CN110515386A - A kind of intelligent robot - Google Patents
A kind of intelligent robot Download PDFInfo
- Publication number
- CN110515386A CN110515386A CN201910888356.6A CN201910888356A CN110515386A CN 110515386 A CN110515386 A CN 110515386A CN 201910888356 A CN201910888356 A CN 201910888356A CN 110515386 A CN110515386 A CN 110515386A
- Authority
- CN
- China
- Prior art keywords
- intelligent robot
- angle
- cloud quantity
- wall
- maximum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The invention discloses a kind of intelligent robots, are able to ascend the accuracy of determining wall position, which may include: acquisition module, for scanning presumptive area according to the plane right-angle coordinate pre-established, obtain the point cloud data of the presumptive area；Control module, it is connected with the acquisition module, for receiving the point cloud data for the presumptive area that the acquisition module is sent, and dividing the presumptive area is several subregions, determine the point cloud quantity of point cloud data on each subregion, several described cloud quantity are obtained, determine wall position according to several described cloud quantity.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of intelligent robot.
Background technique
Currently, sweeping robot can be automatically performed in the case where unattended and treat sweeping the floor, wiping ground for purging zone
And the functions such as recharge automatically, increasingly liked by people.
But inventor has found during studying the present invention, at least has following defects that existing skill in the prior art
In art sweeping robot identification wall position accuracy it is poor, and then cause sweeping robot to wall abutment wall angle and the foot of a wall at
It is poor to clean effect.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent robots, are able to solve the drawbacks described above of the prior art.
One aspect of the present invention provides a kind of intelligent robot, comprising: acquisition module is pre-established for basis
Plane right-angle coordinate scans presumptive area, obtains the point cloud data of above-mentioned presumptive area；Control module, with above-mentioned acquisition module
It is connected, for receiving the point cloud data for the above-mentioned presumptive area that above-mentioned acquisition module is sent, and if dividing above-mentioned presumptive area and being
Dry subregion determines the point cloud quantity of point cloud data on each above-mentioned subregion, several above-mentioned cloud quantity is obtained, according to several
Above-mentioned cloud quantity determines wall position.
Optionally, above-mentioned intelligent robot further include: walking module is connected with above-mentioned control module；Above-mentioned control module
Above-mentioned intelligent robot is controlled to walk by above-mentioned walking module
Optionally, above-mentioned intelligent robot further include: first detection module is connected, for detecting with above-mentioned control module
Above-mentioned intelligent robot between above-mentioned wall at a distance from, and by above-mentioned intelligent robot between above-mentioned wall at a distance from be sent to
State control module；When reaching first threshold at a distance from above-mentioned intelligent robot is between above-mentioned wall, above-mentioned control module control
Above-mentioned intelligent robot rotation, so that the direction of advance of above-mentioned intelligent robot is parallel with the length direction of above-mentioned wall.
Optionally, when the direction of advance of above-mentioned intelligent robot is parallel with the length direction of above-mentioned wall, above-mentioned control
Module controls above-mentioned intelligent robot and walks along the length direction of above-mentioned wall, and receives the upper of above-mentioned first detection module transmission
State intelligent robot between above-mentioned wall at a distance from.
Optionally, above-mentioned control module is also used to: when at a distance from above-mentioned intelligent robot is between above-mentioned wall less than second
When threshold value, above-mentioned control module controls above-mentioned intelligent robot rotation, so that above-mentioned intelligent robot is to be greater than above-mentioned second threshold
The distance of value is walked along the length direction of above-mentioned wall.
Optionally, above-mentioned intelligent robot further include: clean module, be connected with above-mentioned control module；When above-mentioned intelligent machine
When device people is along the length direction walking of above-mentioned wall, above-mentioned control module controls above-mentioned cleaning module and cleans above-mentioned presumptive area.
Optionally, above-mentioned intelligent robot further include: the second detection module is connected, for detecting with above-mentioned control module
Barrier, and above-mentioned control module is sent by above-mentioned obstacle information；Above-mentioned control module is according to the information of above-mentioned barrier
It controls above-mentioned intelligent robot and gets around above-mentioned barrier.
Optionally, there are overlapping regions between the adjacent above-mentioned subregion of any two, and each above-mentioned overlapping region is opposite
It is all the same in the range size of the corresponding two adjacent above-mentioned subregions in above-mentioned overlapping region and position.
Optionally, wall position is determined according to several above-mentioned cloud quantity, comprising: maximum in several above-mentioned cloud quantity
Point cloud quantity meet the first predetermined condition when, by above-mentioned maximum cloud quantity corresponding sub-region in above-mentioned plane rectangular coordinates
The position of system is determined as above-mentioned wall position.
Optionally, when maximum cloud quantity meets the first predetermined condition in several above-mentioned cloud quantity, by it is above-mentioned most
Big point cloud quantity corresponding sub-region is determined as above-mentioned wall position in the position of above-mentioned plane right-angle coordinate, comprising: is directed to
Above-mentioned maximum cloud quantity corresponding sub-region, calculates the distance between any two point cloud data on above-mentioned subregion, and remember
Record maximum distance；Meet above-mentioned first predetermined condition in above-mentioned maximum cloud quantity and above-mentioned maximum distance meets second
When predetermined condition, above-mentioned subregion is determined as above-mentioned wall position in the position of above-mentioned plane right-angle coordinate.
Optionally, the above-mentioned presumptive area of above-mentioned division is several subregions, comprising: with the cross of above-mentioned plane right-angle coordinate
On the basis of axis, dividing above-mentioned presumptive area is multiple first subregions；On the basis of the longitudinal axis of above-mentioned plane right-angle coordinate, draw
Dividing above-mentioned presumptive area is multiple second subregions.
Optionally, on each above-mentioned subregion of above-mentioned determination point cloud data point cloud quantity, obtain several above-mentioned cloud numbers
Amount, comprising: first cloud quantity for determining point cloud data on each above-mentioned first subregion obtains several above-mentioned first cloud number
Amount；The second point cloud quantity for determining point cloud data on each above-mentioned second subregion obtains several above-mentioned second point cloud quantity.
Optionally, when maximum cloud quantity meets the first predetermined condition in several above-mentioned cloud quantity, by it is above-mentioned most
Big point cloud quantity corresponding sub-region is determined as wall position in the position of above-mentioned plane right-angle coordinate, further includes: from several
Above-mentioned maximum cloud quantity is determined in above-mentioned first cloud quantity and several above-mentioned second point cloud quantity；Above-mentioned maximum
When point cloud quantity meets above-mentioned first predetermined condition, by corresponding first subregion of above-mentioned maximum cloud quantity or the second subregion
It is determined as above-mentioned wall position in the position of above-mentioned plane right-angle coordinate.
