CN111736616A - Obstacle avoidance method and device for sweeping robot, sweeping robot and readable medium - Google Patents
Obstacle avoidance method and device for sweeping robot, sweeping robot and readable medium Download PDFInfo
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- CN111736616A CN111736616A CN202010874178.4A CN202010874178A CN111736616A CN 111736616 A CN111736616 A CN 111736616A CN 202010874178 A CN202010874178 A CN 202010874178A CN 111736616 A CN111736616 A CN 111736616A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 299
- 238000000034 method Methods 0.000 title claims abstract description 82
- 238000004140 cleaning Methods 0.000 claims description 51
- 230000008569 process Effects 0.000 claims description 22
- 230000004888 barrier function Effects 0.000 claims description 13
- 238000013507 mapping Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
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- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/0253—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 relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The application discloses an obstacle avoidance method and device of a sweeping robot, the sweeping robot and a readable medium, wherein the method comprises the steps of scanning and acquiring position information of an obstacle through a first linear radar positioned on the front side of the sweeping robot; if the position information is within the preset area range of the relative sweeping robot, rotating the body of the sweeping robot and acquiring the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot; and controlling the sweeping robot to sweep around the obstacle according to the real-time distance. The obstacle that robot the place ahead exists of sweeping the floor can be accurately confirmed through first linear radar, and when needs were swept around the obstacle, the robot of sweeping the floor and the distance of obstacle through the control of second linear radar, make the robot of sweeping the floor can sweep the region around the obstacle as far as under the condition that does not touch the obstacle to promote and clean efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an obstacle avoidance method and device of a sweeping robot, the sweeping robot and a readable storage medium.
Background
At present, the sweeping robot has poor capacity of processing short obstacles. The cleaning robot may not be able to perform normal cleaning when a short obstacle is detected and identified, or the cleaning efficiency may be lowered when a short obstacle is identified and the area near the short obstacle is unable to perform cleaning to avoid the short obstacle.
Disclosure of Invention
The application mainly aims to provide an obstacle avoidance method and device for a sweeping robot, the sweeping robot and a readable storage medium, and aims to solve the problems that the existing sweeping robot is inaccurate in low obstacle identification and low in sweeping efficiency.
In order to achieve the above object, the present application provides an obstacle avoidance method for a floor sweeping robot, where the obstacle avoidance method for the floor sweeping robot includes the following steps:
scanning and acquiring position information of an obstacle through a first linear radar positioned on the front side of the sweeping robot;
if the position information is within the preset area range of the relative sweeping robot, rotating the body of the sweeping robot and acquiring the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot;
and controlling the sweeping robot to sweep around the obstacle according to the real-time distance.
Optionally, a first plane on which the laser beam emitted by the first linear radar is located is obliquely cut to the ground, and a second plane on which the laser beam emitted by the second linear radar is located is perpendicular to the ground.
Optionally, the step of obtaining the position information of the obstacle through scanning by the first linear radar located on the front surface of the sweeping robot comprises:
calculating the height of a front object according to the reference distance between a first linear radar positioned on the front of the sweeping robot and the ground and the acquired actual distance between the first linear radar and the front object;
if the height is larger than the preset height value, the front object is judged to be an obstacle;
and calculating the position information of the obstacle according to the actual distance.
Optionally, the step of rotating the body of the sweeping robot comprises:
acquiring an included angle between the barrier and the right front side of the sweeping robot according to the position information;
and rotating the body of the sweeping robot according to the included angle to enable the second linear radar located on the side face of the sweeping robot to face the obstacle.
Optionally, the step of controlling the sweeping robot to sweep around the obstacle according to the real-time distance includes:
acquiring a preset sweeping spacing distance;
and adjusting the wheel rotating speed of the sweeping robot according to the real-time distance and the preset sweeping interval distance to enable the real-time distance to be equal to the preset sweeping interval distance so as to control the sweeping robot to encircle the obstacle for sweeping.
Optionally, after the step of controlling the sweeping robot to sweep around the obstacle, the method further includes:
when the sweeping robot is detected to return to the initial position surrounding the obstacle for sweeping, acquiring environmental information of the initial position;
and planning a route according to the environment information.
Optionally, the obstacle avoidance method of the sweeping robot further includes:
in the process that the sweeping robot surrounds the obstacle, the second linear radar acquires point cloud information of the obstacle in real time;
establishing a model of the obstacle according to the point cloud information;
and marking the model in a map stored by the sweeping robot according to the position information.
