CN111481112B - Recharging alignment method and device of sweeper and sweeper - Google Patents
Recharging alignment method and device of sweeper and sweeper Download PDFInfo
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- CN111481112B CN111481112B CN201910086057.0A CN201910086057A CN111481112B CN 111481112 B CN111481112 B CN 111481112B CN 201910086057 A CN201910086057 A CN 201910086057A CN 111481112 B CN111481112 B CN 111481112B
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- sweeper
- pole piece
- charging
- charging seat
- direction data
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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
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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
- A47L11/40—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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/40—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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
Abstract
The invention discloses a recharging alignment method and device of a sweeper and the sweeper, wherein the method comprises the following steps: performing a recharging action; extracting point cloud data to be processed corresponding to an area within a preset angle range from point cloud data acquired by a laser radar; fitting the point cloud data to be processed, and determining the extension direction data of the outer surface of the charging seat according to the fitting result; and determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle. According to the mode, after the sweeper finishes recharging, the direction of the outer surface of the charging seat is fitted by using the point cloud data of the laser radar, the sweeper is rotated according to the direction of the outer surface of the charging seat, and the charging pole piece of the sweeper after rotation can be aligned to the charging pole piece of the charging seat.
Description
Technical Field
The invention relates to the technical field of smart homes, in particular to a recharging alignment method and device of a sweeper and the sweeper.
Background
The recharging of the sweeper refers to the automatic positioning and charging of the sweeper, and the recharging of the sweeper is an important guarantee for the continuous work of the sweeper. At present, the back charging of the sweeper commonly used in the industry is implemented by sending a signal from a charging seat, receiving the signal by a receiver of the sweeper so as to position the charging seat, and moving the sweeper to the position of the charging seat for charging.
However, the inventor finds out in the process of implementing the invention that: the existing sweeper can position and return to the charging seat, but the problem that a charging pole piece of the sweeper cannot be aligned with a charging seat pole piece exists. Fig. 2a shows a schematic diagram of the charging pole piece and the charging seat pole piece of the sweeper in an aligned state, and fig. 2b shows a schematic diagram of the charging pole piece and the charging seat pole piece of the sweeper in a non-aligned state.
Disclosure of Invention
In view of the above, the present invention has been made to provide a backfill alignment method for a sweeper, a device and a sweeper that overcome or at least partially solve the above problems.
According to one aspect of the invention, a recharging alignment method of a sweeper comprises the following steps:
s0, performing recharging action;
s1, extracting point cloud data to be processed corresponding to an area within a preset angle range from the point cloud data acquired by the laser radar;
s2, fitting the point cloud data to be processed, and determining the extension direction data of the outer surface of the charging seat according to the fitting result;
and S3, determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle.
Optionally, step S2 further includes:
determining point data of each point contained in the point cloud data to be processed, and calculating direction data of a straight line connecting every two adjacent points;
according to the direction data connecting every two adjacent straight lines, aiming at each pre-divided angle interval, determining the straight line of which the direction data belongs to the angle interval;
and determining the extending direction data of the outer surface of the charging seat according to the direction data of each straight line corresponding to each angle interval.
Optionally, determining the extending direction data of the outer surface of the charging seat according to the direction data of each straight line corresponding to each angle interval further includes:
determining a target angle interval according to the number of straight lines corresponding to each angle interval, wherein the number of the straight lines corresponding to the target angle interval is the largest;
and calculating the average value of the direction data of each straight line corresponding to the target angle interval to obtain the extension direction data of the outer surface of the charging seat.
Optionally, the method further comprises:
if the extending direction data of the external surface of the charging stand cannot be determined from the fitting result, the process proceeds to step S0.
Optionally, the sweeper has a transverse central shaft and a longitudinal central shaft, the transverse central shaft and the longitudinal central shaft are perpendicular to each other, and the charging pole piece of the sweeper is disposed on a first side of the transverse central shaft of the sweeper;
the area within the preset angle range is positioned on the first side of the straight line where the transverse central shaft of the sweeper is positioned; the area within the preset angle range is equally divided by the longitudinal central axis of the sweeper.
Optionally, before step S1, the method further comprises: detecting whether a charging pole piece of the sweeper is stably contacted with a charging seat pole piece;
if yes, go to step S1;
if not, the process returns to step S0.
Optionally, whether the pole piece that charges that detects the machine of sweeping the floor and the charging seat pole piece contact steadily further includes:
detecting whether the duration of an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat pole piece reaches a preset duration threshold value;
if yes, judging that the charging pole piece of the sweeper is stably contacted with the charging seat pole piece;
if not, the charging pole piece of the sweeper is judged to be in unstable contact with the charging seat pole piece.
Optionally, after step S3, the method further comprises:
judging whether the sweeper meets a preset alignment condition or not;
if not, the process goes to step S0.
Optionally, judging whether the sweeper meets the preset alignment condition specifically includes:
and judging whether the included angle difference between the direction data of the sweeper and the extending direction data of the outer surface of the charging seat is within a preset angle range, if so, judging that the sweeper meets a preset alignment condition.
