CN111521184A - Map building method, device and system of sweeping robot - Google Patents
Map building method, device and system of sweeping robot Download PDFInfo
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- CN111521184A CN111521184A CN202010287367.1A CN202010287367A CN111521184A CN 111521184 A CN111521184 A CN 111521184A CN 202010287367 A CN202010287367 A CN 202010287367A CN 111521184 A CN111521184 A CN 111521184A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004888 barrier function Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000013507 mapping Methods 0.000 claims description 15
- 239000013598 vector Substances 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 14
- 239000002245 particle Substances 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003670 easy-to-clean Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 235000019713 millet Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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Abstract
The invention discloses a map building method, a map building device and a map building system of a sweeping robot, which relate to the field of sweeping robots, and the map building method comprises the following steps: acquiring environment data, and creating a two-dimensional grid map by using the environment data; acquiring three-dimensional data of the barrier in a preset space range, projecting the three-dimensional data to the two-dimensional grid map, and creating a three-dimensional barrier map; and updating the three-dimensional obstacle map by adopting a cache mechanism. The invention can solve the problem of short service life caused by the collision between the sweeping robot and the obstacle.
Description
Technical Field
The embodiment of the invention relates to the field of sweeping robots, in particular to a map building method, device and system of a sweeping robot.
Background
The map building mode of the sweeping robot in the current market mainly comprises three modes of random collision map building, monocular positioning + collision map building and laser radar map building. The random collision mapping is mainly based on the walking track of the sweeping robot and the projection of colliding obstacles to map. Because the positioning accuracy of random collision is poor, the mapping capability of random collision mapping is poor.
Monocular positioning + collision mapping robots such as iRobot980, Covos DJ35, etc., sensing of obstacles is accomplished by means of collision sensors. The floor sweeping robot generally has 3-4 collision contact points, 1-2 front points, one front point at the left side and one front point at the right side. Its accuracy is that of the point of contact of the collision and the point of contact is sparse, i.e. the point of collision, marked on the map. If the road is a wall, a plurality of sparse points are marked on the map, so that the room map drawn by the sweeper is usually generated after technical processing is carried out on the basis of the walking track and the points colliding with the obstacles. Therefore, although the positioning accuracy of the robot for monocular positioning and collision mapping is improved and planning type cleaning can be realized, the sweeping robot can collide with the obstacle frequently, so that the requirement on the stability of the structure of the sweeping machine is high, and meanwhile, the furniture is damaged.
The laser radar maps such as a millet sweeping robot and a stone sweeping robot are scanned by 360 degrees by means of laser, a dense high-precision map can be built on a scanning plane, and the matching degree of the drawn room map and a real map is high. However, since the laser can only map the two-dimensional planar dimension of the scan plane. Obstacles above this plane are not perceptible as well as obstacles below this plane. Therefore, the sweeping robot still collides with the obstacle, so that the requirement on the stability of the structure of the sweeping machine is higher, and the furniture is damaged.
Therefore, the three mapping methods have the condition that the sweeping robot collides with the obstacle, the service life of the sweeping robot is shortened, and the furniture is damaged.
Disclosure of Invention
The embodiment of the invention aims to provide a drawing establishing method, device and system of a sweeping robot, which are used for solving the problem of short service life caused by collision between the sweeping robot and an obstacle.
In order to achieve the above object, the embodiments of the present invention mainly provide the following technical solutions:
in a first aspect, the embodiment of the invention provides a map building method for a sweeping robot,
the method comprises the following steps: acquiring environment data, and creating a two-dimensional grid map by using the environment data; acquiring three-dimensional data of the barrier in a preset space range, projecting the three-dimensional data to the two-dimensional grid map, and creating a three-dimensional barrier map; and updating the three-dimensional obstacle map by adopting a cache mechanism.
Preferably, the creating a two-dimensional grid map specifically includes: acquiring binocular image information of the surrounding environment, calculating a depth map, and acquiring image depth information; and carrying out data processing on the image depth information to obtain a two-dimensional grid map.
Preferably, the preset spatial range includes a spatial range between the ground and the height of the sweeping robot, and the acquiring of the three-dimensional data of the obstacle in the preset spatial range specifically includes: acquiring all point clouds in a preset space range based on the environment depth map; calculating normal vector clusters in all point cloud planes; and acquiring three-dimensional data of the obstacle according to the size relation between the particle height of the normal vector cluster and the height of the preset space range.
Preferably, the updating the stereoscopic obstacle map by using a cache mechanism specifically includes: during the working process of the sweeping robot, acquiring binocular images of the environment in real time; recognizing an obstacle in the binocular image, and reserving a corresponding position of the obstacle in a three-dimensional obstacle map for a preset time period; the obstacle is deleted after a preset period of time.