Optionally, above-mentioned control module is also used to: being unsatisfactory for above-mentioned first predetermined condition in above-mentioned maximum cloud quantity
When, in the first predetermined angular, above-mentioned plane right-angle coordinate is successively rotated to same direction by step-length of the second predetermined angular；
For rotating each time, repartitioning above-mentioned purging zone is multiple above-mentioned subregions；For in above-mentioned first predetermined angular
All rotations redefine out above-mentioned maximum point from the corresponding all the points cloud quantity of all subregions repartitioned
Cloud quantity；When the above-mentioned maximum cloud quantity redefined out meets above-mentioned first predetermined condition, by what is redefined out
The position of the above-mentioned plane right-angle coordinate of above-mentioned maximum cloud quantity corresponding sub-region after rotation is determined as above-mentioned wall
Body position.
Optionally, above-mentioned control module is also used to: determining above-mentioned intelligent robot relative to above-mentioned plane right-angle coordinate
Initial angle；According to above-mentioned initial angle and above-mentioned maximum cloud quantity corresponding sub-region in above-mentioned plane right-angle coordinate
Position, calculate first rotation angle；Control the above-mentioned first rotation angle of above-mentioned intelligent robot rotation.
Optionally, above-mentioned control module is determining above-mentioned intelligent robot relative to the initial of above-mentioned plane right-angle coordinate
It when angle, is also used to: when above-mentioned maximum cloud quantity meets above-mentioned first predetermined condition in multiple above-mentioned cloud quantity, really
Angle between the direction of advance of fixed above-mentioned intelligent robot and the above-mentioned plane right-angle coordinate before rotation obtains above-mentioned first
Beginning angle；When above-mentioned maximum cloud quantity is unsatisfactory for above-mentioned first predetermined condition in multiple above-mentioned cloud quantity, in determination
It states above-mentioned flat after the direction of advance rotation corresponding with the above-mentioned maximum cloud quantity redefined out of intelligent robot
Angle between the rectangular coordinate system of face obtains above-mentioned initial angle.
Optionally, above-mentioned control module the direction of advance that determines above-mentioned intelligent robot with redefine out it is above-mentioned most
The angle between above-mentioned plane right-angle coordinate after the big corresponding rotation of point cloud quantity, when obtaining above-mentioned initial angle,
It is also used to: determining the above-mentioned plane right-angle coordinate after the corresponding rotation of above-mentioned maximum cloud quantity redefined out
Second rotation angle, wherein above-mentioned second rotation angle is the integral multiple of above-mentioned second predetermined angular；According to above-mentioned intelligence machine
Angle between the direction of advance of people and the above-mentioned plane right-angle coordinate before rotation and above-mentioned second rotation angle, in calculating
State initial angle.
The control module that intelligent robot provided by the invention may include acquisition module and be connected with acquisition module, In
It looks for before wall, acquisition module can first establish plane right-angle coordinate, then scanned and cleaned on the basis of plane right-angle coordinate
Region is cleaned the point cloud data in region, and it is multiple sons that control module divides purging zone on the basis of plane right-angle coordinate
Then region determines the point cloud quantity for falling in point cloud data in each sub-regions, and if then basis do cloud quantity and determine
Wall position out.Then the present embodiment determines wall position according to the point cloud quantity of these subregions by division subregion,
Improve the accuracy of determining wall position.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.
In the accompanying drawings:
Fig. 1 is the block diagram of intelligent robot provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram that control module provided in an embodiment of the present invention divides that presumptive area is several first subregions；
Fig. 3 is the schematic diagram that control module provided in an embodiment of the present invention divides that presumptive area is several second subregions；
Fig. 4 be another embodiment of the present invention provides control module divide presumptive area be several first subregions signal
Figure；
Fig. 5 be another embodiment of the present invention provides control module divide presumptive area be several second subregions signal
Figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, shall fall within the protection scope of the present invention.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The embodiment provides a kind of intelligent robot, which can be applied to following applied field
Scape, it should be appreciated that application scenarios described in the present embodiment are used only for explaining the present invention, do not make to protection scope of the present invention
At restriction, the present invention also can be applied to other application scenarios, specifically: the follow-wall stage of intelligent robot can be divided into
Two stages, first stage are the position that intelligent robot finds wall, and second stage is that intelligent robot finds wall
It walks behind position along wall.Since the original state of intelligent robot is unknown, i.e., the original state of intelligent robot may be to have wall
State (near wall), it is also possible to for no wall state (far from wall), can directly be cut in intelligent robot when there is wall state
It changes to and works along wall walking mode, but in intelligent robot in no wall state, need to switch again after first finding wall position
To along wall walking mode.
Fig. 1 is the block diagram of intelligent robot provided in an embodiment of the present invention.
As shown in Figure 1, the intelligent robot 100 may include acquisition module 101 and control module 102, in which:
Acquisition module 101 obtains described predetermined for scanning presumptive area according to the plane right-angle coordinate pre-established
The point cloud data in region.
Wherein, acquisition module 101 can be laser radar, video camera or infrared depth of field sensor (Time of
Flight, referred to as TOF).
In the present embodiment, after starting intelligent robot 100, the acquisition module 101 of the intelligent robot 100 can be with
Ground is that horizontal plane establishes plane right-angle coordinate.The origin of the plane right-angle coordinate can working as intelligent robot 100
Front position, horizontal axis or the longitudinal axis can be 100 direction of advance of intelligent robot, as horizontal axis positive direction is intelligent robot 100
Direction of advance.
Optionally, the origin of plane right-angle coordinate may be the position apart from 100 preset distance of intelligent robot, horizontal
Axis or the longitudinal axis can also be in fixed angle, e.g., the positive direction and intelligence machine of horizontal axis with the direction of advance of intelligent robot 100
The direction of advance of people 100 is in fixed angle, and the present embodiment is to establishing the specific method of plane right-angle coordinate without limitation.
In the present embodiment, the acquisition module 101 of intelligent robot 100 can be swept by coordinate basis of plane right-angle coordinate
Presumptive area is retouched, the point cloud data (also known as laser point cloud data) of presumptive area is obtained.Wherein, presumptive area can be for clear
Region is swept, the range of the presumptive area is comprised in the scanning range of acquisition module 101, and in order to accurately according to point cloud data
Quantity identify wall position, presumptive area is preferably square area.Such as, central point is in the region 10m × 10m of origin.
Optionally, the form of the point cloud data scanned can be polar form, and then can guarantee accurately
Entire presumptive area is scanned, the point cloud data for the presumptive area that scanning obtains can be transferred to by further acquisition module 101
Control module 102.
Control module 102 is connected with the acquisition module 101, for receiving the described pre- of the transmission of acquisition module 101
Determine the point cloud data in region, and dividing the presumptive area is several subregions, determines point cloud data on each subregion
Point cloud quantity, obtain several described cloud quantity, determine wall position according to several described cloud quantity.
Wherein, control module 102 may include data processing unit 1021 and control unit 1022, data processing unit
1021 can receive the point cloud data of the polar form of the transmission of acquisition module 101, then by the point cloud data of polar form
It is converted into the point cloud data of plane rectangular coordinates form.It is used it should be appreciated that data processing unit 1021 is subsequent in the present invention
Point cloud data is plane right-angle coordinate form.