According to another aspect of the present invention, there is provided a refill alignment device for a sweeper, comprising:
the execution module is suitable for executing the recharging action;
the extraction module is suitable for extracting point cloud data to be processed corresponding to an area within a preset angle range from the point cloud data acquired by the laser radar;
the fitting module is suitable for fitting the point cloud data to be processed and determining the extension direction data of the outer surface of the charging seat according to the fitting result;
and the control module is suitable for determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat and controlling the sweeper to rotate according to the rotation angle.
Optionally, the fitting module is specifically adapted to:
determining point data of each point contained in the point cloud data to be processed, and calculating direction data of a straight line connecting every two adjacent points;
according to the direction data connecting every two adjacent straight lines, aiming at each pre-divided angle interval, determining the straight line of which the direction data belongs to the angle interval;
and determining the extending direction data of the outer surface of the charging seat according to the direction data of each straight line corresponding to each angle interval.
Optionally, the fitting module is further adapted to:
determining a target angle interval according to the number of straight lines corresponding to each angle interval, wherein the number of the straight lines corresponding to the target angle interval is the largest;
and calculating the average value of the direction data of each straight line corresponding to the target angle interval to obtain the extension direction data of the outer surface of the charging seat.
Optionally, the execution module is further adapted to:
and executing the recharging action under the condition that the fitting module cannot determine the extending direction data of the outer surface of the charging seat according to the fitting result.
Optionally, the sweeper has a transverse central shaft and a longitudinal central shaft, the transverse central shaft and the longitudinal central shaft are perpendicular to each other, and the charging pole piece of the sweeper is disposed on a first side of the transverse central shaft of the sweeper;
the area within the preset angle range is positioned on the first side of the straight line where the transverse central shaft of the sweeper is positioned; the area within the preset angle range is equally divided by the longitudinal central axis of the sweeper.
Optionally, the apparatus further comprises:
the detection module is suitable for detecting whether a charging pole piece of the sweeper is stably contacted with a charging seat pole piece;
the extraction module is further adapted to: under the condition that the detection module detects that a charging pole piece of the sweeper is stably contacted with a charging seat pole piece, point cloud data to be processed corresponding to an area within a preset angle range are extracted from the point cloud data acquired by the laser radar;
the execution module is further adapted to: and executing recharging action under the condition that the detection module detects that the charging pole piece of the sweeper is in unstable contact with the charging seat pole piece.
Optionally, the detection module is further adapted to:
detecting whether the duration of an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat pole piece reaches a preset duration threshold value;
if yes, judging that the charging pole piece of the sweeper is stably contacted with the charging seat pole piece;
if not, the charging pole piece of the sweeper is judged to be in unstable contact with the charging seat pole piece.
Optionally, the apparatus further comprises:
the judging module is suitable for judging whether the sweeper meets the preset alignment condition or not after the control module controls the sweeper to rotate according to the rotation angle;
the execution module is further adapted to: and if the judging module judges that the sweeper does not meet the preset alignment condition, the recharging action is executed.
Optionally, the determining module is further adapted to:
and judging whether the included angle difference between the direction data of the sweeper and the extending direction data of the outer surface of the charging seat is within a preset angle range, if so, judging that the sweeper meets a preset alignment condition.
According to another aspect of the invention, a sweeper is provided, which comprises the recharging alignment device of the sweeper.
According to still another aspect of the present invention, there is provided an electronic apparatus including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the recharging alignment method of the sweeper.
According to another aspect of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the recharging alignment method of the sweeper.
According to the recharging alignment method and device of the sweeper and the sweeper provided by the invention, the method comprises the following steps: performing a recharging action; extracting point cloud data to be processed corresponding to an area within a preset angle range from point cloud data acquired by a laser radar; fitting the point cloud data to be processed, and determining the extension direction data of the outer surface of the charging seat according to the fitting result; and determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle. According to the mode, after the sweeper finishes recharging, the direction of the outer surface of the charging seat is fitted by using the point cloud data of the laser radar, the sweeper is rotated according to the direction of the outer surface of the charging seat, and the charging pole piece of the sweeper after rotation can be aligned to the charging pole piece of the charging seat.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
figure 1 shows a schematic flow diagram of a method of recharging alignment of a sweeper according to one embodiment of the present invention;
fig. 2a is a schematic diagram illustrating the alignment state of the charging pole piece and the charging seat pole piece of the sweeper;
fig. 2b is a schematic diagram illustrating a charging pole piece and a charging seat pole piece of the sweeper in a non-aligned state;
figure 3 shows a schematic flow diagram of a method of recharging alignment of a sweeper according to another embodiment of the present invention;
FIG. 4a shows a schematic view of a region of a preset angular range according to an embodiment of the present invention;
FIG. 4b shows a schematic view of a line connecting adjacent points according to one embodiment of the invention;
figure 5 shows a schematic structural view of a backfill alignment device of a sweeper according to yet another embodiment of the invention;
fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 2a is a schematic view showing an aligned state of the charging base and the sweeper, fig. 2b is a schematic view showing a non-aligned state of the charging base and the sweeper, and dotted lines in fig. 2a and 2b indicate a longitudinal central axis of the sweeper, it can be seen from the figure that the longitudinal central axis of the sweeper in the aligned state is perpendicular to a straight line of an outer surface of the charging base, and an included angle between the longitudinal central axis of the sweeper and the straight line of the outer surface of the charging base in the non-aligned state is not a right angle. The method aims to control the sweeper to rotate, and finally, the longitudinal central shaft of the sweeper is perpendicular to the outer surface straight line of the charging seat.
