CN109645897A - A kind of obstacle detection method and system of sweeper - Google Patents
A kind of obstacle detection method and system of sweeper Download PDFInfo
- Publication number
- CN109645897A CN109645897A CN201910024753.9A CN201910024753A CN109645897A CN 109645897 A CN109645897 A CN 109645897A CN 201910024753 A CN201910024753 A CN 201910024753A CN 109645897 A CN109645897 A CN 109645897A
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- object point
- obstacle object
- sweeper
- point
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The present embodiments relate to a kind of obstacle detection method of sweeper and systems, wherein the described method includes: obtaining visual pattern, and identifies the characteristic point for including in the visual pattern；Spatial obstacle object point collection is constructed according to the characteristic point identified, and according to sweeper fuselage height and ground level, filters out effective obstacle object point from spatial obstacle object point concentration；According to the current location information of the effective obstacle object point filtered out and the sweeper, the walking path of the sweeper is planned.Technical solution provided by the present application can save the cost of sweeper.
Description
Technical field
This application involves technical field of automatic control, in particular to the obstacle detection method of a kind of sweeper and it is
System.
Background technique
With being constantly progressive for automatic technology, sweeper is favored by more and more families.Current sweeper exists
When operation, the visual pattern in travel path can be shot by camera, then analyzes the barrier in the visual pattern.By
It is wider in camera coverage, it will usually all will shoot comprising the scene including ceiling, thus identify that obstacle
Some in object are comprising the object in ceiling.Have these invalid obstacle object points removal in ceiling, existing skill
In art by ceiling by plane fitting by way of estimate, after estimating the position of ceiling, by ceiling its
Neighbouring barrier point is rejected, to filter out effective obstacle object point.However, plane fitting needs in existing situation
Certain computing capability needs quite a lot of if to carry out plane fitting operation to all barrier point sets in visual pattern
Computing resource, this adds increased the costs of sweeper.
Summary of the invention
A kind of obstacle detection method and system for being designed to provide sweeper of the application, can save sweeper
Cost.
To achieve the above object, the application provides a kind of obstacle detection method of sweeper, which comprises
Visual pattern is obtained, and identifies the characteristic point for including in the visual pattern；
Spatial obstacle object point collection is constructed according to the characteristic point identified, and according to sweeper fuselage height and Horizon
Face filters out effective obstacle object point from spatial obstacle object point concentration；
According to the current location information of the effective obstacle object point filtered out and the sweeper, the sweeper is planned
Walking path.
Further, include: according to the characteristic point building spatial obstacle object point collection identified
The characteristic point is converted into three-dimensional coordinate point set, and using the three-dimensional coordinate point set as the spatial obstacle of building
Object point collection.
Further, it according to sweeper fuselage height and ground level, is filtered out effectively from spatial obstacle object point concentration
Obstacle object point includes:
Each obstacle object point that the spatial obstacle object point is concentrated is traversed, if height locating for current obstacle object point is greater than
The fuselage height of the sweeper, or less than the height of ground level, by the current obstacle object point from the spatial obstacle
Object point, which is concentrated, rejects；
Concentrate remaining obstacle object point as the effective obstacle object point filtered out the spatial obstacle object point.
Further, after filtering out effective obstacle object point from spatial obstacle object point concentration, the method is also wrapped
It includes:
Effective obstacle object point is projected into two-dimensional surface locating for the sweeper.
Further, the walking path for planning the sweeper includes:
The size or type of effective obstacle object point are judged, if the size of effective obstacle object point exceeds default threshold
Value or the type of effective obstacle object point, which belong to, evades type, controls the sweeper and avoids effective obstacle object point.
Further, the method also includes:
If the size of effective obstacle object point is less than the type category of the preset threshold or effective obstacle object point
In cleaning type, controls the sweeper and clean effective obstacle object point.
Further, the method also includes:
Final position is set for the sweeper, and according to the current location of the sweeper, is planned from the present bit
The action path in the final position is set, effective obstacle object point is evaded in the action path.
To achieve the above object, the application also provides a kind of obstacle detection system of sweeper, the system comprises:
Feature point recognition unit for obtaining visual pattern, and identifies the characteristic point for including in the visual pattern；
Obstacle object point screening unit, for the characteristic point building spatial obstacle object point collection that basis identifies, and according to
Sweeper fuselage height and ground level filter out effective obstacle object point from spatial obstacle object point concentration；
Path planning unit, for the position letter current according to the effective obstacle object point and the sweeper that filter out
Breath, plans the walking path of the sweeper.