In the present embodiment, since presumptive area is established in plane right-angle coordinate, data processing unit 1021 can
To divide presumptive area according to the coordinate in plane right-angle coordinate as several subregions.Such as, data processing unit 1021 passes through
It is several subregions that a plurality of dividing line parallel to each other, which divides presumptive area, and every dividing line and horizontal axis are in predetermined angular.It is optional
Ground, in order to improve the accuracy for putting cloud quantity in subsequent more each sub-regions, preferred divide of data processing unit 1021 makes a reservation for
Region is the subregion of several equalizations.
Since each subregion is corresponding with the coordinate of oneself, and the plane rectangular coordinates value of each point cloud data has also obtained
Know, therefore, data processing unit 1021 can determine the point cloud quantity of the point cloud data fallen in each subregion, then may be used
To determine wall position according to these cloud quantity.
The control that intelligent robot 100 provided by the invention may include acquisition module 101 and be connected with acquisition module 101
Molding block 102, before looking for wall, acquisition module 101 can first establish plane right-angle coordinate, then with plane right-angle coordinate
On the basis of scanning purging zone be cleaned the point cloud data in region, control module 102 is drawn on the basis of plane right-angle coordinate
Dividing purging zone is multiple subregions, then determines the point cloud quantity for falling in the point cloud data in each sub-regions, Jin Ergen
If determining wall position according to cloud quantity is done.The present embodiment is by dividing subregion, then according to the point cloud of these subregions
Quantity determines wall position, improves the accuracy of determining wall position.
Optionally, if determining wall position according to cloud quantity is done, if may include: the maximum point in doing cloud quantity
When cloud quantity meets the first predetermined condition, maximum cloud quantity corresponding sub-region is determined in the position of plane right-angle coordinate
For wall position.
Wherein, since acquisition module 101 scans, the obtained point cloud data of wall is necessarily very more, and first is predetermined
Condition can reach the first predetermined threshold for the difference of maximum cloud quantity and any one other point cloud quantity.The present embodiment
In, after data processing unit 1021 determines to fall in the point cloud quantity of the point cloud data in each subregion, it can determine
Maximum point cloud data out, and maximum cloud quantity corresponding sub-region is determined as wall in the position of plane right-angle coordinate
Position.
By embodiment of the disclosure, when maximum cloud quantity meets the first predetermined condition, by its corresponding sub-district
Position where domain is determined as wall position.The point cloud quantity for the point cloud data that the present invention is obtained in view of scanning wall is necessarily
Very more, therefore the interior point cloud quantity of subregion for falling into wall position is necessarily much larger than other any one subregions pair
The point cloud quantity answered, therefore, the present invention only meet the first predetermined condition in only maximum cloud quantity, just by maximum point
Position where the corresponding subregion of cloud quantity is determined as wall position, and then improves the accuracy of determining wall position.
Optionally, in order to improve identification wall position accuracy, only data processing unit 1021 divide sub-district
When domain is parallel to wall, the point cloud quantity in the subregion where wall position just can be most, and then data processing unit 1021
Wall position can be determined according to cloud quantity.Therefore, data processing unit 1021 assume that the plane currently established is straight
The horizontal axis or the longitudinal axis of angular coordinate system are parallel to wall, divide presumptive area.Such as, presumptive areas are divided from two dimensions, i.e., from
It is several first subregions that horizontal axis dimension, which divides presumptive area, and dividing presumptive area from longitudinal axis dimension is several second subregions,
And then maximum cloud quantity is determined from corresponding cloud quantity of these subregions that two dimensions divide, that is, being directed to
Same plane rectangular coordinate system disposably considers the content of two dimensions, not only improves the efficiency of determining wall position, also mention
The accuracy of determining wall position is risen.Specifically:
Dividing the presumptive area is several subregions, comprising: on the basis of the horizontal axis of the plane right-angle coordinate, is drawn
Dividing the presumptive area is multiple first subregions；On the basis of the longitudinal axis of the plane right-angle coordinate, divide described predetermined
Region is multiple second subregions.
The point cloud quantity for determining point cloud data on each subregion obtains several described cloud quantity, comprising: determines
First cloud quantity of point cloud data on each first subregion obtains several first cloud quantity；It determines each
The second point cloud quantity of point cloud data on second subregion, obtains several second point cloud quantity.
When maximum cloud quantity meets the first predetermined condition in several described cloud quantity, by the maximum cloud
Quantity corresponding sub-region is determined as wall position in the position of the plane right-angle coordinate, comprising: from several described first points
The maximum cloud quantity is determined in cloud quantity and several second point cloud quantity；It is full in the maximum cloud quantity
When foot first predetermined condition, by corresponding first subregion of the maximum cloud quantity or the second subregion in the plane
The position of rectangular coordinate system is determined as the wall position.
Firstly, data processing unit 1021 can be on the basis of horizontal axis, dividing presumptive area is several the first impartial sons
Region, each first subregion are parallel to horizontal axis or with horizontal axis in predetermined angle.Wherein, to be parallel to plane in presumptive area straight
When angular coordinate system, data processing unit 1021 can make each first subregion divided also each parallel to horizontal axis, at this time data
The horizontal axis that processing unit 1021 can be the plane right-angle coordinate that default assumption is currently established is parallel to wall, and each
The horizontal axis range of first subregion is consistent, and longitudinal axis range spacing is consistent, e.g., is parallel to horizontal axis and consistent stroke of spacing there are a plurality of
Separated time, these dividing lines are used to divide the first subregion that presumptive area is several equalizations.It is sat in presumptive area and flat square
It is such as in predetermined angular with horizontal axis when mark system is in predetermined angular, data processing unit 1021 can make each first sub-district divided
Domain is in predetermined angle with horizontal axis, and the flat square that data processing unit 1021 can be that default assumption is currently established at this time is sat
The horizontal axis and wall for marking system are in predetermined angular.
As illustrated in fig. 2, it is assumed that presumptive area central point is that 10m × 10m is parallel to plane right-angle coordinate in origin
Square area, data processing unit 1021 can be using 5cm as step-length, and dividing presumptive area is n the first subregions, each
First subregion each parallel to horizontal axis, such as longitudinal axis range of the first subregion y1 be [0,5cm), horizontal axis range is [- 5m, 5m]；
The longitudinal axis range of first subregion y2 be [5cm, 10cm), horizontal axis range be [- 5m, 5m]；The longitudinal axis range of first subregion y3
For [- 5cm, 0cm), horizontal axis range is [- 5m, 5m].
Secondly, data processing unit 1021 can be on the basis of the longitudinal axis, dividing presumptive area is several the second impartial sons
Region, each second subregion are parallel to the longitudinal axis or with the longitudinal axis in predetermined angular.Wherein, to be parallel to plane in presumptive area straight
When angular coordinate system, data processing unit 1021 can make each second subregion divided also each parallel to the longitudinal axis, at this time data
The longitudinal axis that processing unit 1021 can be the plane right-angle coordinate that default assumption is currently established is parallel to wall, and each
The longitudinal axis range of second subregion is consistent, and horizontal axis range spacing is consistent, e.g., is parallel to the longitudinal axis and consistent stroke of spacing there are a plurality of
Separated time, these dividing lines are used to divide the second subregion that presumptive area is several equalizations.It is sat in presumptive area and flat square
It is such as in predetermined angular with horizontal axis when mark system is in predetermined angular, data processing unit 1021 can make each first sub-district divided
Domain is in predetermined angle with the longitudinal axis, and the flat square that data processing unit 1021 can be that default assumption is currently established at this time is sat
The longitudinal axis and wall for marking system are in predetermined angular.