Optionally, the step of obtaining the preset sweeping interval distance includes:
obtaining the height of the obstacle;
classifying the obstacle according to the height value;
and determining the preset cleaning interval distance based on the mapping relation between the obstacle category and the preset cleaning interval distance.
Optionally, the obstacle avoidance method of the sweeping robot further includes:
performing semantic recognition on the obstacle to obtain a recognition result;
and determining a cleaning strategy when the sweeping robot cleans around the obstacle according to the identification result.
Optionally, the obstacle avoidance method of the sweeping robot further includes:
if the distance between the multiple obstacles is smaller than the preset distance, combining the multiple obstacles into a new obstacle;
and executing the step of controlling the sweeping robot to sweep around the obstacle according to the real-time distance.
The application still provides a robot of sweeping floor keeps away barrier device, robot of sweeping floor keeps away barrier device and includes:
the first acquisition module is used for scanning and acquiring position information of an obstacle through a first linear radar positioned on the front side of the sweeping robot;
the second acquisition module is used for rotating the body of the sweeping robot and acquiring the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot if the position information is within the preset area range of the relative sweeping robot;
and the first control module is used for controlling the sweeping robot to encircle the obstacle to sweep according to the real-time distance.
Optionally, the first obtaining module includes:
the first calculating unit is used for calculating the height of the front object according to the reference distance between the first linear radar positioned on the front surface of the sweeping robot and the ground and the acquired actual distance between the first linear radar and the front object;
the judging unit is used for judging that the front object is an obstacle if the height is larger than a preset height value;
and the second calculation unit is used for calculating the position information of the obstacle according to the actual distance.
Optionally, the second obtaining module includes:
the first acquisition unit is used for acquiring an included angle between the barrier and the right front side of the sweeping robot according to the position information;
and the rotating unit is used for rotating the body of the sweeping robot according to the included angle so that the second linear radar located on the side face of the sweeping robot faces the obstacle.
Optionally, the first control module comprises:
the second acquisition unit is used for acquiring a preset sweeping spacing distance;
and the adjusting unit is used for adjusting the wheel rotating speed of the sweeping robot according to the real-time distance and the preset sweeping interval distance so that the real-time distance is equal to the preset sweeping interval distance to control the sweeping robot to encircle the obstacle for sweeping.
Optionally, the obstacle avoidance device of the sweeping robot further includes:
the third acquisition module is used for acquiring the environmental information of the initial position when the sweeping robot is detected to return to the initial position surrounding the obstacle for sweeping;
and the planning module is used for planning a route according to the environment information.
Optionally, the obstacle avoidance device of the sweeping robot further includes:
the fourth acquisition module is used for acquiring point cloud information of the obstacle in real time by the second linear radar in the process that the sweeping robot surrounds the obstacle;
the establishing module is used for establishing a model of the barrier according to the point cloud information;
and the marking module is used for marking the model in a map stored by the sweeping robot according to the position information.
Optionally, the second obtaining unit includes:
an obtaining subunit configured to obtain the height of the obstacle;
a classification subunit, configured to classify the obstacle according to the height value;
and the determining subunit is used for determining the preset cleaning interval distance based on the mapping relation between the obstacle category and the preset cleaning interval distance.
Optionally, the obstacle avoidance device of the sweeping robot further includes:
the recognition module is used for carrying out semantic recognition on the obstacles to obtain recognition results;
and the determining module is used for determining a cleaning strategy when the sweeping robot cleans around the obstacle according to the identification result.
The application still provides a robot of sweeping floor, the robot of sweeping floor includes: the obstacle avoidance method comprises a memory, a processor, at least two solid-state radars respectively arranged on the front surface and the side surface of the sweeping robot, and an obstacle avoidance program of the sweeping robot, which is stored on the memory and can run on the processor, wherein the obstacle avoidance program of the sweeping robot is executed by the processor to realize the steps of the obstacle avoidance method of the sweeping robot.
The application also provides a readable storage medium, wherein a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the obstacle avoidance method of the sweeping robot are realized.