Further, the obstacle object point screening unit includes:
Module is rejected, each obstacle object point concentrated for traversing the spatial obstacle object point, if current obstacle object point
Locating height is greater than the fuselage height of the sweeper, or less than the height of ground level, by the current obstacle object point
It concentrates and rejects from the spatial obstacle object point；
Screening module, for concentrating remaining obstacle object point as the effective obstacle filtered out the spatial obstacle object point
Object point.
Further, the path planning unit includes:
Evade module, for judging the size or type of effective obstacle object point, if effective obstacle object point
Size belongs to beyond the type of preset threshold or effective obstacle object point and evades type, controls the sweeper and avoids institute
State effective obstacle object point；
Module is cleaned, if the size for effective obstacle object point is less than the preset threshold or effective barrier
Hinder the type of object point to belong to cleaning type, controls the sweeper and clean effective obstacle object point.
Therefore technical solution provided by the present application, after identifying barrier point set, can according to fuselage height and
Height above ground level is concentrated from barrier point and rejects excessive height or too low obstacle object point, very easy so as to pass through
Mode filter out effective obstacle object point.In this way, while guaranteeing accuracy of identification, moreover it is possible to greatly reduce required calculating money
Source, to reduce the cost of sweeper.
Detailed description of the invention
Fig. 1 is the obstacle detection method schematic diagram of sweeper in the embodiment of the present application；
Fig. 2 is the functional block diagram of the obstacle detection system of sweeper in the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in mode is applied, the technical solution in the application embodiment is clearly and completely described, it is clear that described
Embodiment is only a part of embodiment of the application, rather than whole embodiments.Based on the embodiment party in the application
Formula, all other embodiment obtained by those of ordinary skill in the art without making creative efforts, is all answered
When the range for belonging to the application protection.
The application provides a kind of obstacle detection method of sweeper, referring to Fig. 1, the described method comprises the following steps:
S1: visual pattern is obtained, and identifies the characteristic point for including in the visual pattern；
S2: spatial obstacle object point collection is constructed according to the characteristic point identified, and according to sweeper fuselage height and ground
Plane filters out effective obstacle object point from spatial obstacle object point concentration；
S3: it according to the current location information of the effective obstacle object point filtered out and the sweeper, is swept described in planning
The walking path of ground machine.
In one embodiment, include: according to the characteristic point building spatial obstacle object point collection identified
The characteristic point is converted into three-dimensional coordinate point set, and using the three-dimensional coordinate point set as the spatial obstacle of building
Object point collection.
In practical applications, the characteristic point in visual pattern is based on camera coordinates system, then can be according to existing skill
Characteristic point in camera coordinates system is converted to the three-dimensional coordinate point of world coordinate system by art, so as to obtain having X, Y, Z tri-
The three-dimensional coordinate point of a coordinate value.
In one embodiment, it according to sweeper fuselage height and ground level, concentrates and sieves from the spatial obstacle object point
Selecting effective obstacle object point includes:
Each obstacle object point that the spatial obstacle object point is concentrated is traversed, if height locating for current obstacle object point is greater than
The fuselage height of the sweeper, or less than the height of ground level, by the current obstacle object point from the spatial obstacle
Object point, which is concentrated, rejects；
Concentrate remaining obstacle object point as the effective obstacle object point filtered out the spatial obstacle object point.
In one embodiment, described after filtering out effective obstacle object point from spatial obstacle object point concentration
Method further include:
Effective obstacle object point is projected into two-dimensional surface locating for the sweeper.
In one embodiment, the walking path for planning the sweeper includes:
The size or type of effective obstacle object point are judged, if the size of effective obstacle object point exceeds default threshold
Value or the type of effective obstacle object point, which belong to, evades type, controls the sweeper and avoids effective obstacle object point.
In one embodiment, the method also includes:
If the size of effective obstacle object point is less than the type category of the preset threshold or effective obstacle object point
In cleaning type, controls the sweeper and clean effective obstacle object point.
In one embodiment, the method also includes:
Final position is set for the sweeper, and according to the current location of the sweeper, is planned from the present bit
The action path in the final position is set, effective obstacle object point is evaded in the action path.
In practical applications, the technical solution of the application can be realized in the following way:
1) characteristic point obtained in visual pattern is converted into three-dimensional coordinate point set, spatial obstacle object point collection is consequently formed.
Due to being three-dimensional coordinate point, so each point has (x, y, z) three attributes, wherein z is height of this away from ground.