As shown in Figure 3, it is assumed that presumptive area central point is that 10m × 10m is parallel to plane right-angle coordinate in origin
Square area, data processing unit 1021 can be using 5cm as step-length, and dividing presumptive area is n the second subregions, each
Second subregion each parallel to the longitudinal axis, the horizontal axis range of the second subregion x1 be [0,5cm), longitudinal axis range is [- 5m, 5m]；The
The horizontal axis range of two subregion x2 be [5cm, 10cm), longitudinal axis range be [- 5m, 5m]；The horizontal axis range of second subregion x3 is
[- 5cm, 0cm), longitudinal axis range is [- 5m, 5m].
Again, data processing unit 1021 can be from all first cloud quantity and all second point cloud quantity really
Make maximum cloud quantity.If maximum cloud quantity belongs to first cloud quantity, meet the in maximum cloud quantity
When one predetermined condition, data processing unit 1021 is by corresponding first subregion of maximum cloud quantity in plane right-angle coordinate
Position is determined as wall position；If maximum cloud quantity belongs to second point cloud quantity, meet the in maximum cloud quantity
When one predetermined condition, data processing unit 1021 is by corresponding second subregion of maximum cloud quantity in plane right-angle coordinate
Position is determined as wall position.
Optionally, since wall may not be straight, for example there are the parts of convex-concave for surface of wall, therefore scan wall
Obtained point cloud data may be distributed in two sub-regions, and if then being multiple sub-districts not being stacked by predetermined division
Domain is easy to produce error, influences wall position definitive result.Based on this, the present embodiment in order to improve wall position determine standard
True property is provided with overlapping region according to the tolerance of wall between two adjacent subarea domains.Specifically, the adjacent institute of any two
State between subregion there are overlapping region, and each overlapping region relative to the overlapping region it is corresponding two it is adjacent described
The range size of subregion and position are all the same.
Such as, there are a plurality of dividing line parallel to each other, these dividing lines are multiple subregions for dividing presumptive area, often
Dividing line and horizontal axis are in predetermined angular (predetermined angular includes 0 degree), and there are overlay regions between two adjacent sub-regions
The width in domain, such as two adjacent subarea domains is 5cm, and setting overlapping region width is 1cm.
Optionally, in order to improve the accuracy for putting cloud quantity in subsequent more each sub-regions, the present embodiment is preferably divided
Presumptive area is the subregion of multiple equalizations.
For example, it is 3 sub-regions that data processing unit 1021, which divides presumptive area, the first sub-regions width range is
[0,5cm), length range is [- 5cm, 5cm]；Second sub-regions width range be [4cm, 9cm), length range be [- 5cm,
5cm]；Third sub-regions width range be [8cm, 13cm), length range be [- 5cm, 5cm].Obviously, first overlay region
It is 1cm that domain, which is width relative to the range size of the first sub-regions and the second sub-regions, length 10cm, and position is the
At the end 1cm width of one sub-regions and at the starting 1cm width of the second sub-regions；Second overlapping region relative to
The range size of second sub-regions and third sub-regions is that width is 1cm, and length 10cm, position is in second sub-district
At the end 1cm width in domain and at the starting 1cm width of third sub-regions.
Optionally, there are the first overlappings between adjacent first subregion of any two that data processing unit 1021 divides
Region, and each first overlapping region is relative to corresponding two adjacent first subregions in first overlapping region
Range size and position it is all the same.
It is assumed that presumptive area central point is that 10m × 10m is parallel to plane right-angle coordinate in origin
Square area, data processing unit 1021 can be using 5cm as step-length, and dividing presumptive area is n the first subregions, each
There are the first overlapping region, each first weights each parallel to horizontal axis, and between adjacent first subregion of any two for first subregion
Folded region is all the same relative to the range size of corresponding two adjacent first subregions in first overlapping region and position.Such as the
The longitudinal axis range of one subregion y1 ' be [0,5cm), horizontal axis range be [- 5m, 5m]；The longitudinal axis range of first subregion y2 ' is
[4cm, 9cm), horizontal axis range is [- 5m, 5m]；The longitudinal axis range of first subregion y3 ' be [8cm, 13cm), horizontal axis range be [-
5m,5m]；The longitudinal axis range of first subregion y4 ' be [- 4cm, 1cm), horizontal axis range be [- 5m, 5m] ..., etc..Obviously,
There are first overlapping regions between one subregion y1 ' and the first subregion y2 ', and first overlapping region is relative to the first son
The range size of region y1 ' and the first subregion y2 ' are that width is 1cm, and length 10cm, position is in the first subregion y1 '
End 1cm width at and at the starting 1cm width of the first subregion y2 '；First subregion y2 ' and the first subregion y3 '
Between there are first overlapping region, model of first overlapping region relative to the first subregion y2 ' and the first subregion y3 '
It is 1cm that enclose size, which be width, and length 10cm, position is at the end 1cm width of the first subregion y2 ' and in the first sub-district
At the starting 1cm width of domain y3 '；…；Etc..
Optionally, there are the second overlappings between adjacent second subregion of any two that data processing unit 1021 divides
Region, and each second overlapping region is relative to corresponding two adjacent second subregions in second overlapping region
Range size and position it is all the same.
As shown in fig. 5, it is assumed that presumptive area central point is that 10m × 10m is parallel to plane right-angle coordinate in origin
Square area, data processing unit 1021 can be using 5cm as step-length, and dividing presumptive area is n the second subregions, each
There are the second overlapping region, each second weights each parallel to the longitudinal axis, and between adjacent second subregion of any two for second subregion
Folded region is all the same relative to the range size of corresponding two adjacent second subregions in second overlapping region and position.Such as the
The horizontal axis range of two subregion x1 ' be [0,5cm), longitudinal axis range be [- 5m, 5m]；The horizontal axis range of second subregion x2 ' is
[4cm, 9cm), longitudinal axis range is [- 5m, 5m]；The horizontal axis range of second subregion x3 ' be [8cm, 13cm), longitudinal axis range be [-
5m,5m]；The horizontal axis range of second subregion x4 ' be [- 4cm, 1cm), longitudinal axis range be [- 5m, 5m] ..., etc..Obviously,
There are second overlapping regions between two subregion x1 ' and the second subregion x2 ', and second overlapping region is relative to the second son
The range size of region x1 ' and the second subregion x2 ' are that width is 1cm, and length 10cm, position is in the second subregion x1 '
End 1cm width at and at the starting 1cm width of the second subregion x2 '；Second subregion x2 ' and the second subregion x3 '
Between there are second overlapping region, model of second overlapping region relative to the second subregion x2 ' and the second subregion x3 '
It is 1cm that enclose size, which be width, and length 10cm, position is at the end 1cm width of the second subregion x2 ' and in the second sub-district
At the starting 1cm width of domain x3 '；…；Etc..