In the application, the position information of the obstacle is obtained through scanning of a first linear radar positioned on the front side of the sweeping robot; if the position information is within the preset area range of the robot sweeping the floor relatively, the body of the robot sweeping the floor rotationally and the real-time distance of the robot sweeping the floor relatively of the obstacle is obtained through a second linear radar located on the side face of the robot sweeping the floor. The obstacle that robot the place ahead exists of sweeping the floor can be accurately confirmed through first linear radar, and when needs were swept around the obstacle, the robot of sweeping the floor and the distance of obstacle through the control of second linear radar, make the robot of sweeping the floor can sweep the region around the obstacle as far as under the condition that does not touch the obstacle to promote and clean efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a first embodiment of an obstacle avoidance method of the sweeping robot according to the present application;
fig. 3 is a schematic view of a relationship between a first screen where a laser beam emitted by a first linear radar is located and the ground in a first embodiment of the obstacle avoidance method of the sweeping robot according to the present application;
FIG. 4 is a schematic view of a relationship between a second plane where a laser beam emitted by a second linear radar is located and the ground according to the first embodiment of the control method of the sweeping robot of the present application
Fig. 5 is a detailed flowchart of step S30 in fig. 2 in a fourth embodiment of the obstacle avoidance method for the sweeping robot according to the present application;
fig. 6 is a schematic system structure diagram of an obstacle avoidance device of the sweeping robot according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
The terminal is a sweeping robot in the embodiment of the application.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that turns off the display screen and/or the backlight when the terminal device is moved to the ear. Of course, the terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an obstacle avoidance program of the cleaning robot.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; the processor 1001 may be configured to call the obstacle avoidance program of the sweeping robot stored in the memory 1005, and perform the following operations:
scanning and acquiring position information of an obstacle through a first linear radar positioned on the front side of the sweeping robot;
if the position information is within the preset area range of the relative sweeping robot, rotating the body of the sweeping robot and acquiring the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot;
and controlling the sweeping robot to sweep around the obstacle according to the real-time distance.
Based on the above terminal hardware structure, various embodiments of the present application are provided.
The application provides an obstacle avoidance method of a sweeping robot.
Referring to fig. 2, 3 and 4, in a first embodiment of an obstacle avoidance method of a sweeping robot, the method includes:
step S10, scanning and acquiring position information of the obstacle through a first linear radar positioned on the front side of the sweeping robot;
the preferred solid-state line laser radar that is of first linear radar, solid-state line laser radar includes a laser emission head in, the laser emission head can launch infrared laser beam, still include one among the solid-state line laser radar simultaneously and can be the optical device of sector distribution with infrared laser beam scattering like the beam expanding lens to make solid-state line laser radar can use laser emission head to launch as the center and be the laser beam of sector distribution, this laser beam shines on object surface (like wall, ground) simultaneously and can form one section infrared laser line section. Meanwhile, the solid-state line laser radar also comprises an infrared camera, the infrared camera can shoot the formed infrared laser line segment to obtain a shot image, and the distance from each point in the infrared laser line segment to the laser emission head can be obtained according to the shot image. Specifically, in this application, first linear radar installs in the front of sweeping the floor in the robot, and the laser emission head of the first linear radar of simultaneous control declines certain angle so that the laser beam of transmission can shine can demonstrate infrared laser line section when just can subaerial obstacle-free on ground, need to guarantee that infrared laser line section is suitable with the distance of sweeping the floor the robot, can be greater than the diameter of sweeping the floor the robot through the length of infrared laser line section that infrared camera shot simultaneously. When a short obstacle exists on the ground, the presented infrared laser line segment can be bent, so that whether the short obstacle exists on the ground can be judged according to the infrared line segment shot by the infrared camera, and when the short obstacle exists, the position information of the obstacle, such as distance information and angle information, can be known by using the distance information of the point on the infrared line segment formed on the laser beam emitted by the solid-state radar.