2) spatial obstacle object point collection is screened, only retains effective data.Concrete operations are as follows:
Each spatial obstacle object point is judged, if being higher than the obstacle object point of sweeper fuselage height, is rejected.
For being lower than the obstacle object point of ground level, rejected.Obstacle point set after rejecting is being higher than ground level, but is being lower than sweeper
Between fuselage height.It handles in this way, has not only filtered out the point set of ceiling portion, but also only remain the obstacle of effective coverage
Object point collection, this considerably reduce the quantity of barrier point set, can effectively promote computational efficiency.
3) it by spatial obstacle object point collection, projects to two-dimensional surface, obtains these barrier point sets on two-dimensional surface
Coordinate points.
4) the current positioning coordinate points of sweeper are obtained.
5) positional relationship of current coordinate point and obstacle object point is analyzed.Carry out respective handling.Such as avoiding obstacles, explore clear
All barriers in region are swept, to the path planning etc. of some position of room.
Referring to Fig. 2, the application also provides a kind of obstacle detection system of sweeper, the system comprises:
Feature point recognition unit for obtaining visual pattern, and identifies the characteristic point for including in the visual pattern；
Obstacle object point screening unit, for the characteristic point building spatial obstacle object point collection that basis identifies, and according to
Sweeper fuselage height and ground level filter out effective obstacle object point from spatial obstacle object point concentration；
Path planning unit, for the position letter current according to the effective obstacle object point and the sweeper that filter out
Breath, plans the walking path of the sweeper.
In one embodiment, the obstacle object point screening unit includes:
Module is rejected, each obstacle object point concentrated for traversing the spatial obstacle object point, if current obstacle object point
Locating height is greater than the fuselage height of the sweeper, or less than the height of ground level, by the current obstacle object point
It concentrates and rejects from the spatial obstacle object point；
Screening module, for concentrating remaining obstacle object point as the effective obstacle filtered out the spatial obstacle object point
Object point.
In one embodiment, the path planning unit includes:
Evade module, for judging the size or type of effective obstacle object point, if effective obstacle object point
Size belongs to beyond the type of preset threshold or effective obstacle object point and evades type, controls the sweeper and avoids institute
State effective obstacle object point；
Module is cleaned, if the size for effective obstacle object point is less than the preset threshold or effective barrier
Hinder the type of object point to belong to cleaning type, controls the sweeper and clean effective obstacle object point.
Therefore technical solution provided by the present application, after identifying barrier point set, can according to fuselage height and
Height above ground level is concentrated from barrier point and rejects excessive height or too low obstacle object point, very easy so as to pass through
Mode filter out effective obstacle object point.In this way, while guaranteeing accuracy of identification, moreover it is possible to greatly reduce required calculating money
Source, to reduce the cost of sweeper.
Those skilled in the art are supplied to the purpose described to the description of the various embodiments of the application above.It is not
It is intended to exhaustion or be not intended to and limit the invention to single disclosed embodiment.As described above, the application's is various
Substitution and variation will be apparent for above-mentioned technology one of ordinary skill in the art.Therefore, although specifically begging for
Some alternative embodiments are discussed, but other embodiment will be apparent or those skilled in the art are opposite
It is easy to obtain.The application is intended to include all substitutions of the invention discussed herein, modification and variation, and falls in
Other embodiment in the spirit and scope of above-mentioned application.
Claims (10)
1. a kind of obstacle detection method of sweeper, which is characterized in that the described method includes:
Visual pattern is obtained, and identifies the characteristic point for including in the visual pattern；
Spatial obstacle object point collection is constructed according to the characteristic point that identifies, and according to sweeper fuselage height and ground level, from
The spatial obstacle object point concentration filters out effective obstacle object point；
According to the current location information of the effective obstacle object point filtered out and the sweeper, the row of the sweeper is planned
Walk path.
2. the method according to claim 1, wherein constructing spatial obstacle object according to the characteristic point identified
Point set includes:
The characteristic point is converted into three-dimensional coordinate point set, and using the three-dimensional coordinate point set as the spatial obstacle object point of building
Collection.
3. the method according to claim 1, wherein according to sweeper fuselage height and ground level, from the sky
Between barrier point concentration filter out effective obstacle object point and include:
Each obstacle object point that the spatial obstacle object point is concentrated is traversed, if height locating for current obstacle object point is greater than described
The fuselage height of sweeper, or less than the height of ground level, by the current obstacle object point from the spatial obstacle object point
It concentrates and rejects；
Concentrate remaining obstacle object point as the effective obstacle object point filtered out the spatial obstacle object point.