Optionally, since the length of wall is also necessarily longer than other barriers, if placed desk before wall, but wall
Length be necessarily longer than the length of desk, therefore, the second predetermined condition may include: maximum distance with it is other on the subregion
The difference of any one distance reaches the second predetermined threshold.Specifically, the maximum cloud quantity in several described cloud quantity
It is when meeting the first predetermined condition, the maximum cloud quantity corresponding sub-region is true in the position of the plane right-angle coordinate
When being set to wall position, comprising:
For the maximum cloud quantity corresponding sub-region, calculate on the subregion between any two point cloud data
Distance, and record maximum distance；
Meet first predetermined condition in the maximum cloud quantity and the maximum distance meets second and makes a reservation for
When condition, the subregion is determined as the wall position in the position of the plane right-angle coordinate.
It is also further in addition to being necessarily far more than other barriers in view of corresponding cloud quantity of wall in the present embodiment
In view of the length of wall is necessarily far more than other barriers, i.e., by point cloud data in maximum cloud quantity corresponding sub-region
Maximum distance is taken into account, and only meets the first predetermined condition in maximum cloud quantity and maximum distance is all satisfied second
When predetermined condition, position of the subregion in plane right-angle coordinate can be just determined as wall position by data processing unit 1021
It sets, further improves the accuracy of determining wall position.
Optionally, if when maximum cloud quantity is unsatisfactory for the first predetermined condition in doing cloud quantity namely plane is straight
It is not right angle that the subregion that angular coordinate system divides, which is not parallel to the angle between wall or wall, at this time can be by more
Secondary Plane of rotation rectangular coordinate system, determines wall position.The i.e. described control module 102 is also used to: in the maximum cloud number
Amount is when being unsatisfactory for first predetermined condition, in the first predetermined angular, using the second predetermined angular as step-length in the same direction according to
The secondary rotation plane right-angle coordinate；For rotating each time, repartitioning the purging zone is multiple subregions；
For all rotations in first predetermined angular, from the corresponding all the points cloud quantity of all subregions repartitioned
In, redefine out the maximum cloud quantity；Meet described first in the maximum cloud quantity redefined out
When predetermined condition, by the flat square of the maximum cloud quantity corresponding sub-region redefined out after rotation
The position of coordinate system is determined as the wall position.
In the present embodiment, since the angle between each wall is generally 90 degree, then the first predetermined angular be can be set as
90 degree.Second predetermined angular is less than the first predetermined angular, and the second predetermined angular is smaller, the number of Plane of rotation rectangular coordinate system
It is more, determine that wall position is more accurate, e.g., the second predetermined angular can be set as 1 degree.Same direction can be for clockwise
Or counterclockwise.
For example, the first predetermined angular is 90 degree, the second predetermined angular is 1 degree, then can sit at Plane of rotation right angle counterclockwise
Mark system 90 times, alternatively, can also rotate clockwise plane right-angle coordinate 90 times.
For rotating each time, above-described embodiment can be executed again, to repartition presumptive area, redefined every
Corresponding cloud quantity of sub-regions.
Such as, for rotating each time, can repartition presumptive area is several first subregions and several second sub-districts
Domain, specific division methods are consistent with above-described embodiment, and the present embodiment repeats no more again.Wherein, each first subregion weight
Newly corresponding first cloud quantity, each second subregion correspond to a second point cloud quantity again.
Such as, after completing all rotations, data processing unit 1021 can be from all first redefined point
In cloud quantity and second point cloud quantity, maximum cloud quantity is redefined out, wherein the maximum cloud redefined out
Quantity corresponds to first subregion or the second subregion redefined out, for rotating each time, records rotation
The relationship of plane right-angle coordinate and this rotation angle (the referred to as second rotation angle) afterwards, wherein second, which rotates angle, is
The integral multiple of second predetermined angular.
In the present embodiment, meet the first predetermined item in the maximum cloud quantity that data processing unit 1021 redefines out
When part, it can further determine that out subregion corresponding with the maximum cloud quantity, then determine that the subregion is according to which
What the plane right-angle coordinate after secondary rotation divided, and then will be in the plane right-angle coordinate of the subregion after this rotation
Position determine wall position.
It may be due to the flat square if wall position can not be determined according to plane right-angle coordinate is initially set up
It is not right angle that the subregion that coordinate system divides, which is not parallel to the angle between wall or wall,.The present embodiment passes through multiple
Plane of rotation rectangular coordinate system, it is ensured that it is parallel at least to there is the subregion that certain postrotational plane right-angle coordinate divides
In wall, and inevitable certain height divided in this postrotational plane right-angle coordinate of maximum cloud quantity redefined
In region, and then by determining that subregion position in plane right-angle coordinate is the position that can determine where wall.
Optionally, the control module 102 is also used to: determining intelligent robot 100 relative to the plane rectangular coordinates
The initial angle of system；According to the initial angle and the maximum cloud quantity corresponding sub-region in the plane rectangular coordinates
The position of system calculates the first rotation angle；Control intelligent robot 100 rotates the first rotation angle.
Initial angle can indicate that this implementation may include two schemes by R, and first scheme is the plane before rotating
The horizontal axis or the longitudinal axis of rectangular coordinate system are parallel to wall, second scheme be rotation before plane right-angle coordinate horizontal axis or
The longitudinal axis is not parallel to wall.Specifically, it is determined that initial angle of the intelligent robot 100 relative to the plane right-angle coordinate,
When including: that the maximum cloud quantity described in multiple described cloud quantity meets first predetermined condition, the intelligence is determined
Angle between the direction of advance of energy robot 100 and the plane right-angle coordinate before rotation, obtains the initial angle
Degree；Or, when the maximum cloud quantity described in multiple described cloud quantity is unsatisfactory for first predetermined condition, described in determination
It is described flat after the rotation corresponding with the maximum cloud quantity redefined out of the direction of advance of intelligent robot 100
Angle between the rectangular coordinate system of face obtains the initial angle.
In the present embodiment, for the first scheme, if maximum cloud quantity satisfaction first is predetermined in doing cloud quantity
When condition, show determine wall position, at this time in order to enable intelligent robot is walked to wall position to execute
Follow-up work can control the direction of advance face wall of intelligent robot.But the direction of advance of current intelligent robot can
It can be angled between wall (the such as first rotation angle), it is therefore desirable to calculate the angle to control intelligent robot rotation
Turn the angle to face wall.In the present embodiment, data processing unit 1021 can determine that the flat square initially set up is sat
Angle between the direction of advance of mark system horizontal axis or the longitudinal axis and intelligent robot 100, and then this is determined by the initial angle
First rotation angle.Such as, the horizontal axis positive direction of the plane right-angle coordinate initially set up and the advance of intelligent robot 100 are determined
Angle between direction.
