Coordinate values representing a first of three different scanning positions, (x)2，y2) Coordinate values characterizing a second of the three different scan positions, (x)3，y3) Coordinate values, L, characterizing a third of the three different scanning positions1Characterizing the relative distance, L, between the obstacle and the first scanning position2Characterizing a relative distance, L, between the obstacle and the second scanning position3Characterizing the relative distance, Δ L, between the obstacle and the third scanning position1、ΔL2And Δ L3All represent constants within a preset error range;
and determining the direction relation of the obstacle relative to each scanning position according to the coordinate values of the obstacle and the coordinate values of each scanning position.
Alternatively, on the basis of the navigation map constructing apparatus shown in fig. 4, as shown in fig. 5, the navigation map constructing apparatus may further include: a threshold value generation unit 405;
a threshold generating unit 405, configured to determine a reflected wave intensity threshold according to the intensity of the ultrasonic wave transmitted to the scanning area by the area scanning unit 401, the effective detection distance, the height of the ultrasonic wave transmitting position relative to the plane of the target area, and the central angle of the sector scanning area, by using the following formula two, where the formula two includes:
Figure BDA0001575408540000201
wherein Q is0The method comprises the steps of representing a reflected wave intensity threshold value, Q representing the intensity of ultrasonic waves transmitted to a scanning area, h representing the height of an ultrasonic wave transmitting position relative to a plane where a target area is located, T representing the effective detection distance of the ultrasonic waves, and alpha representing the degree of a central angle of a sector scanning area.
Alternatively, on the basis of the navigation map constructing apparatus shown in fig. 4, as shown in fig. 6, the navigation map constructing apparatus may further include: a shape processing unit 406;
a shape processing unit 406, configured to determine, for each obstacle, a width of a surface, which is opposite to each scanning position on the obstacle and has a larger size along the plane direction of the target area, according to the width of a peak corresponding to the obstacle in each reflected waveform obtained by the area scanning unit 401, and determine, according to the width of the surface, which is opposite to each scanning position on the obstacle, on the plane direction of the target area, a projection shape of the obstacle on the plane of the target area;
a map construction unit 404, configured to construct a navigation map corresponding to the target area, based on the distance relationship and the direction relationship of each obstacle with respect to each scanning position determined by the distance processing unit 402 and the direction processing unit 403, and the projection shape of each obstacle on the platform where the target area is located, determined by the shape processing unit 406.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
The embodiment of the invention also provides a readable medium, which comprises an execution instruction, and when a processor of the storage controller executes the execution instruction, the storage controller executes the navigation map construction method provided by each embodiment.
An embodiment of the present invention further provides a storage controller, including: a processor, a memory, and a bus;
the memory is used for storing execution instructions, the processor is connected with the memory through the bus, and when the storage controller runs, the processor executes the execution instructions stored in the memory, so that the storage controller executes the navigation map construction method provided by the above embodiments.
In summary, the navigation map construction method and apparatus provided by each embodiment of the present invention at least have the following beneficial effects:
1. in the embodiment of the invention, after at least two scanning positions are determined in a target area, ultrasonic waves are respectively transmitted to at least one scanning area in the target area at each scanning position, a reflection waveform corresponding to the combination of the scanning positions and the scanning area is obtained according to the reflection waves of the ultrasonic waves, and because a plurality of obstacles may exist in the same scanning area and each obstacle reflects the ultrasonic waves respectively, the same reflection waveform may include a plurality of wave crests corresponding to different obstacles, and different reflection waveforms may include wave crests corresponding to the same obstacle, so that the distance relationship and the direction relationship of each obstacle in the target area relative to each scanning position can be determined according to the information of the wave crests included in each reflection waveform, and the construction of a navigation map is realized. Because each reflection waveform can reflect the reflection characteristics of a plurality of obstacles to ultrasonic waves, each obstacle does not need to be scanned independently, the scanning times required in the process of constructing the navigation map are reduced, the time consumed in the scanning process is shortened, and the construction efficiency of the navigation map can be improved.
2. In the embodiment of the invention, after the reflected waveform is obtained, the blind area interference waveform at the head of the reflected waveform is removed, the first peak is determined, the multiple reflection interference peak is removed from the first peak to obtain the second peak, and the distance relation and the direction relation of the obstacle relative to the scanning position are determined through the second peak, so that the accuracy of the constructed navigation map is ensured.