Step S20, if the position information is in the preset area range of the relative sweeping robot, rotating the body of the sweeping robot and obtaining the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot;
when the sweeping robot moves to an area close to the obstacle, namely when the obstacle is located in a preset area range relative to the sweeping robot, such as a circular area with the radius of 0.5 m taking the sweeping robot as a circle center, the state of recognizing the obstacle needs to be changed into an obstacle avoiding and bypassing state, namely the sweeping robot needs to sweep around the obstacle while not touching the obstacle. And at the moment, the body of the rotary sweeping robot faces the obstacle by the second solid-state radar positioned on the side surface of the sweeping robot. The front of the sweeping robot is the front when the sweeping robot normally sweeps, and the included angle range between the side face and the front is in the range corresponding to the sector of 0-120 degrees. Meanwhile, the second linear radar is also preferably a solid-state linear laser radar, but the plane of the laser beam emitted by the second linear radar is parallel to the ground, namely, the second linear radar can scan the obstacles in the range near the sweeping robot and acquire the distance between the second linear radar and the obstacles. The body of the rotary sweeping robot enables the second linear radar to face the obstacle to obtain the real-time distance between the sweeping robot and the obstacle, so that the sweeping robot can be guaranteed to sweep the area around the obstacle without touching the obstacle. And meanwhile, the rotation angle of the body of the sweeping robot is determined by the included angle between the obstacle and the sweeping robot and the included angle between the first linear radar and the second linear radar, and the rotation angle is optimized, so that the second linear radar can be over against the center of the obstacle after rotation.
Wherein a first plane on which the laser beam emitted by the first linear radar is positioned is obliquely cut on the ground, and a second plane on which the laser beam emitted by the second linear radar is positioned is perpendicular to the ground. The first plane where the laser beam emitted by the first linear radar is positioned is obliquely cut to the ground, so that an infrared laser line segment can be generated on the ground to detect the existence of the obstacle. And a second plane where a laser beam emitted by the second linear radar is positioned is vertical to the ground, so that surrounding short obstacles can be scanned and the distance between the laser beam and the sweeping robot can be acquired. Referring to fig. 3, it can be known that the first plane where the laser beam emitted by the first linear radar is located is obliquely cut to the ground so as to be able to generate infrared laser line segments on the ground. Referring to fig. 4, the second plane in which the laser beam emitted from the second linear radar is positioned is perpendicular to the ground so that the distance to the obstacle can be acquired.
Step S30, controlling the sweeping robot to sweep around the obstacle according to the real-time distance;
according to the real-time distance, the rotating speed of wheels of the sweeping robot is adjusted, so that the distance between the sweeping robot and the obstacle is always kept at a fixed value, and meanwhile, whether other obstacles exist in the advancing direction of the sweeping robot in the advancing process of the surrounding obstacle or not is obtained through the first linear radar, so that the situation that any obstacle cannot be touched in the surrounding process and the process of surrounding the current obstacle is finished is guaranteed. The robot of sweeping the floor can keep the distance with the barrier simultaneously can also acquire the object information on the surrounding path in real time at the in-process that surrounds the barrier through increasing second linear radar messenger to there is not the scanning blind area, can control the robot of sweeping the floor more accurate simultaneously and clean along the barrier, provide the efficiency and the effect of cleaning to the regional cleaning around the barrier.
In the embodiment, the position information of the obstacle is obtained through scanning of the first linear radar positioned on the front side of the sweeping robot; if the position information is within the preset area range of the relative sweeping robot, rotating the body of the sweeping robot and acquiring the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot; and controlling the sweeping robot to sweep around the obstacle according to the real-time distance. The obstacle that robot the place ahead exists of sweeping the floor can be accurately confirmed through first linear radar, and when needs were swept around the obstacle, the robot of sweeping the floor and the distance of obstacle through the control of second linear radar, make the robot of sweeping the floor can sweep the region around the obstacle as far as under the condition that does not touch the obstacle to promote and clean efficiency.
Further, on the basis of the first embodiment of the obstacle avoidance method for the sweeping robot, a second embodiment of the obstacle avoidance method for the sweeping robot is provided, and in the second embodiment,
step S10 includes:
step A1, calculating the height of the front object according to the reference distance between the first linear radar on the front surface of the sweeping robot and the ground and the acquired actual distance between the first linear radar and the front object;
when no obstacle exists on the ground, the distance acquired by the first linear radar is used as the reference distance between the first linear radar and the ground when the laser beam emitted by the first linear radar irradiates the ground, the reference distance can be directly input into a storage device of the sweeping robot by a technician to be stored, meanwhile, in the actual sweeping process of the sweeping robot, when an object exists on the ground, the laser beam emitted by the first linear radar can acquire the actual distance between the first linear radar and the corresponding point on the object when irradiating the object, the actual distance is different from the reference distance, and meanwhile, the height information of the object can be acquired according to the reference distance and the actual distance.
Step A2, if the height is larger than a preset height value, determining that the front object is an obstacle;
when the height of the object is larger than a preset height value, such as 1 cm, the detected front object is determined to be an obstacle. Since there may be some unevenness on the ground during construction, only when the height of the front object is greater than the preset height value, the front object is determined as an obstacle to be avoided and surrounded, thereby improving the accuracy of obstacle identification.