Fig. 1 shows a schematic flow chart of a recharging alignment method of a sweeper according to an embodiment of the present invention, as shown in fig. 1, the method includes:
and S0, performing a recharging action.
For example, when it is detected that the remaining power of the sweeper is lower than the power threshold, a recharging operation is performed, specifically, a signal transmitted by a signal transmitter disposed on the charging seat is received, the charging seat is positioned according to the received signal, a recharging path is planned according to the current position of the sweeper and the position of the charging seat, and the sweeper is controlled to move to the charging seat according to the recharging path. It should be noted that, the specific implementation manner of recharging the sweeper is not limited, and in short, all manners capable of recharging the sweeper are included in the protection scope of the present invention.
And S1, extracting point cloud data to be processed corresponding to the area within the preset angle range from the point cloud data acquired by the laser radar.
In this embodiment, a SLAM (simultaneous localization and mapping) system may be used to locate the sweeper and construct an environment map corresponding to the sweeper, for example, a laser SLAM system including a laser radar, a wheel-type odometer, and an inertial measurement unit, where object information acquired by the laser radar presents a series of dispersed points with accurate angle and distance information, which are referred to as point cloud data.
And extracting point cloud data corresponding to an area within a preset angle range from the point cloud data obtained by the laser radar to serve as point cloud data to be processed. For example, if the charging pole piece is disposed at the rear side of the sweeper, the recharging operation is performed, and the charging seat is disposed at the rear side of the sweeper, the point cloud data corresponding to the area behind the sweeper is extracted for processing. Certainly, in practical application, the point cloud data corresponding to the surrounding area of the sweeper can be extracted, but compared with the method of the embodiment, the method is low in efficiency and accuracy cannot be guaranteed.
And S2, fitting the point cloud data to be processed, and determining the extending direction data of the outer surface of the charging seat according to the fitting result.
And fitting the point data of each point contained in the cloud data to be processed to obtain the extension direction data of the outer surface straight line of the charging seat, wherein the extension direction data can be the direction angle of the outer surface straight line of the charging seat in a map coordinate system.
And S3, determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle.
The extending direction of the outer surface of the charging seat is determined according to the steps, namely the direction angle of the straight line of the outer surface of the charging seat in the map coordinate system, the rotating angle of the sweeper is determined according to the direction angle of the straight line of the outer surface of the charging seat in the map coordinate system, and after the sweeper rotates according to the rotating angle, the charging pole piece of the sweeper can be aligned with the charging pole piece.
According to the recharging alignment method of the sweeper provided by the embodiment, a recharging action is executed firstly; then, extracting point cloud data to be processed corresponding to an area within a preset angle range from the point cloud data acquired by the laser radar; secondly, fitting the point cloud data to be processed, and determining the extension direction data of the outer surface of the charging seat according to the fitting result; and finally, determining the rotation angle of the sweeper according to the extension direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle. According to the mode, after the sweeper finishes recharging, the direction of the straight line on the outer surface of the charging seat is fitted by using the point cloud data of the laser radar, so that the sweeper is finely adjusted, and the charging pole piece of the sweeper after fine adjustment can be aligned with the charging pole piece of the charging seat.
Fig. 3 shows a schematic flow chart of a recharging alignment method of a sweeper according to another embodiment of the invention, which includes, as shown in fig. 3:
in step S30, a recharge operation is performed.
For example, when it is detected that the remaining power of the sweeper is lower than the power threshold, a recharging operation is performed, specifically, a signal transmitted by a signal transmitter disposed on the charging seat is received, the charging seat is positioned according to the received signal, a recharging path is planned according to the current position of the sweeper and the position of the charging seat, and the sweeper is controlled to move to the charging seat according to the recharging path. It should be noted that, the specific implementation manner of recharging the sweeper is not limited, and in short, all manners capable of recharging the sweeper are included in the protection scope of the present invention.
Step S31, detecting whether the charging pole piece of the sweeper stably contacts with the charging seat pole piece; if yes, go to step S32; if not, the process goes to step S30.
When the recharging action is finished, the charging pole piece of the sweeper is contacted with the charging seat pole piece, in this embodiment, in order to ensure the accuracy of the alignment adjustment, the subsequent alignment action is continuously executed only under the condition that the charging pole piece of the sweeper is stably contacted with the charging seat pole piece. Therefore, after the recharging operation is performed, whether the charging pole piece of the sweeper is in stable contact with the charging pole piece is detected, if so, the step S32 is performed, and if not, the step S30 is skipped to perform the recharging operation again.