Pass through embodiment of the disclosure, it is contemplated that the horizontal axis or the longitudinal axis of the plane right-angle coordinate initially set up may be with intelligence
The direction of advance of energy robot at an angle, therefore before the first rotation angle of computational intelligence robot, is first determined
The initial angle to guarantee that calculating first rotates the accuracy of angle, and can be controlled accurately so that intelligent robot
Direction of advance face wall so that intelligent robot is quickly gone to short line beside wall, it is unnecessary to avoid away
Detour.
For second scheme, if maximum cloud quantity is unsatisfactory for the first predetermined condition in doing cloud quantity, table
It is bright to need to determine wall position by rotating coordinate system, and after determining wall position, in order to enable intelligent robot
It walks to wall position to execute follow-up work, can control the direction of advance face wall of intelligent robot.But current intelligence
The direction of advance of energy robot may be angled between wall (the such as first rotation angle), it is therefore desirable to calculate the angle
Degree rotates the angle to control intelligent robot to face wall.However, since plane right-angle coordinate has occurred and that rotation,
Therefore initial angle should be the direction of advance rotation corresponding with the maximum cloud quantity redefined out of intelligent robot 100
The angle between plane right-angle coordinate after turning.Such as, determine that the horizontal axis of the plane right-angle coordinate after the rotation is square
Angle between the direction of advance of intelligent robot 100.
Pass through embodiment of the disclosure, it is contemplated that the horizontal axis or the longitudinal axis of the plane right-angle coordinate after rotating may also with
The direction of advance of intelligent robot at an angle, therefore before the first rotation angle of computational intelligence robot, first determines
The initial angle out to guarantee that calculating first rotates the accuracy of angle, and can be controlled accurately so that intelligence machine
The direction of advance face wall of people, so that intelligent robot is quickly gone to short line beside wall, avoiding away need not
The detour wanted.
Optionally it is determined that the direction of advance of the intelligent robot 100 and the maximum cloud number redefined out
The angle between the plane right-angle coordinate after corresponding rotation is measured, the initial angle is obtained, comprising:
Determine the plane right-angle coordinate after the corresponding rotation of the maximum cloud quantity redefined out
Second rotation angle, wherein it is described second rotation angle be second predetermined angular integral multiple；
According to the angle between the plane right-angle coordinate before the direction of advance and rotation of the intelligent robot 100
Degree and the second rotation angle, calculate the initial angle.
Specifically, since Plane of rotation rectangular coordinate system, the data processing unit 1021 of intelligent robot 100 are equal each time
It will record corresponding rotation angle, therefore, can first determine which rotation is the maximum cloud quantity redefined out correspond to
Then plane right-angle coordinate after turning obtains the corresponding second rotation angle of plane right-angle coordinate after the rotation,
And then calculate initial angle.
For example, between the direction of advance of intelligent robot 100 and plane right-angle coordinate transverse and longitudinal positive direction before rotation
Angle counterclockwise is 20 degree, and the second rotation angle is according to 5 degree of rotation counterclockwise, then initial angle is 25 degree.
For another example the direction of advance of intelligent robot 100 and plane right-angle coordinate transverse and longitudinal positive direction before rotation it
Between angle counterclockwise be 20 degree, the second rotation angle is according to rotating clockwise 5 degree, then initial angle is 15 degree.
Further, with counterclockwise for standard, if maximum cloud quantity corresponding sub-region is in the position of plane right-angle coordinate
It is set to some second subregion of horizontal axis positive direction, then the first rotation angle is initial angle R+0 degree；If maximum cloud quantity
Corresponding sub-region is some first subregion of longitudinal axis positive direction in the position of plane right-angle coordinate, then the first rotation angle is
Initial angle R+90 degree；If maximum cloud quantity corresponding sub-region is the positive negative direction of horizontal axis in the position of plane right-angle coordinate
Some second subregion, then first rotation angle be initial angle R+180 degree；If maximum cloud quantity corresponding sub-region exists
The position of plane right-angle coordinate is some first subregion of the positive negative direction of the longitudinal axis, then the first rotation angle is initial angle R+
270 degree.
In the present embodiment, by control intelligent robot 100 rotation the first rotation angle, intelligent robot 100 can be made
Direction of advance face wall, and then intelligent robot 100 by move ahead can find wall.
Optionally, the intelligent robot 100 further include:
Walking module 103 is connected with the control module 102；
The control module 102 controls the intelligent robot 100 and is walked by the walking module 103.
In the present embodiment, walking module 103 may include at least one idler wheel and at least one universal wheel, and idler wheel can be set
The left and right sides below the shell of intelligent robot 100 is set, universal wheel can be set two before and after intelligent robot 100
Side.Control unit 1022 can be control walking module 103 and operate when controlling the rotation of intelligent robot 100 or walking, with
Drive intelligent robot rotation or walking.
It optionally, may include mobile module when intelligent robot 100 is floor-mopping robot, such as mop, control module
102 can control intelligent robot 100 is moved on the ground by the mobile module.
Optionally, the intelligent robot 100 further include:
First detection module 104 is connected with the control module 102, for detect the intelligent robot 100 with it is described
Distance between wall, and by the intelligent robot 100 between the wall at a distance from be sent to the control module 102；
When reaching first threshold at a distance from the intelligent robot 100 is between the wall, the control module 102 is controlled
It makes the intelligent robot 100 to rotate, so that the length direction of the direction of advance of the intelligent robot 100 and the wall is flat
Row.
In the present embodiment, first detection module 104 may include along wall sensor, such as photosensitive sensor or laser straight line
Displacement sensor etc..After intelligent robot 100 finds wall position, before control unit 1022 can control intelligent robot
Advance into direction and wall body vertical, and to wall position, during intelligent robot 100 is walked, first detection module 104
The distance between real-time detection intelligent robot 100 and wall, and the distance that real-time detection is arrived is in real time to data processing unit
1021 send, and data processing unit 1021 compared with first threshold, compares the distance received in data processing unit 1021
Out intelligent robot 100 between wall at a distance from when reaching first threshold, signal is sent to control unit 1022, so that control is single
Member 1022 controls intelligent robot 100 and rotates, and the length direction of the direction of advance and wall that finally make intelligent robot 100 is flat
Row.
Optionally, when the direction of advance of the intelligent robot 100 is parallel with the length direction of the wall, the control
Molding block 102 controls the intelligent robot 100 and walks along the length direction of the wall, and receives the first detection module
104 send the intelligent robots 100 between the wall at a distance from.
In the present embodiment, after the direction of advance of intelligent robot 100 and the length direction of wall are parallel, intelligence can control
Energy robot is executed along wall walking mode, such as along wall cognitive disorders object, or along wall cleaning.
Optionally, when being less than second threshold at a distance from the intelligent robot 100 is between the wall, the control mould
Block 102 controls the intelligent robot 100 and rotates, so that the intelligent robot 100 is with the distance greater than the second threshold
Length direction along the wall is walked.
In the present embodiment, during length direction walking of the intelligent robot 100 along wall, 102 meeting of control unit
Control intelligent robot 100 and wall keep certain distance in real time, which is not less than second threshold.Therefore, along wall
In length direction walking process, first detection module 104 still can the distance between real-time detection intelligent robot 100 and wall,
And data processing unit 1021 will be sent to apart from real time, data processing unit 1021 compare intelligent robot 100 with
When distance between wall is less than second threshold, signal is sent to control unit 1022, so that control unit 1022 controls intelligent machine
Device people 100 rotates left and right, and the distance between wall of intelligent robot 100 is finally made to be greater than second threshold.