In a second aspect, an embodiment of the present invention further provides a drawing setup device for a sweeping robot,
the device comprises: the binocular acquisition module is used for acquiring binocular image information around the environment; the data processing module is used for processing and calculating the binocular image information to obtain point cloud information; the map creating module is used for creating a two-dimensional grid map and a three-dimensional barrier map; and the updating module is used for updating the stereoscopic barrier map according to the real-time environment binocular image.
Preferably, the data processing module is further configured to: acquiring all point clouds in a preset space range based on the environment depth map; calculating normal vector clusters in all point cloud planes; and acquiring three-dimensional data of the obstacle according to the size relation between the particle height of the normal vector cluster and the height of the preset space range.
In a third aspect, an embodiment of the present invention further provides a drawing construction system for a sweeping robot, where the system includes: at least one processor and at least one memory; the memory is to store one or more program instructions; the processor is used for running one or more program instructions to execute the map building method of the sweeping robot.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium contains one or more program instructions, and the one or more program instructions are used by a mapping system of a sweeping robot to execute a mapping method of the sweeping robot.
The technical scheme provided by the embodiment of the invention at least has the following advantages:
according to the embodiment of the invention, the two-dimensional grid map is established first, and then the three-dimensional information of the obstacles is projected onto the two-dimensional grid map to establish the three-dimensional obstacle map, so that the sweeper can effectively avoid the obstacles, the service life of the sweeping robot is prolonged, meanwhile, the damage of the sweeper to furniture caused by impacting the furniture is avoided, and the three-dimensional obstacle map is updated through a cache mechanism, so that the fixed obstacles and the movable obstacles are well distinguished and identified.
Drawings
Fig. 1 is a flowchart of a drawing establishing method of a sweeping robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a drawing building device of a sweeping robot according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The embodiment of the invention provides a map building method of a sweeping robot, and with reference to fig. 1, the method mainly comprises the following steps:
s1, acquiring environment data, and creating a two-dimensional grid map by using the environment data;
in a feasible mode of the embodiment, the invention adopts a binocular device based on binocular structured light to realize information acquisition, and the binocular device can be arranged on the body of the sweeping robot. Firstly, acquiring environment binocular image information, calculating a depth map, and acquiring image depth information; and carrying out data processing on the image depth information to obtain a two-dimensional grid map.
Specifically, the manner of establishing the grid map based on the depth information may be: setting the size of a map and the size of a grid, and determining the range which can be seen by a binocular camera so as to initialize the map; acquiring three-dimensional points within a certain height range based on the image depth information; calculating to obtain a three-dimensional coordinate corresponding to each pixel, projecting the three-dimensional coordinate onto a two-dimensional plane, and judging whether each grid is an obstacle or not according to projection statistics and a threshold value so as to form a two-dimensional discrete obstacle map; and then the two-dimensional grid map is formed by radial scanning from the center of the binocular camera.
S2, obtaining three-dimensional data of the barrier in a preset space range, projecting the three-dimensional data to a two-dimensional grid map, and creating a three-dimensional barrier map;
the existing robot can mark the whole obstacle on a map, but a certain space is reserved below furniture such as a sofa chair and the furniture is not easy to clean, so that the obstacle three-dimensional data acquired by the embodiment is only the obstacle data in a preset space range, and the preset space range is the space range between the ground and the height of the sweeping robot. When the point cloud between the ground and the sweeping robot is selected, only the obstacle in the advancing direction of the sweeping robot can be blocked, namely, even if furniture is arranged above the sweeping robot, the sweeping robot can normally pass through, and the obstacle cannot be marked on a map. Can enlarge the cleaning range and has better cleaning efficiency.
Specifically, acquiring three-dimensional data of the obstacle in a preset space range comprises:
acquiring all point clouds in a preset spatial range based on the environment depth map, and calculating all normal vectors for the point cloud planes; because the normal vectors of the same object are clustered together into a cluster, calculating normal vector clusters in all point cloud planes according to a distance clustering principle; and (4) taking mass points of the normal vector cluster, and acquiring three-dimensional data of the obstacle according to the size relation between the height of the mass points of the normal vector cluster and the height of a preset space range. In detail, if the mass point is located between the lowest ground height and the lowest ground height, the mass point belongs to the ground point cloud, otherwise, the mass point belongs to the obstacle point cloud, and after the ground point cloud and the obstacle point cloud are determined, the point cloud between the ground point cloud and the obstacle point cloud is selected for calculation to obtain the obstacle three-dimensional data.
And S3, updating the three-dimensional obstacle map by adopting a cache mechanism.
In the step of creating the map, moving obstacles, such as a walking person or a pet, may inevitably exist to affect the creation of the map. Therefore, the embodiment adopts a cache mechanism to update the stereoscopic barrier map, that is, when the sweeping robot works under the condition that the basic map is established, the binocular device is used for collecting binocular images of the environment in real time; recognizing an obstacle in the binocular image, and reserving a corresponding position of the obstacle in a three-dimensional obstacle map for a preset time period; the obstacle is removed after a preset period of time, preferably 30 seconds. The method can well distinguish and identify the fixed obstacles and the movable obstacles, and when the movable obstacles move away, the method can clean the places which are not cleaned in the previous time, thereby improving the cleaning efficiency.