4. the method according to claim 1, wherein filtering out effective barrier from spatial obstacle object point concentration
After hindering object point, the method also includes:
Effective obstacle object point is projected into two-dimensional surface locating for the sweeper.
5. method according to claim 1 or 4, which is characterized in that the walking path for planning the sweeper includes:
Judge the size or type of effective obstacle object point, if the size of effective obstacle object point exceeds preset threshold,
Or the type of effective obstacle object point belongs to and evades type, controls the sweeper and avoids effective obstacle object point.
6. according to the method described in claim 5, it is characterized in that, the method also includes:
If the size of effective obstacle object point is less than the preset threshold or the type of effective obstacle object point belongs to clearly
Type is managed, the sweeper is controlled and cleans effective obstacle object point.
7. according to the method described in claim 5, it is characterized in that, the method also includes:
Set final position for the sweeper, and according to the current location of the sweeper, planning from the current location to
The action path in the final position evades effective obstacle object point in the action path.
8. a kind of obstacle detection system of sweeper, which is characterized in that the system comprises:
Feature point recognition unit for obtaining visual pattern, and identifies the characteristic point for including in the visual pattern；
Obstacle object point screening unit, for constructing spatial obstacle object point collection according to the characteristic point that identifies, and according to sweeping the floor
Machine fuselage height and ground level filter out effective obstacle object point from spatial obstacle object point concentration；
Path planning unit, the current location information of the effective obstacle object point and the sweeper filtered out for basis,
Plan the walking path of the sweeper.
9. system according to claim 8, which is characterized in that the obstacle object point screening unit includes:
Module is rejected, each obstacle object point concentrated for traversing the spatial obstacle object point, if locating for current obstacle object point
Height be greater than the fuselage height of the sweeper, or less than the height of ground level, by the current obstacle object point from institute
It states spatial obstacle object point and concentrates rejecting；
Screening module, for concentrating remaining obstacle object point as the effective barrier filtered out the spatial obstacle object point
Point.
10. system according to claim 8 or claim 9, which is characterized in that the path planning unit includes:
Evade module, for judging the size or type of effective obstacle object point, if the size of effective obstacle object point
Type beyond preset threshold or effective obstacle object point, which belongs to, evades type, controls the sweeper and avoids described having
Imitate obstacle object point；
Module is cleaned, if the size for effective obstacle object point is less than the preset threshold or effective barrier
The type of point belongs to cleaning type, controls the sweeper and cleans effective obstacle object point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910024753.9A CN109645897A (en) | 2019-01-10 | 2019-01-10 | A kind of obstacle detection method and system of sweeper |
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| CN201910024753.9A CN109645897A (en) | 2019-01-10 | 2019-01-10 | A kind of obstacle detection method and system of sweeper |
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Family
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| CN110353579A (en) * | 2019-08-14 | 2019-10-22 | 成都普诺思博科技有限公司 | A kind of clean robot automatic path planning method |
| CN110799989A (en) * | 2019-04-20 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Obstacle detection method, equipment, movable platform and storage medium |
| CN111990929A (en) * | 2020-08-26 | 2020-11-27 | 北京石头世纪科技股份有限公司 | Obstacle detection method and device, self-walking robot and storage medium |
| CN112051841A (en) * | 2019-06-05 | 2020-12-08 | 南京苏美达智能技术有限公司 | Method and device for generating barrier boundary |
| CN112294197A (en) * | 2020-11-04 | 2021-02-02 | 深圳市普森斯科技有限公司 | Sweeping control method of sweeper, electronic device and storage medium |
| CN112528728A (en) * | 2020-10-16 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Image processing method and device for visual navigation and mobile robot |
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| CN110799989A (en) * | 2019-04-20 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Obstacle detection method, equipment, movable platform and storage medium |
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| CN114521836A (en) * | 2020-08-26 | 2022-05-24 | 北京石头创新科技有限公司 | Automatic cleaning equipment |
| CN114521836B (en) * | 2020-08-26 | 2023-11-28 | 北京石头创新科技有限公司 | Automatic cleaning equipment |
| CN112528728A (en) * | 2020-10-16 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Image processing method and device for visual navigation and mobile robot |
| CN112528728B (en) * | 2020-10-16 | 2024-03-29 | 深圳银星智能集团股份有限公司 | Image processing method and device for visual navigation and mobile robot |
| CN112294197A (en) * | 2020-11-04 | 2021-02-02 | 深圳市普森斯科技有限公司 | Sweeping control method of sweeper, electronic device and storage medium |
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Application publication date: 20190419 |