Wherein, intelligent robot 100 is controlled in control unit 1022 to rotate so that the direction of advance of intelligent robot 100 is flat
Row during the length direction of wall, first detection module 104 can also with real-time detection intelligent robot 100 and wall it
Between distance, finally make intelligent robot 100 not only be parallel to the length direction of wall, the be also greater than with the distance between wall
Two threshold values, and then control unit 1022 controls intelligent robot 100 and walks along wall.
Optionally, the intelligent robot 100 further include:
Module 105 is cleaned, is connected with the control module 102；
When controlling length direction walking of the intelligent robot 100 along the wall, the control module 102 is controlled
The cleaning module 105 cleans the presumptive area.
In the present embodiment, cleaning module 105 may include sweep the floor module and/or the module that mops floor, and module of sweeping the floor may include
Round brush and side brush, the module that mops floor may include mop.Intelligent robot 100 is controlled along the length side of wall in control unit 1022
During walking, it can control simultaneously and clean the beginning cleaning works of module 105.
Optionally, the intelligent robot 100 further include:
Second detection module 106 is connected with the control module 102, believes for detecting barrier, and by the barrier
Breath is sent to the control module 102；
The control module 102 controls the intelligent robot 100 according to the information of the barrier and gets around the obstacle
Object.
In the present embodiment, the second detection module 106 may include crash sensor, infrared sensor or laser sensor
Deng.After the second detection module 106 detects barrier, by the information of barrier (e.g., distance of the current location away from barrier,
Obstacle height etc.) it is sent to data processing unit 1021, data processing unit 1021 should make intelligence according to these information analyses
Can robot 100 how avoiding barrier (such as backway), control unit 1022 is then sent a signal to, so that control unit
1022 control intelligent robots 100 get around barrier, such as control intelligent robot 100 and retreat preset distance.
It should be noted that acquisition module 101, control module 102, first detection module 104, cleaning module 105 and the
The position of two detection modules 106 and shell without limitation, as long as being able to achieve respective function.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (17)
1. a kind of intelligent robot characterized by comprising
Acquisition module obtains the presumptive area for scanning presumptive area according to the plane right-angle coordinate pre-established
Point cloud data；
Control module is connected with the acquisition module, for receiving the point cloud for the presumptive area that the acquisition module is sent
Data, and dividing the presumptive area is several subregions, determines the point cloud quantity of point cloud data on each subregion, obtains
To several described cloud quantity, wall position is determined according to several described cloud quantity.
2. intelligent robot according to claim 1, which is characterized in that the intelligent robot further include:
Walking module is connected with the control module；
The control module controls the intelligent robot and is walked by the walking module.
3. intelligent robot according to claim 2, which is characterized in that the intelligent robot further include:
First detection module is connected with the control module, for detect the intelligent robot between the wall at a distance from,
And by the intelligent robot between the wall at a distance from be sent to the control module；
When reaching first threshold at a distance from the intelligent robot is between the wall, the control module controls the intelligence
Robot rotation, so that the direction of advance of the intelligent robot is parallel with the length direction of the wall.
4. intelligent robot according to claim 3, which is characterized in that direction of advance and institute in the intelligent robot
State wall length direction it is parallel when, the control module controls length direction row of the intelligent robot along the wall
Walk, and receive the intelligent robot that the first detection module is sent between the wall at a distance from.
5. intelligent robot according to claim 4, which is characterized in that when between the intelligent robot and the wall
When distance is less than second threshold, the control module controls the intelligent robot rotation, so that the intelligent robot is with big
It walks in the distance of the second threshold along the length direction of the wall.
6. intelligent robot according to claim 4, which is characterized in that the intelligent robot further include:
Module is cleaned, is connected with the control module；
When length direction walking of the intelligent robot along the wall, it is clear that the control module controls the cleaning module
Sweep the presumptive area.
7. according to the described in any item intelligent robots of claim 2 to 6, which is characterized in that the intelligent robot further include:
Second detection module is connected with the control module, is sent to institute for detecting barrier, and by the obstacle information
State control module；
The control module controls the intelligent robot according to the information of the barrier and gets around the barrier.
8. intelligent robot according to claim 1, which is characterized in that exist between the adjacent subregion of any two
Overlapping region, and each overlapping region is big relative to the range of the corresponding two adjacent subregions in the overlapping region
Small and position is all the same.
9. intelligent robot according to claim 1, which is characterized in that determine wall position according to several described cloud quantity
It sets, comprising:
When maximum cloud quantity meets the first predetermined condition in several described cloud quantity, by the maximum cloud quantity
Corresponding sub-region is determined as the wall position in the position of the plane right-angle coordinate.
10. intelligent robot according to claim 9, which is characterized in that the maximum point in several described cloud quantity
When cloud quantity meets the first predetermined condition, by the maximum cloud quantity corresponding sub-region in the plane right-angle coordinate
Position is determined as the wall position, comprising:
For the maximum cloud quantity corresponding sub-region, calculate on the subregion between any two point cloud data away from
From, and record maximum distance；
Meet first predetermined condition in the maximum cloud quantity and the maximum distance meets the second predetermined condition
When, the subregion is determined as the wall position in the position of the plane right-angle coordinate.
11. intelligent robot according to claim 9, which is characterized in that described to divide the presumptive area as several sons
Region, comprising:
On the basis of the horizontal axis of the plane right-angle coordinate, dividing the presumptive area is multiple first subregions；
On the basis of the longitudinal axis of the plane right-angle coordinate, dividing the presumptive area is multiple second subregions.
12. intelligent robot according to claim 11, which is characterized in that put cloud on each subregion of determination
The point cloud quantity of data obtains several described cloud quantity, comprising:
First cloud quantity for determining point cloud data on each first subregion obtains several first cloud quantity；
The second point cloud quantity for determining point cloud data on each second subregion obtains several second point cloud quantity.
13. intelligent robot according to claim 12, which is characterized in that the maximum point in several described cloud quantity
When cloud quantity meets the first predetermined condition, by the maximum cloud quantity corresponding sub-region in the plane right-angle coordinate
Position is determined as wall position, further includes:
The maximum cloud quantity is determined from several first cloud quantity and several second point cloud quantity；
When the maximum cloud quantity meets first predetermined condition, by corresponding first son of the maximum cloud quantity
Region or the second subregion are determined as the wall position in the position of the plane right-angle coordinate.
14. intelligent robot according to claim 9, which is characterized in that the control module is also used to:
It is predetermined with second in the first predetermined angular when the maximum cloud quantity is unsatisfactory for first predetermined condition
Angle is that step-length successively rotates the plane right-angle coordinate to same direction；
For rotating each time, repartitioning the purging zone is multiple subregions；
For all rotations in first predetermined angular, from the corresponding all the points cloud number of all subregions repartitioned
In amount, the maximum cloud quantity is redefined out；
When the maximum cloud quantity redefined out meets first predetermined condition, described in redefining out
The position of the plane right-angle coordinate of maximum cloud quantity corresponding sub-region after rotation is determined as the wall position
It sets.