When the charging pole piece of the sweeper is contacted with the charging pole piece, an electric signal can be generated between the sweeping charging pole piece and the charging seat pole piece, and when the charging pole piece of the sweeper is stably contacted with the charging pole piece, the electric signal generated by the contact is stable and can be continued all the time; when the charging pole piece of the sweeper is in unstable contact with the charging seat pole piece, the electric signal generated by the contact is unstable, and the electric signal can be intermittent or can only last for a short time.
Based on this, the step of detecting whether the charging pole piece of the charging seat is stably contacted with the charging seat pole piece comprises the following specific implementation modes:
whether the duration of an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat pole piece reaches a preset duration threshold value is detected. If the duration of an electric signal generated by the contact of the charging pole piece of the sweeper and the charging seat pole piece reaches a preset duration threshold, determining that the contact of the charging pole piece of the sweeper and the charging seat pole piece is stable; and if the duration of the electric signal generated by the contact of the charging pole piece of the sweeper and the charging seat pole piece does not reach a preset duration threshold, determining that the charging seat pole piece of the sweeper is in unstable contact with the charging seat pole piece. The electrical signal may be a voltage signal and/or a current signal, which is not limited in the present invention. The preset time threshold may be 500ms, and of course, the preset time threshold may be adjusted according to actual needs.
And step S32, extracting point cloud data to be processed corresponding to the area within the preset angle range from the point cloud data acquired by the laser radar.
And extracting point cloud data corresponding to an area within a preset angle range from the point cloud data obtained by the laser radar to serve as point cloud data to be processed. The area within the preset angle range is specifically related to the position of the charging pole piece arranged on the sweeper, for example, if the charging pole piece is arranged on the rear side of the sweeper, the recharging action is executed, the charging seat is arranged on the rear side of the sweeper, point cloud data corresponding to the area behind the sweeper is extracted for processing, conversely, if the charging pole piece is arranged on the front side of the sweeper, point cloud data corresponding to the area in front of the sweeper is extracted for processing, in short, the point cloud data in the direction of the charging seat is extracted, so that the outer surface straight line of the charging seat is fitted.
Specifically, the sweeper in this embodiment has a transverse central shaft and a longitudinal central shaft, the transverse central shaft and the longitudinal central shaft are perpendicular to each other, the charging pole piece of the sweeper is disposed on a first side of the transverse central shaft of the sweeper, and an area within a preset range is located on the first side of the transverse central shaft.
Fig. 4a shows a schematic diagram of a region of a preset angular range in an embodiment of the present invention, wherein a solid line 41 represents a transverse central axis of the sweeper, a dashed line 42 represents a longitudinal central axis of the sweeper, a solid line 43 represents a straight line on which a first boundary of the region within the preset angular range is located, and a solid line 44 represents a straight line on which a second boundary of the region within the preset angular range is located. As can be seen from the figure, the longitudinal central axis and the transverse central axis are perpendicular to each other, the charging pole piece of the sweeper is located on the left side of the transverse central axis, the area within the preset angle range is located on the left side of the transverse central axis of the sweeper, and the area within the preset angle range is bisected by the longitudinal central axis of the sweeper.
The first side of the transverse central shaft is taken as the rear side of the sweeper, so that the area within the preset angle range right behind the sweeper is extracted, in the specific implementation, the point cloud data corresponding to the areas within 90 degrees, namely 45 degrees from left to right, right from the right behind the sweeper can be extracted, and at the moment, the area within 90 degrees basically covers the area of the charging seat.
Step S33, determining point data of each point included in the point cloud data to be processed, and calculating direction data of a straight line connecting each two adjacent points.
The direction data of the straight line connecting every two adjacent points may specifically refer to a direction angle value of the straight line connecting every two adjacent points in the map coordinate system. In this embodiment, the sweeper is provided with an instant positioning and mapping system, so that real-time positioning and mapping can be realized, and specifically, the coordinates of each point corresponding to the point cloud data to be processed in a map coordinate system can be determined according to the system, and then, the direction angle value of the straight line connecting every two adjacent points is calculated according to the coordinate values of every two adjacent points.
Step S34 is to determine, for each of the pre-divided angle sections, a straight line to which the direction data belongs, based on the direction data connecting every two adjacent straight lines.
And dividing an angle interval in advance, and determining the angle interval to which the direction data of each straight line belongs according to the direction data of each straight line. The interval width of the angle interval can also be set according to actual needs.
Step S35, determining the extending direction data of the external surface of the charging stand according to the direction data of each straight line corresponding to each angle interval.
The direction data of each straight line specifically refers to a direction angle value of each straight line in a map coordinate system, and the extending direction data of the outer surface of the charging seat specifically refers to a direction angle value of the outer surface straight line of the charging seat in the map coordinate system.
Specifically, a target angle interval is determined according to the number of straight lines corresponding to each angle interval, wherein the number of straight lines corresponding to the target angle interval is the largest; and calculating the average value of the direction data of each straight line corresponding to the target angle interval to obtain the extension direction data of the outer surface of the charging seat.