Step A3, calculating the position information of the obstacle according to the actual distance;
when the obstacle in front is determined to exist, the position information of the obstacle, such as the distance and angle information relative to the sweeping robot, is calculated according to the actual distance between the obstacle and the laser beam emitted by the first linear radar.
In the embodiment, whether the obstacle needs to be avoided or surrounded is judged by using the height of the object, and if the obstacle is the obstacle, the position information of the obstacle is determined, so that the accuracy of obstacle identification is improved.
Further, on the basis of the above embodiments of the obstacle avoidance method of the sweeping robot, a third embodiment of the obstacle avoidance method of the sweeping robot is provided, and in the third embodiment,
step S20 includes:
step B1, acquiring an included angle between the barrier and the right front side of the sweeping robot according to the position information;
the position information comprises angle information of the obstacle relative to the sweeping robot, so that an included angle between the obstacle and the right front side of the sweeping robot can be obtained through the position information of the obstacle.
Step B2, rotating the body of the sweeping robot according to the included angle to enable a second linear radar located on the side face of the sweeping robot to face the obstacle;
according to the included angle, the body of the rotary sweeping robot enables the second linear radar to face the obstacle, and then the second linear radar can be used for scanning the obstacle to obtain the distance between the sweeping robot and the obstacle. Preferably, the second linear radar after rotation can be directly opposite to the obstacle, and the rotation angle of the sweeping robot at this time can be an included angle between the obstacle and the right front side of the sweeping robot.
In this embodiment, the second solid-state radar can face the obstacle by rotating the body of the sweeping robot, so that the distance between the sweeping robot and the obstacle can be conveniently controlled in the process of surrounding the obstacle.
Further, referring to fig. 2 and 5, on the basis of the above-mentioned embodiments of the obstacle avoidance method for the sweeping robot of the present application, a fourth embodiment of the obstacle avoidance method for the sweeping robot is provided, and in the fourth embodiment,
step S30 includes:
step S31, acquiring a preset cleaning spacing distance;
when the area around the obstacle needs to be cleaned in a surrounding manner, a certain distance needs to be kept between the robot and the obstacle to ensure that the sweeping robot cannot touch the obstacle, and the distance is the preset cleaning interval distance.
Step S32, adjusting the wheel rotating speed of the sweeping robot according to the real-time distance and the preset sweeping interval distance to enable the real-time distance to be equal to the preset sweeping interval distance so as to control the sweeping robot to sweep around the obstacle;
and after the preset cleaning interval distance is determined, the sweeping robot is controlled to surround the sweeping robot according to the preset cleaning interval distance to complete the cleaning process. When the real-time distance between the sweeping robot and the obstacle acquired by the second solid-state radar is not equal to the preset sweeping interval distance, the rotating speeds of the left and right wheels of the sweeping robot are controlled to adjust the real-time distance between the sweeping robot and the obstacle, and if the real-time distance is larger than the preset sweeping interval distance, the rotating speed of the wheels far away from the obstacle is increased, so that the sweeping robot is close to the obstacle to reduce the real-time distance.
Wherein, step S31 includes:
step C1, obtaining the height of the obstacle;
a step C2 of classifying the obstacle according to the height value;
the height of the obstacle is obtained when the front object is judged to be the obstacle, so that the height of the obstacle can be obtained, and meanwhile, the obstacles are classified according to the height, and the categories comprise large obstacles, medium obstacles and small obstacles. While the classification of the obstacles according to height is here intended to simplify the classification process of the obstacles, in practice other more classification criteria may be used.
Step C3, determining a preset cleaning interval distance based on the mapping relation between the obstacle category and the preset cleaning interval distance;
when the obstacle is a large obstacle, the corresponding preset cleaning interval distance is larger, such as 2 cm, when the obstacle is a medium-sized obstacle, the corresponding preset cleaning interval distance can be 1 cm, and when the obstacle is a small-sized obstacle, the preset cleaning interval distance can be smaller, such as 0.5 cm. The mapping relationship between the obstacle category and the preset sweeping interval distance may be in other forms, such as a function expression that different heights and preset sweeping interval distances correspond to different categories. The preset cleaning interval distance is determined through the mapping relation, so that the cleaning efficiency of the sweeping robot for the area around the obstacle in the obstacle detouring mode can be further improved.