15. intelligent robot according to claim 14, which is characterized in that the control module is also used to:
Determine initial angle of the intelligent robot relative to the plane right-angle coordinate；
According to the initial angle and the maximum cloud quantity corresponding sub-region in the position of the plane right-angle coordinate,
Calculate the first rotation angle；
Control the intelligent robot rotation the first rotation angle.
16. intelligent robot according to claim 15, which is characterized in that determine the intelligent robot relative to described
The initial angle of plane right-angle coordinate, comprising:
When the maximum cloud quantity meets first predetermined condition, determine the direction of advance of the intelligent robot with
The angle between the plane right-angle coordinate before rotation, obtains the initial angle；Or,
When the maximum cloud quantity is unsatisfactory for first predetermined condition, the direction of advance of the intelligent robot is determined
The angle between the plane right-angle coordinate after rotation corresponding with the maximum cloud quantity redefined out,
Obtain the initial angle.
17. intelligent robot according to claim 16, which is characterized in that determine the direction of advance of the intelligent robot
The angle between the plane right-angle coordinate after rotation corresponding with the maximum cloud quantity redefined out,
Obtain the initial angle, comprising:
Determine the of the plane right-angle coordinate after the corresponding rotation of the maximum cloud quantity that redefines out
Two rotation angles, wherein the second rotation angle is the integral multiple of second predetermined angular；
According between the plane right-angle coordinate before the direction of advance and rotation of the intelligent robot angle and institute
The second rotation angle is stated, the initial angle is calculated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910888356.6A CN110515386A (en) | 2019-09-19 | 2019-09-19 | A kind of intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910888356.6A CN110515386A (en) | 2019-09-19 | 2019-09-19 | A kind of intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110515386A true CN110515386A (en) | 2019-11-29 |
Family
ID=68631685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910888356.6A Pending CN110515386A (en) | 2019-09-19 | 2019-09-19 | A kind of intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110515386A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879250A (en) * | 2020-08-04 | 2020-11-03 | 小狗电器互联网科技（北京）股份有限公司 | Wall surface detection method and device, sweeper and storage medium |
| CN113031617A (en) * | 2021-03-15 | 2021-06-25 | 云鲸智能(深圳)有限公司 | Robot obstacle avoidance method, device, equipment and storage medium |
| CN113768419A (en) * | 2021-09-17 | 2021-12-10 | 安克创新科技股份有限公司 | Method and device for determining sweeping direction of sweeper and sweeper |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6608913B1 (en) * | 2000-07-17 | 2003-08-19 | Inco Limited | Self-contained mapping and positioning system utilizing point cloud data |
| US20140142891A1 (en) * | 2011-06-24 | 2014-05-22 | Universite D'angers | Generaton of map data |
| CN108827249A (en) * | 2018-06-06 | 2018-11-16 | 歌尔股份有限公司 | A kind of map constructing method and device |
| CN108931983A (en) * | 2018-09-07 | 2018-12-04 | 深圳市银星智能科技股份有限公司 | Map constructing method and its robot |
| US20190171212A1 (en) * | 2017-11-24 | 2019-06-06 | Baidu Online Network Technology (Beijing) Co., Ltd | Method and apparatus for outputting information of autonomous vehicle |
-
2019
- 2019-09-19 CN CN201910888356.6A patent/CN110515386A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6608913B1 (en) * | 2000-07-17 | 2003-08-19 | Inco Limited | Self-contained mapping and positioning system utilizing point cloud data |
| US20140142891A1 (en) * | 2011-06-24 | 2014-05-22 | Universite D'angers | Generaton of map data |
| US20190171212A1 (en) * | 2017-11-24 | 2019-06-06 | Baidu Online Network Technology (Beijing) Co., Ltd | Method and apparatus for outputting information of autonomous vehicle |
| CN108827249A (en) * | 2018-06-06 | 2018-11-16 | 歌尔股份有限公司 | A kind of map constructing method and device |
| CN108931983A (en) * | 2018-09-07 | 2018-12-04 | 深圳市银星智能科技股份有限公司 | Map constructing method and its robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879250A (en) * | 2020-08-04 | 2020-11-03 | 小狗电器互联网科技（北京）股份有限公司 | Wall surface detection method and device, sweeper and storage medium |
| CN111879250B (en) * | 2020-08-04 | 2021-10-08 | 小狗电器互联网科技（北京）股份有限公司 | Wall surface detection method and device, sweeper and storage medium |
| CN113031617A (en) * | 2021-03-15 | 2021-06-25 | 云鲸智能(深圳)有限公司 | Robot obstacle avoidance method, device, equipment and storage medium |
| CN113768419A (en) * | 2021-09-17 | 2021-12-10 | 安克创新科技股份有限公司 | Method and device for determining sweeping direction of sweeper and sweeper |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110989631B (en) | Self-moving robot control method, device, self-moving robot and storage medium | |
| CN108931983B (en) | Map construction method and robot thereof | |
| WO2021008611A1 (en) | Robot trapping detection and de-trapping method | |
| CN110515386A (en) | A kind of intelligent robot | |
| EP3985469A1 (en) | Cleaning subarea planning method for robot walking along edge, chip and robot | |
| CN108606728B (en) | Sweeping robot control method and equipment, sweeping robot and storage medium | |
| CN109947114A (en) | Robot complete coverage path planning method, device and equipment based on grating map | |
| CN111904346B (en) | Method and device for getting rid of difficulties of sweeping robot, computer equipment and storage medium | |
| CN110554696B (en) | Robot system, robot and robot navigation method based on laser radar | |
| WO2019007038A1 (en) | Floor sweeping robot, floor sweeping robot system and working method thereof | |
| CN113331743A (en) | Method for cleaning floor by cleaning robot and cleaning robot | |
| CN113741438A (en) | Path planning method and device, storage medium, chip and robot | |
| CN111568312B (en) | Object boundary extraction method and device | |
| US20200033878A1 (en) | Vacuum cleaner | |
| CN113674351B (en) | Drawing construction method of robot and robot | |
| CN112180924B (en) | Mobile control method for navigating to dense obstacle | |
| CN111714028A (en) | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium | |
| CN111609853A (en) | Three-dimensional map construction method, sweeping robot and electronic equipment | |
| CN113475977A (en) | Robot path planning method and device and robot | |
| CN113261879B (en) | Corner cleaning method, corner cleaning device, computer equipment and storage medium | |
| CN113848944A (en) | Map construction method and device, robot and storage medium | |
| CN112182122A (en) | Method and device for acquiring navigation map of working environment of mobile robot | |
| CN112274063A (en) | Robot cleaning method, control device, readable storage medium and robot | |
| CN114587210B (en) | Cleaning robot control method and control device | |
| CN116250778A (en) | Cleaning control method and system of cleaning robot and cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191129 |
|
| RJ01 | Rejection of invention patent application after publication |