Fig. 4b is a schematic diagram illustrating a connection line between adjacent points according to an embodiment of the present invention, where black solid points in fig. 4b indicate points corresponding to regions within a preset angle range, and as can be seen from fig. 4b, in order from top to bottom, the 1 st point, the 2 nd point, and the 3 rd point are located on the same straight line, the 3 rd point and the 4 th point are located on the same straight line, and 11 points from the 4 th point to the 14 th point are located on the same straight line. Assuming that direction data of a straight line connecting the 1 st point and the 2 nd point belongs to a first angle interval; the direction data of the straight line connecting the 3 rd point and the 4 th point belongs to a second angle interval; the direction data of the straight line connecting the 4 th point and the 5 th point belongs to the second angle section. The final result is then: the number of straight lines corresponding to the first angle section is 2, the number of straight lines corresponding to the second angle section is 1, and the number of straight lines corresponding to the third angle section is 10.
As can be seen from fig. 4a and 4b, 11 points in total from the 4 th point to the 14 th point are points corresponding to the outer surface of the charging stand, and thus, among the points corresponding to the regions within the preset angle range, the number of points corresponding to the outer surface of the charging stand is the largest, and accordingly, the number of straight lines formed by connecting the points corresponding to the outer surface of the charging stand is the largest, and since the points corresponding to the outer surface of the charging stand are located on the same straight line, the direction data of 10 straight lines between the 4 th point and the 14 th point belong to the same angle interval (third angle interval). Therefore, the extension direction data of the external surface of the charging stand can be obtained by specifying the third angle section as a target angle section and calculating the average value of the direction data of each straight line corresponding to the target angle section.
In specific implementation, a histogram can be established to more clearly represent the mapping relationship between the number of straight lines and the angle interval, wherein the horizontal axis represents the angle interval, the vertical axis represents the number of straight lines with the direction belonging to the angle interval, the angle interval with the highest vertical axis in the histogram is determined, and the average value of the direction data of all the straight lines in the angle interval is calculated, so that the extending direction data of the outer surface of the charging seat can be obtained.
In addition, in practical applications, it is not excluded that the data of the extending direction of the outer surface of the charging seat cannot be determined according to the fitting result of the point data, for example, after the sweeper is recharged, the relative position between the sweeper and the charging seat is special, and the number of the straight lines corresponding to each angle interval is consistent, in this case, the step S30 is skipped to perform the recharging operation again.
And step S36, determining the rotation angle of the sweeper according to the extension direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle.
And determining the direction angle value of the outer surface straight line of the charging seat in a map coordinate system according to the steps, and determining the rotation angle of the sweeper according to the direction data of the sweeper. The direction data of the sweeper specifically refers to a direction angle value of the sweeper in a map coordinate system, for example, a direction angle value of a transverse central axis or a longitudinal central axis of the sweeper in the map coordinate system.
In specific implementation, the normal of the outer surface straight line of the charging seat can be determined, and the rotation angle of the sweeper is determined according to the normal. Specifically, the direction angle value of the normal of the outer surface straight line of the charging seat in a map coordinate system is calculated, and then the rotation angle of the sweeper is determined according to the difference value between the direction angle value of the normal and the direction angle value of the sweeper, so that the sweeper can be aligned with the charging seat after rotating the rotation angle.
Step S37, judging whether the sweeper meets the preset alignment condition; if yes, the method is ended; if not, the process goes to step S30.
It should be noted that although the alignment state described in this embodiment refers to the central longitudinal axis of the sweeper being perpendicular to the outer surface of the charging stand, this is an ideal state, and in a specific application, some calculation errors or physical factors may affect the accuracy of the recharging alignment method, for example, the sweeper is not completely rotated in place, but is slightly moved by the blockage of the charging stand. Therefore, in order to avoid the influence of these factors, in this embodiment, the charging pole piece and the charging seat pole piece of the sweeper are considered to be in an aligned state within a certain error range.
Based on this, in order to eliminate the influence of some external factors on the accuracy, after the rotation is finished, whether the sweeper meets the preset alignment condition is further judged, if so, the sweeper is charged according to the current contact state, and the method is finished; if not, the process goes to step S30 to re-execute the recharging operation.
Specifically, whether the angle difference between the direction data of the sweeper and the extension direction data of the outer surface of the charging seat is within a first preset angle range is judged, and if yes, the sweeper is judged to meet a preset alignment condition.
In addition, if the sweeper or the charging stand is manually moved, and the sweeper is separated from the charging stand after the rotation is finished, the recharging operation needs to be executed again. Specifically, after the rotation is finished, whether an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat is detected is judged; if not, the process goes to step S30 to re-execute the recharging operation.
Therefore, according to the recharging alignment method of the sweeper provided by the embodiment, the point cloud data in the charging seat direction contained in the point cloud data acquired by the laser radar is extracted, so that the angle of the outer surface straight line of the charging seat can be fitted, and the sweeper is rotated according to the angle of the outer surface straight line of the charging seat, so that the charging pole piece of the rotated sweeper can be aligned with the charging seat pole piece. Meanwhile, whether the sweeper is aligned and adjusted is limited, and only when the charging pole piece of the sweeper is stably contacted with the charging seat pole piece is the alignment and adjustment of the sweeper, the alignment accuracy can be improved by the mode.