In the embodiment, in the obstacle-detouring cleaning process, the real-time distance between the sweeping robot and the obstacle is controlled to be the preset cleaning interval distance by adjusting the wheel rotating speed of the sweeping robot, so that the surrounding area of the completely sweeping robot is cleaned as far as possible while the obstacle is not touched, and the cleaning efficiency is improved.
Further, on the basis of the above embodiments of the obstacle avoidance method for the sweeping robot, a fifth embodiment of the obstacle avoidance method for the sweeping robot is provided, and in the fifth embodiment,
after step S30, the method further includes:
step D1, when detecting that the sweeping robot returns to the initial position for sweeping around the obstacle, acquiring the environmental information of the initial position;
step D2, planning a route according to the environment information;
when the sweeping robot is detected to return to the initial position surrounding the obstacle for sweeping, namely the sweeping robot finishes obstacle-bypassing sweeping of the obstacle, the surrounding environment information is obtained again, if more obstacles needing obstacle-bypassing sweeping exist, if new obstacles needing sweeping exist, a route going to the new obstacles can be planned, and obstacle avoidance and obstacle-bypassing sweeping can be carried out on the new obstacles according to an obstacle-bypassing sweeping mode. Meanwhile, the body of the sweeping robot can be selected to rotate to enable the scanning direction of the first linear radar to be recovered to the initial direction when the sweeping robot starts to sweep around the obstacle, namely, after the obstacle of the current obstacle is cleared, the sweeping robot is enabled to finish the sweeping work of other areas according to the previous path planning again. Namely, the sweeping robot can choose to re-plan the sweeping route at the initial position, and can also complete the cleaning work of the room according to the previously planned sweeping route.
In the embodiment, after obstacle avoidance of the current obstacle is completed, the route is re-planned at the initial position according to the surrounding environment information, so that the route planning of the sweeping robot in the obstacle avoidance and obstacle avoidance processes is more timely and intelligent.
Further, on the basis of the above embodiments of the obstacle avoidance method for the sweeping robot, a sixth embodiment of the obstacle avoidance method for the sweeping robot is provided, and in the sixth embodiment,
the obstacle avoidance method of the sweeping robot further comprises the following steps:
step E1, performing semantic recognition on the obstacle to obtain a recognition result;
e2, determining a cleaning strategy when the sweeping robot cleans around the obstacles according to the recognition result;
according to the neural network and the knowledge graph, semantic recognition is carried out on obstacles to obtain the recognition result of the obstacles, such as blocks, wires, shoes, socks and the like, the cleaning strategy during obstacle detouring cleaning is determined according to the recognition result of the obstacles, the cleaning strategy comprises power during cleaning, moving speed during cleaning and the like, for the obstacles such as the blocks, the socks and the like which are possibly interfered by high-power cleaning, the cleaning power during obstacle detouring cleaning is properly adjusted to be small, the moving speed during cleaning can be reduced, and for the obstacles such as the shoes and the like, high power can be maintained for cleaning.
In the present embodiment, the cleaning power at the time of obstacle detouring cleaning is determined in accordance with the identification type of the obstacle to thereby ensure safety at the time of cleaning.
Further, on the basis of the above embodiments of the obstacle avoidance method of the sweeping robot, a seventh embodiment of the obstacle avoidance method of the sweeping robot is provided, and in the seventh embodiment,
the obstacle avoidance method of the sweeping robot comprises the following steps:
step F1, in the process that the sweeping robot surrounds the obstacle, the second linear radar acquires the point cloud information of the obstacle in real time;
step F2, establishing a model of the obstacle according to the point cloud information;
step F3, marking the model in a map stored by the sweeping robot according to the position information;
in the obstacle-detouring cleaning process, the second linear radar scans and acquires the point cloud information of the obstacle all the time so as to determine the position of the obstacle, the point cloud information acquired in the whole obstacle-detouring process is integrated to obtain a model of the obstacle, namely the model comprises the height and surface characteristics of the obstacle, and then the established model of the obstacle is marked at a corresponding position in a map stored in the sweeping robot according to the position information of the obstacle. The modeling of the obstacle is beneficial to the sweeping robot to perfect the stored map information, thereby facilitating the route planning after the sweeping robot.