According to the map building method of the sweeping robot, the two-dimensional grid map is built firstly, then the three-dimensional information of the obstacles is projected onto the two-dimensional grid map, the three-dimensional obstacle map is built, the sweeping robot can effectively avoid the obstacles, the service life of the sweeping robot is prolonged, meanwhile, the damage to furniture caused by the fact that the sweeping robot collides with the furniture is avoided, the three-dimensional obstacle map is updated through a cache mechanism, and the fixed obstacles and the movable obstacles are well distinguished and identified.
In accordance with the above embodiment, the present invention provides a drawing construction device for a sweeping robot, and referring to fig. 2, the device includes:
the binocular acquisition module 01 is used for acquiring binocular image information around the environment;
the data processing module 02 is used for processing and calculating the binocular image information to obtain point cloud information;
the map creation module 03 is used for creating a two-dimensional grid map and a three-dimensional obstacle map;
and the updating module 04 is used for updating the stereoscopic barrier map according to the real-time environment binocular image.
The data processing module is further configured to: acquiring all point clouds in a preset space range based on the environment depth map; calculating normal vector clusters in all point cloud planes; and acquiring three-dimensional data of the obstacle according to the size relation between the particle height of the normal vector cluster and the height of the preset space range. Specifically, the functions performed by each module are described above, and are not described in detail herein.
Corresponding to the above embodiment, the embodiment of the present invention provides a drawing construction system for a sweeping robot, including: at least one processor and at least one memory;
the memory is used for storing one or more program instructions;
the processor is used for running one or more program instructions to execute the map building method of the sweeping robot.
In accordance with the foregoing embodiments, the present invention provides a computer-readable storage medium, where the computer-readable storage medium contains one or more program instructions, and the one or more program instructions are used by a mapping system of a sweeping robot to execute a mapping method of the sweeping robot.
The disclosed embodiments of the present invention provide a computer-readable storage medium having stored therein computer program instructions which, when run on a computer, cause the computer to perform the above-described method.
In an embodiment of the invention, the processor may be an integrated circuit chip having signal processing capability. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.
Claims (8)
1. A map building method of a sweeping robot is characterized by comprising the following steps:
acquiring environment data, and creating a two-dimensional grid map by using the environment data;
acquiring three-dimensional data of the barrier in a preset space range, projecting the three-dimensional data to the two-dimensional grid map, and creating a three-dimensional barrier map;
and updating the three-dimensional obstacle map by adopting a cache mechanism.
2. The method according to claim 1, wherein the creating of the two-dimensional grid map specifically comprises:
acquiring binocular image information of the surrounding environment, calculating a depth map, and acquiring image depth information;
and carrying out data processing on the image depth information to obtain a two-dimensional grid map.
3. The mapping method of the sweeping robot according to claim 1, wherein the preset spatial range includes a spatial range between the ground and the height of the sweeping robot, and the acquiring three-dimensional data of the obstacle in the preset spatial range specifically includes:
acquiring all point clouds in a preset space range based on the environment depth map;
calculating normal vector clusters in all point cloud planes;
and acquiring three-dimensional data of the obstacle according to the size relation between the particle height of the normal vector cluster and the height of the preset space range.
4. The method according to claim 1, wherein the updating the stereoscopic obstacle map by using a cache mechanism specifically comprises:
during the working process of the sweeping robot, acquiring binocular images of the environment in real time;
recognizing an obstacle in the binocular image, and reserving a corresponding position of the obstacle in a three-dimensional obstacle map for a preset time period;
the obstacle is deleted after a preset period of time.
5. The utility model provides a robot of sweeping floor builds picture device which characterized in that, the device includes:
the binocular acquisition module is used for acquiring binocular image information around the environment;
the data processing module is used for processing and calculating the binocular image information to obtain point cloud information;
the map creating module is used for creating a two-dimensional grid map and a three-dimensional barrier map;
and the updating module is used for updating the stereoscopic barrier map according to the real-time environment binocular image.
6. The mapping apparatus of the sweeping robot of claim 5, wherein the data processing module is further configured to: acquiring all point clouds in a preset space range based on the environment depth map; calculating normal vector clusters in all point cloud planes; and acquiring three-dimensional data of the obstacle according to the size relation between the particle height of the normal vector cluster and the height of the preset space range.
7. A robot of sweeping floor builds picture system, its characterized in that, the system includes: at least one processor and at least one memory;
the memory is to store one or more program instructions;
the processor is used for executing one or more program instructions to execute the mapping method of the sweeping robot as claimed in any one of claims 1 to 4.
8. A computer readable storage medium containing one or more program instructions for execution by a mapping system of a sweeping robot to perform a mapping method of a sweeping robot of any one of claims 1-4.
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