Fig. 5 shows a schematic structural diagram of a recharging alignment device of a sweeper according to another embodiment of the invention, and as shown in fig. 5, the recharging alignment device comprises: an execution module 51, an extraction module 52, a fitting module 53 and a control module 54.
Wherein, the execution module 51 is adapted to execute the recharging action;
the extraction module 52 is adapted to extract point cloud data to be processed corresponding to an area within a preset angle range from the point cloud data acquired by the laser radar;
the fitting module 53 is adapted to perform fitting processing on the point cloud data to be processed, and determine extension direction data of the outer surface of the charging seat according to a fitting result;
the control module 54 is adapted to determine the rotation angle of the sweeper according to the data of the extending direction of the outer surface of the charging seat, and control the sweeper to rotate according to the rotation angle.
In an alternative way, fitting module 53 is specifically adapted to:
determining point data of each point contained in the point cloud data to be processed, and calculating direction data of a straight line connecting every two adjacent points;
according to the direction data connecting every two adjacent straight lines, aiming at each pre-divided angle interval, determining the straight line of which the direction data belongs to the angle interval;
and determining the extending direction data of the outer surface of the charging seat according to the direction data of each straight line corresponding to each angle interval.
In an alternative manner, the fitting module 53 is further adapted to:
determining a target angle interval according to the number of straight lines corresponding to each angle interval, wherein the number of the straight lines corresponding to the target angle interval is the largest;
and calculating the average value of the direction data of each straight line corresponding to the target angle interval to obtain the extension direction data of the outer surface of the charging seat.
In an alternative manner, the execution module 51 is further adapted to:
and executing the recharging action under the condition that the fitting module cannot determine the extending direction data of the outer surface of the charging seat according to the fitting result.
In an alternative mode, the sweeper has a transverse central shaft and a longitudinal central shaft, the transverse central shaft and the longitudinal central shaft are perpendicular to each other, and the charging pole piece of the sweeper is arranged on a first side of the transverse central shaft of the sweeper;
the area within the preset angle range is positioned on the first side of the straight line where the transverse central shaft of the sweeper is positioned; the area within the preset angle range is equally divided by the longitudinal central axis of the sweeper.
In an optional manner, the apparatus further comprises:
the detection module is suitable for detecting whether a charging pole piece of the sweeper is stably contacted with a charging seat pole piece;
the extraction module 52 is further adapted to: under the condition that the detection module detects that a charging pole piece of the sweeper is stably contacted with a charging seat pole piece, point cloud data to be processed corresponding to an area within a preset angle range are extracted from the point cloud data acquired by the laser radar;
the execution module 51 is further adapted to: and executing recharging action under the condition that the detection module detects that the charging pole piece of the sweeper is in unstable contact with the charging seat pole piece.
In an alternative form, the detection module is further adapted to:
detecting whether the duration of an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat pole piece reaches a preset duration threshold value;
if yes, judging that the charging pole piece of the sweeper is stably contacted with the charging seat pole piece;
if not, the charging pole piece of the sweeper is judged to be in unstable contact with the charging seat pole piece.
In an optional manner, the apparatus further comprises:
the judging module is suitable for judging whether the sweeper meets the preset alignment condition or not after the control module 54 controls the sweeper to rotate according to the rotation angle;
the execution module 51 is further adapted to: and if the judging module judges that the sweeper does not meet the preset alignment condition, the recharging action is executed.
In an optional manner, the determining module is further adapted to:
and judging whether the included angle difference between the direction data of the sweeper and the extending direction data of the outer surface of the charging seat is within a preset angle range, if so, judging that the sweeper meets a preset alignment condition.
The embodiment of the application provides a nonvolatile computer storage medium, wherein at least one executable instruction is stored in the computer storage medium, and the computer executable instruction can execute the recharging alignment method of the sweeper in any method embodiment.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the electronic device.
As shown in fig. 6, the electronic device may include: a processor (processor)602, a communication Interface 604, a memory 606, and a communication bus 608.
Wherein:
the processor 602, communication interface 604, and memory 606 communicate with one another via a communication bus 608.
A communication interface 604 for communicating with network elements of other devices, such as clients or other servers.
The processor 602 is configured to execute the program 610, and may specifically execute the relevant steps in the above embodiment of the backfill alignment method of the sweeper.
In particular, program 610 may include program code comprising computer operating instructions.
The processor 602 may be a central processing unit CPU or an application Specific Integrated circuit asic or one or more Integrated circuits configured to implement embodiments of the present invention. The electronic device comprises one or more processors, which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 606 for storing a program 610. The memory 606 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 610 may specifically be configured to cause the processor 602 to perform the following operations:
s0, performing recharging action;
s1, extracting point cloud data to be processed corresponding to an area within a preset angle range from the point cloud data acquired by the laser radar;
s2, fitting the point cloud data to be processed, and determining the extension direction data of the outer surface of the charging seat according to the fitting result;
and S3, determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle.