The obstacle avoidance method of the sweeping robot further comprises the following steps:
g1, if the distance between the multiple obstacles is smaller than the preset distance, combining the multiple obstacles into a new obstacle;
g2, controlling the sweeping robot to sweep around the obstacle according to the real-time distance;
when a plurality of obstacles exist on the ground but the distance between the obstacles is small, the sweeping robot cannot complete obstacle detouring and sweeping of each obstacle, the obstacles with small distances are taken as a whole to be regarded as a new obstacle, and then the sweeping process of the new obstacle is completed according to the obstacle detouring and sweeping method in the application. If the building blocks are scattered in a certain area on the ground but are not completely piled up together, all the building blocks in the area can be used as an obstacle to avoid the obstacle and perform corresponding obstacle-avoiding and cleaning work. Therefore, the sweeping robot can flexibly process the identification process of the obstacles.
In the embodiment, the processing capacity of the sweeping robot for the obstacles in the actual working environment is enhanced by combining the plurality of obstacles, and the route planning after the sweeping robot is more reasonable by modeling and updating the map, so that the condition processing capacity of the sweeping robot in the actual working environment is improved, and the use experience of a user is improved.
In addition, referring to fig. 6, an embodiment of the present application further provides an obstacle avoidance device of a robot that sweeps floor, the obstacle avoidance device of the robot that sweeps floor includes:
the first acquisition module is used for scanning and acquiring position information of an obstacle through a first linear radar positioned on the front side of the sweeping robot;
the second acquisition module is used for rotating the body of the sweeping robot and acquiring the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot if the position information is within the preset area range of the relative sweeping robot;
and the first control module is used for controlling the sweeping robot to encircle the obstacle to sweep according to the real-time distance.
Optionally, the first obtaining module includes:
the first calculating unit is used for calculating the height of the front object according to the reference distance between the first linear radar positioned on the front surface of the sweeping robot and the ground and the acquired actual distance between the first linear radar and the front object;
the judging unit is used for judging that the front object is an obstacle if the height is larger than a preset height value;
and the second calculation unit is used for calculating the position information of the obstacle according to the actual distance.
Optionally, the second obtaining module includes:
the first acquisition unit is used for acquiring an included angle between the barrier and the right front side of the sweeping robot according to the position information;
and the rotating unit is used for rotating the body of the sweeping robot according to the included angle so that the second linear radar located on the side face of the sweeping robot faces the obstacle.
Optionally, the first control module comprises:
the second acquisition unit is used for acquiring a preset sweeping spacing distance;
and the adjusting unit is used for adjusting the wheel rotating speed of the sweeping robot according to the real-time distance and the preset sweeping interval distance so that the real-time distance is equal to the preset sweeping interval distance to control the sweeping robot to encircle the obstacle for sweeping.
Optionally, the obstacle avoidance device of the sweeping robot further includes:
the third acquisition module is used for acquiring the environmental information of the initial position when the sweeping robot is detected to return to the initial position surrounding the obstacle for sweeping;
and the planning module is used for planning a route according to the environment information.
Optionally, the obstacle avoidance device of the sweeping robot further includes:
the fourth acquisition module is used for acquiring point cloud information of the obstacle in real time by the second linear radar in the process that the sweeping robot surrounds the obstacle;
the establishing module is used for establishing a model of the barrier according to the point cloud information;
and the marking module is used for marking the model in a map stored by the sweeping robot according to the position information.
Optionally, the second obtaining unit includes:
an obtaining subunit configured to obtain the height of the obstacle;
a classification subunit, configured to classify the obstacle according to the height value;
and the determining subunit is used for determining the preset cleaning interval distance based on the mapping relation between the obstacle category and the preset cleaning interval distance.
Optionally, the obstacle avoidance device of the sweeping robot further includes:
the recognition module is used for carrying out semantic recognition on the obstacles to obtain recognition results;
and the determining module is used for determining a cleaning strategy when the sweeping robot cleans around the obstacle according to the identification result.
Optionally, the obstacle avoidance device of the sweeping robot further includes:
the merging module is used for merging the plurality of obstacles into a new obstacle if the distance between the plurality of obstacles is smaller than a preset distance;
and the execution module is used for executing the step of controlling the sweeping robot to sweep around the obstacle according to the real-time distance.