3. In the embodiment of the invention, according to the intensity of the ultrasonic wave transmitted to the scanning area, the height of the ultrasonic wave transmitting position relative to the plane of the target area, the effective detection distance of the transmitted ultrasonic wave and the central angle of the sector scanning area, the appropriate reflected wave intensity threshold is determined by the formula II, so that the first wave peak corresponding to the obstacle can be determined from the reflected wave by the reflected wave intensity threshold, meanwhile, the wave peaks formed by other interference factors are prevented from being mistakenly screened as the first wave peak, the obstacle in the target area can be accurately determined according to the reflected wave, and the accuracy of the constructed navigation map is improved.
4. In the embodiment of the invention, correspondingly, after the projection shape of each obstacle on the plane where the target area is located is determined, when the navigation map corresponding to the target area is constructed, the projection shape of each obstacle on the plane where the target area is located can be further determined according to the distance relation and the direction relation of each obstacle relative to each scanning position. The navigation map constructed in this way can not only reflect the distribution situation of each obstacle in the target area, but also experience the shape characteristics and the size characteristics of each obstacle, and the self-propelled robot can plan the movement route more reasonably when moving according to the navigation map, so that the occurrence of collision is effectively avoided, and the movement route is more reasonable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (8)

1. A navigation map construction method is applied to a self-propelled robot and is characterized by comprising the following steps:
determining at least two scanning positions within the target region;
for each scanning position of the at least two scanning positions, transmitting ultrasonic waves to at least one scanning area in the target area at the scanning position, and respectively obtaining a reflection waveform corresponding to each scanning area according to reflection waves of the ultrasonic waves;
for each reflection waveform, determining the distance relation of each obstacle in the scanning area corresponding to the reflection waveform relative to the scanning position corresponding to the reflection waveform according to the information of the wave crest included in the reflection waveform;
for each obstacle, determining the direction relation of the obstacle relative to each scanning position according to the distance relation of the obstacle relative to at least two scanning positions;
constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position;
prior to the constructing a navigation map corresponding to the target area, further comprising:
for each obstacle, respectively determining the width of a plane which is opposite to each scanning position on the obstacle and has the largest size along the plane direction of the target area according to the width of a peak corresponding to the obstacle in each reflected waveform, and determining the projection shape of the obstacle on the plane of the target area according to the width of the plane which is opposite to each scanning position on the obstacle in the plane direction of the target area;
constructing a navigation map corresponding to the target area according to the distance relationship and the direction relationship of each obstacle relative to each scanning position, including:
and constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position and the projection shape of each obstacle on the platform where the target area is located.
2. The method according to claim 1, wherein the determining a distance relationship between each obstacle in the scanning area corresponding to the reflected waveform and the scanning position corresponding to the reflected waveform according to the information of the peak included in the reflected waveform comprises:
removing blind area interference waveforms included in the head area of the reflection waveforms;
determining from the remaining portion of the reflected waveform respective first peaks corresponding to reflected wave intensities greater than a predetermined reflected wave intensity threshold;
removing multiple reflection interference peaks from each first peak, and taking the rest first peaks as second peaks;
for each second peak, determining a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform by a first formula, wherein the first formula comprises:
Figure FDA0002766763650000021
wherein L represents a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform, v represents a speed of sound, and t represents a time at which the second peak appears in the reflected waveform.
3. The method according to claim 2, wherein said determining a directional relationship of the obstacle with respect to each of the scanning positions based on a distance relationship of the obstacle with at least two of the scanning positions comprises:
respectively acquiring relative distances between the barrier and three different scanning positions;
determining coordinate values of the obstacle according to the coordinate values of the three different scanning positions through the following equation system, wherein the equation system comprises:
Figure FDA0002766763650000022
wherein (x, y) coordinate values characterizing the obstacle, (x)1，y1) (x) coordinate values characterizing a first of the three different scanning positions2，y2) (x) coordinate values characterizing a second of the three different scan positions3，y3) A coordinate value characterizing a third scanning position of the three different scanning positions, the L1Characterizing the obstacle with the first scan positionRelative distance therebetween, said L2Characterizing a relative distance between the obstacle and the second scanning position, the L3Characterizing a relative distance, the Δ L, between the obstacle and the third scanning position1、ΔL2And Δ L3All represent constants within a preset error range;
and determining the direction relation of the obstacle relative to each scanning position according to the coordinate values of the obstacle and the coordinate values of each scanning position.
4. The method of claim 2, wherein prior to said determining from the remainder of the reflected waveform respective first peaks for which the corresponding reflected wave intensities are greater than a predetermined reflected wave intensity threshold, further comprising:
according to the intensity of the ultrasonic wave transmitted to the scanning area, the effective detection distance, the height of the transmitting position of the ultrasonic wave relative to the plane of the target area and the central angle of the sector-shaped scanning area, determining the reflected wave intensity threshold value by the following formula two, wherein the formula two comprises:
Figure FDA0002766763650000031
wherein, Q is0Characterizing the reflected wave intensity threshold, Q characterizing the intensity of the ultrasonic wave transmitted to the scanning area, h characterizing the height of the ultrasonic wave transmitting position relative to the plane of the target area, T characterizing the effective detection distance of the ultrasonic wave, and a characterizing the degree of the central angle of the sector of the scanning area.