In an alternative manner, the program 610 may specifically be further configured to cause the processor 602 to perform the following operations:
determining point data of each point contained in the point cloud data to be processed, and calculating direction data of a straight line connecting every two adjacent points;
according to the direction data connecting every two adjacent straight lines, aiming at each pre-divided angle interval, determining the straight line of which the direction data belongs to the angle interval;
and determining the extending direction data of the outer surface of the charging seat according to the direction data of each straight line corresponding to each angle interval.
In an alternative manner, the program 610 may specifically be further configured to cause the processor 602 to perform the following operations:
determining a target angle interval according to the number of straight lines corresponding to each angle interval, wherein the number of the straight lines corresponding to the target angle interval is the largest;
and calculating the average value of the direction data of each straight line corresponding to the target angle interval to obtain the extension direction data of the outer surface of the charging seat.
In an alternative manner, the program 610 may specifically be further configured to cause the processor 602 to perform the following operations:
if the extending direction data of the external surface of the charging stand cannot be determined from the fitting result, the process proceeds to step S0.
In an alternative mode, the sweeper has a transverse central shaft and a longitudinal central shaft, the transverse central shaft and the longitudinal central shaft are perpendicular to each other, and the charging pole piece of the sweeper is arranged on a first side of the transverse central shaft of the sweeper;
the area within the preset angle range is positioned on the first side of the straight line where the transverse central shaft of the sweeper is positioned; the area within the preset angle range is equally divided by the longitudinal central axis of the sweeper.
In an alternative manner, the program 610 may specifically be further configured to cause the processor 602 to perform the following operations:
before step S1, detecting whether the charging pole piece of the sweeper stably contacts with the charging seat pole piece; if yes, go to step S1; if not, the process returns to step S0.
In an alternative manner, the program 610 may specifically be further configured to cause the processor 602 to perform the following operations:
detecting whether the duration of an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat pole piece reaches a preset duration threshold value;
if yes, judging that the charging pole piece of the sweeper is stably contacted with the charging seat pole piece;
if not, the charging pole piece of the sweeper is judged to be in unstable contact with the charging seat pole piece.
In an alternative manner, the program 610 may specifically be further configured to cause the processor 602 to perform the following operations:
after step S3, determining whether the sweeper satisfies a preset alignment condition;
if not, the process goes to step S0.
In an alternative manner, the program 610 may specifically be further configured to cause the processor 602 to perform the following operations:
and judging whether the included angle difference between the direction data of the sweeper and the extending direction data of the outer surface of the charging seat is within a preset angle range, if so, judging that the sweeper meets a preset alignment condition.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an electronic device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (21)
1. A backfill alignment method of a sweeper, comprising:
s0, performing recharging action;
s1, extracting point cloud data to be processed corresponding to an area within a preset angle range from the point cloud data acquired by the laser radar;
s2, fitting the point cloud data to be processed, and determining the extending direction data of the outer surface of the charging seat according to the fitting result;
and S3, determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat, and controlling the sweeper to rotate according to the rotation angle.
2. The method according to claim 1, wherein the step S2 further comprises:
determining point data of each point contained in the point cloud data to be processed, and calculating direction data of a straight line connecting every two adjacent points;
according to the direction data connecting every two adjacent straight lines, aiming at each pre-divided angle interval, determining the straight line of which the direction data belongs to the angle interval;
and determining the extending direction data of the outer surface of the charging seat according to the direction data of each straight line corresponding to each angle interval.
3. The method of claim 2, wherein the determining the extending direction data of the external surface of the charging stand according to the direction data of the straight lines corresponding to each angle interval further comprises:
determining a target angle interval according to the number of straight lines corresponding to each angle interval, wherein the number of the straight lines corresponding to the target angle interval is the largest;
and calculating the average value of the direction data of each straight line corresponding to the target angle interval to obtain the extension direction data of the outer surface of the charging seat.
4. The method according to any one of claims 1-3, wherein the method further comprises:
if the extending direction data of the external surface of the charging stand cannot be determined from the fitting result, the process proceeds to step S0.
5. The method of any one of claims 1-4, wherein the sweeper has a transverse central axis and a longitudinal central axis, the transverse central axis and the longitudinal central axis being perpendicular to each other, and wherein the charging pole piece of the sweeper is disposed on a first side of the transverse central axis of the sweeper;
the area within the preset angle range is positioned on the first side of the straight line where the transverse central shaft of the sweeper is positioned; the area within the preset angle range is bisected by the longitudinal central axis of the sweeper.
6. The method according to any one of claims 1-5, wherein, prior to the step S1, the method further comprises:
detecting whether a charging pole piece of the sweeper is stably contacted with a charging seat pole piece;
if yes, go to step S1;
if not, the process returns to step S0.
7. The method of claim 6, wherein the detecting whether the charging pole piece and the charging seat pole piece of the sweeper are in stable contact further comprises:
detecting whether the duration of an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat pole piece reaches a preset duration threshold value;
if yes, judging that a charging pole piece of the sweeper is stably contacted with the charging seat pole piece;
if not, judging that the charging pole piece of the sweeper is in unstable contact with the charging seat pole piece.
8. The method according to any one of claims 1-7, wherein after the step S3, the method further comprises:
judging whether the sweeper meets a preset alignment condition or not;
if not, the process goes to step S0.