The expanding contents of the specific implementation manners of the sweeping robot and the readable storage medium (i.e., the computer readable storage medium) of the present application are substantially the same as those of the above-mentioned embodiments of the obstacle avoidance method of the sweeping robot, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The obstacle avoidance method of the sweeping robot is characterized by comprising the following steps of:
scanning and acquiring position information of an obstacle through a first linear radar positioned on the front side of the sweeping robot;
if the position information is within the preset area range of the relative sweeping robot, rotating the body of the sweeping robot and acquiring the real-time distance of the obstacle relative to the sweeping robot through a second linear radar located on the side face of the sweeping robot;
and controlling the sweeping robot to sweep around the obstacle according to the real-time distance.
2. An obstacle avoidance method for a sweeping robot according to claim 1,
the first plane where the laser beams emitted by the first linear radar are positioned is obliquely cut to the ground, and the second plane where the laser beams emitted by the second linear radar are positioned is perpendicular to the ground.
3. The obstacle avoidance method of the sweeping robot according to claim 2, wherein the step of obtaining the position information of the obstacle through scanning by the first linear radar located on the front side of the sweeping robot comprises:
calculating the height of a front object according to the reference distance between a first linear radar positioned on the front of the sweeping robot and the ground and the acquired actual distance between the first linear radar and the front object;
if the height is larger than the preset height value, the front object is judged to be an obstacle;
and calculating the position information of the obstacle according to the actual distance.
4. An obstacle avoidance method for a sweeping robot according to claim 2, wherein the step of rotating the body of the sweeping robot comprises:
acquiring an included angle between the barrier and the right front side of the sweeping robot according to the position information;
and rotating the body of the sweeping robot according to the included angle to enable the second linear radar located on the side face of the sweeping robot to face the obstacle.
5. The obstacle avoidance method of the sweeping robot according to claim 3, wherein the step of controlling the sweeping robot to sweep around the obstacle according to the real-time distance comprises:
acquiring a preset sweeping spacing distance;
and adjusting the wheel rotating speed of the sweeping robot according to the real-time distance and the preset sweeping interval distance to enable the real-time distance to be equal to the preset sweeping interval distance so as to control the sweeping robot to encircle the obstacle for sweeping.
6. An obstacle avoidance method for a sweeping robot according to claim 2, wherein after the step of controlling the sweeping robot to sweep around the obstacle, the method further comprises:
when the sweeping robot is detected to return to the initial position surrounding the obstacle for sweeping, acquiring environmental information of the initial position;
and planning a route according to the environment information.
7. The obstacle avoidance method of the sweeping robot according to claim 5, wherein the obstacle avoidance method of the sweeping robot further comprises:
in the process that the sweeping robot surrounds the obstacle, the second linear radar acquires point cloud information of the obstacle in real time;
establishing a model of the obstacle according to the point cloud information;
and marking the model in a map stored by the sweeping robot according to the position information.
8. An obstacle avoidance method for a sweeping robot according to claim 5, wherein the step of obtaining the preset sweeping interval distance comprises:
obtaining the height of the obstacle;
classifying the obstacle according to the height value;
and determining the preset cleaning interval distance based on the mapping relation between the obstacle category and the preset cleaning interval distance.
9. The obstacle avoidance method of the sweeping robot according to claim 5, wherein the obstacle avoidance method of the sweeping robot further comprises:
performing semantic recognition on the obstacle to obtain a recognition result;
and determining a cleaning strategy when the sweeping robot cleans around the obstacle according to the identification result.
10. The obstacle avoidance method of the sweeping robot according to claim 1, wherein the obstacle avoidance method of the sweeping robot further comprises:
if the distance between the multiple obstacles is smaller than the preset distance, combining the multiple obstacles into a new obstacle;
and executing the step of controlling the sweeping robot to sweep around the obstacle according to the real-time distance.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010874178.4A CN111736616A (en) | 2020-08-27 | 2020-08-27 | Obstacle avoidance method and device for sweeping robot, sweeping robot and readable medium |
| PCT/CN2020/115674 WO2022041344A1 (en) | 2020-08-27 | 2020-09-16 | Obstacle avoidance method and device for floor sweeping robot, and computer-readable storage medium |
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| CN202010874178.4A CN111736616A (en) | 2020-08-27 | 2020-08-27 | Obstacle avoidance method and device for sweeping robot, sweeping robot and readable medium |
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| WO2022218177A1 (en) * | 2021-04-15 | 2022-10-20 | 北京石头创新科技有限公司 | Obstacle avoidance method and apparatus for robot, robot, storage medium, and electronic device |
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