5. A navigation map constructing device is applied to a self-propelled robot and is characterized by comprising the following components: the system comprises an area scanning unit, a distance processing unit, a direction processing unit and a map building unit;
the region scanning unit is used for determining at least two scanning positions in a target region, transmitting ultrasonic waves to at least one scanning region in the target region at the scanning positions aiming at each scanning position in the at least two scanning positions, and respectively obtaining a reflection waveform corresponding to each scanning region according to reflection waves of the ultrasonic waves;
the distance processing unit is configured to determine, for each reflected waveform obtained by the area scanning unit, a distance relationship between each obstacle in the scanning area corresponding to the reflected waveform and the scanning position corresponding to the reflected waveform according to information of a peak included in the reflected waveform;
the direction processing unit is used for determining the direction relationship of each obstacle determined by the distance processing unit relative to each scanning position according to the distance relationship of the obstacle relative to at least two scanning positions;
the map construction unit is used for constructing a navigation map corresponding to the target area according to the distance relation and the direction relation of each obstacle relative to each scanning position, which are determined by the distance processing unit and the direction processing unit;
further comprising: a shape processing unit;
the shape processing unit is configured to, for each obstacle, determine, according to the width of a peak corresponding to the obstacle in each reflected waveform obtained by the area scanning unit, the width of a plane on the obstacle, which is opposite to each scanning position and has the largest size in the plane direction of the target area, and determine, according to the width of a plane on the obstacle, which is opposite to each scanning position, in the plane direction of the target area, a projection shape of the obstacle on the plane of the target area;
the map construction unit is used for constructing a navigation map corresponding to the target area according to the distance relationship and the direction relationship of each obstacle relative to each scanning position determined by the distance processing unit and the direction processing unit, and the projection shape of each obstacle determined by the shape processing unit on the platform where the target area is located.
6. The apparatus of claim 5,
the distance processing unit is configured to, for each of the reflection waveforms, perform:
removing blind area interference waveforms included in the head area of the reflection waveforms;
determining from the remaining portion of the reflected waveform respective first peaks corresponding to reflected wave intensities greater than a predetermined reflected wave intensity threshold;
removing multiple reflection interference peaks from each first peak, and taking the rest first peaks as second peaks;
for each second peak, determining a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform by a first formula, wherein the first formula comprises:
Figure FDA0002766763650000051
wherein L represents a relative distance between the obstacle corresponding to the second peak and the scanning position corresponding to the reflected waveform, v represents a speed of sound, and t represents a time at which the second peak appears in the reflected waveform.
7. The apparatus of claim 6,
the direction processing unit is configured to, for each obstacle, perform:
respectively acquiring relative distances between the barrier and three different scanning positions;
determining coordinate values of the obstacle according to the coordinate values of the three different scanning positions through the following equation system, wherein the equation system comprises:
Figure FDA0002766763650000052
wherein (x, y) coordinate values characterizing the obstacle, (x)1，y1) (x) coordinate values characterizing a first of the three different scanning positions2，y2) (x) coordinate values characterizing a second of the three different scan positions3，y3) A coordinate value characterizing a third scanning position of the three different scanning positions, the L1Characterizing a relative distance between the obstacle and the first scanning position, L2Characterizing a relative distance between the obstacle and the second scanning position, the L3Characterizing a relative distance, the Δ L, between the obstacle and the third scanning position1、ΔL2And Δ L3All represent constants within a preset error range;
and determining the direction relation of the obstacle relative to each scanning position according to the coordinate values of the obstacle and the coordinate values of each scanning position.
8. The apparatus of claim 6, further comprising: a threshold value generation unit;
the threshold generation unit is configured to determine the reflected wave intensity threshold according to the intensity of the ultrasonic wave transmitted to the scanning area by the area scanning unit, an effective detection distance, a height of the ultrasonic wave transmission position relative to a plane in which the target area is located, and a central angle of the sector-shaped scanning area, by using a second formula, where the second formula includes:
Figure FDA0002766763650000061
wherein, Q is0Characterizing said reflected wave intensity threshold, said Q characterizing directionThe intensity of the ultrasonic wave emitted by the scanning area, h represents the height of the ultrasonic wave emission position relative to the plane of the target area, T represents the effective detection distance of the ultrasonic wave, and alpha represents the degree of the central angle of the sector-shaped scanning area.
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