9. The method of claim 8, wherein the determining whether the sweeper satisfies the preset alignment condition specifically comprises:
and judging whether the included angle difference between the direction data of the sweeper and the extending direction data of the outer surface of the charging seat is within a preset angle range, if so, judging that the sweeper meets a preset alignment condition.
10. A backfill alignment device for a sweeper, comprising:
the execution module is suitable for executing the recharging action;
the extraction module is suitable for extracting point cloud data to be processed corresponding to an area within a preset angle range from the point cloud data acquired by the laser radar;
the fitting module is suitable for fitting the point cloud data to be processed and determining the extension direction data of the outer surface of the charging seat according to the fitting result;
and the control module is suitable for determining the rotation angle of the sweeper according to the extending direction data of the outer surface of the charging seat and controlling the sweeper to rotate according to the rotation angle.
11. The apparatus of claim 10, wherein the fitting module is specifically adapted to:
determining point data of each point contained in the point cloud data to be processed, and calculating direction data of a straight line connecting every two adjacent points;
according to the direction data connecting every two adjacent straight lines, aiming at each pre-divided angle interval, determining the straight line of which the direction data belongs to the angle interval;
and determining the extending direction data of the outer surface of the charging seat according to the direction data of each straight line corresponding to each angle interval.
12. The apparatus of claim 11, wherein the fitting module is further adapted to:
determining a target angle interval according to the number of straight lines corresponding to each angle interval, wherein the number of the straight lines corresponding to the target angle interval is the largest;
and calculating the average value of the direction data of each straight line corresponding to the target angle interval to obtain the extension direction data of the outer surface of the charging seat.
13. The apparatus according to any of claims 10-12, wherein the execution module is further adapted to:
and executing the recharging action under the condition that the fitting module cannot determine the extending direction data of the outer surface of the charging seat according to the fitting result.
14. The apparatus of any one of claims 10-13, wherein the sweeper has a transverse central axis and a longitudinal central axis, the transverse central axis and the longitudinal central axis being perpendicular to each other, and wherein the charging pole piece of the sweeper is disposed on a first side of the transverse central axis of the sweeper;
the area within the preset angle range is positioned on the first side of the straight line where the transverse central shaft of the sweeper is positioned; the area within the preset angle range is bisected by the longitudinal central axis of the sweeper.
15. The apparatus of any of claims 10-14, wherein the apparatus further comprises:
the detection module is suitable for detecting whether a charging pole piece of the sweeper is stably contacted with a charging seat pole piece;
the extraction module is further adapted to: under the condition that a detection module detects that a charging pole piece of the sweeper is stably contacted with a charging seat pole piece, point cloud data to be processed corresponding to an area within a preset angle range are extracted from the point cloud data acquired by a laser radar;
the execution module is further adapted to: and executing recharging action under the condition that the detection module detects that the charging pole piece of the sweeper is in unstable contact with the charging seat pole piece.
16. The apparatus of claim 15, wherein the detection module is further adapted to:
detecting whether the duration of an electric signal generated by the contact of a charging pole piece of the sweeper and a charging seat pole piece reaches a preset duration threshold value;
if yes, judging that a charging pole piece of the sweeper is stably contacted with the charging seat pole piece;
if not, judging that the charging pole piece of the sweeper is in unstable contact with the charging seat pole piece.
17. The apparatus of any of claims 10-16, wherein the apparatus further comprises:
the judging module is suitable for judging whether the sweeper meets a preset alignment condition or not after the control module controls the sweeper to rotate according to the rotation angle;
the execution module is further adapted to: and if the judging module judges that the sweeper does not meet the preset alignment condition, the recharging action is executed.
18. The apparatus of claim 17, wherein the determining means is further adapted to:
and judging whether the included angle difference between the direction data of the sweeper and the extending direction data of the outer surface of the charging seat is within a preset angle range, if so, judging that the sweeper meets a preset alignment condition.
19. A sweeper comprising the backfill alignment feature of the sweeper of any one of claims 10-18.
20. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the recharging alignment method of the sweeper according to any one of claims 1-9.
21. A computer storage medium having stored therein at least one executable instruction that causes a processor to perform operations corresponding to the backfill alignment method of a sweeper according to any one of claims 1-9.
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| CN114690751A (en) * | 2020-12-11 | 2022-07-01 | 珊口（深圳）智能科技有限公司 | Parking control method, control system, mobile robot, and storage medium |
| CN112826377A (en) * | 2021-02-23 | 2021-05-25 | 美智纵横科技有限责任公司 | Recharging alignment method and device of sweeper and sweeper |
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| TWI640288B (en) * | 2016-09-23 | 2018-11-11 | 世擘股份有限公司 | Automatic cleaning device, automatic cleaning system and automatic charging method |
| KR101984101B1 (en) * | 2017-03-06 | 2019-05-30 | 엘지전자 주식회사 | Cleaner and controlling method thereof |
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| CN107894770A (en) * | 2017-11-24 | 2018-04-10 | 北京奇虎科技有限公司 | Robot cradle, the charging method of robot and device |
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