CN112014830B

CN112014830B - Reflection filtering method of radar laser, sweeping robot, equipment and storage medium

Info

Publication number: CN112014830B
Application number: CN202010983346.3A
Authority: CN
Inventors: 胡兵兵; 栾成志; 魏楠哲; 潘俊威
Original assignee: Suzhou 3600 Robot Technology Co ltd
Current assignee: Suzhou 3600 Robot Technology Co ltd
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2024-03-29
Anticipated expiration: 2040-09-17
Also published as: CN112014830A

Abstract

The invention discloses a reflection filtering method of radar laser, a sweeping robot, equipment and a storage medium, wherein when an obstacle is detected, the obstacle is highly marked based on a laser line to generate height mark information; determining whether the laser line is a reflected laser line according to the height mark information; if the laser line is a reflected laser line, the laser line is filtered out. When the obstacle is detected, the obstacle is highly marked by the laser line formed on the obstacle by laser, and the laser line is filtered when the laser line is the reflected laser line according to the height marking information, so that the interference of the reflected laser line on the laser ranging is avoided, and the accuracy of the laser ranging result is improved.

Description

Reflection filtering method of radar laser, sweeping robot, equipment and storage medium

Technical Field

The invention relates to the technical field of laser range radars, in particular to a radar laser reflection filtering method, a sweeping robot, equipment and a storage medium.

Background

The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc., is one kind of intelligent household appliance and can complete floor cleaning automatically inside room with certain artificial intelligence. The sweeping robot is sold in European and American markets at the earliest time, and gradually enters China along with the improvement of domestic living standard.

The machine body of the sweeping machine is a wireless machine, mainly comprises a disc type, is operated by using a rechargeable battery, and is operated by using a remote controller or an operation panel on the machine. The cleaning can be reserved for a set time and the self-charging can be realized. The robot is provided with the laser ranging radar, can detect obstacles such as a wall or other obstacles, turns automatically when the obstacle is touched, and can clean corresponding areas in a planning manner through different routes according to the setting of different manufacturers on cleaning paths. Because of its simple operation function and convenience, it is becoming a common household appliance for office workers or modern families.

But now in most home environments tiles will be installed. Tiles have a relatively high reflectivity, which is higher if they are bright black tiles. Because laser ranging radar is looking down ground, the ground of high reflectivity material can lead to laser to be reflected to the wall, forms false laser line, and because the reflection of ceramic tile leads to laser at the laser line intensity on ground weaker again, by false laser line making a sound and a superb, the result degree of accuracy that leads to laser ranging is lower.

Disclosure of Invention

The invention mainly aims to provide a radar laser reflection filtering method, a sweeping robot, equipment and a storage medium, and aims to solve the technical problem that the accuracy of the laser ranging result of the current sweeping robot is low.

In order to achieve the above object, an embodiment of the present invention provides a method for filtering out reflection of radar laser, where the method for filtering out reflection of radar laser includes:

when an obstacle is detected, performing height marking on the obstacle based on a laser line, and generating height marking information;

determining whether the laser line is a reflected laser line according to the height mark information;

and if the laser line is a reflected laser line, filtering the laser line.

Preferably, the step of determining whether the laser line is a reflected laser line according to the height mark information includes:

determining whether a first preset mark exists in the altitude mark information;

if the first preset mark exists in the height mark information, judging that the laser line is not a reflected laser line;

and if the second preset mark exists in the height mark information, judging that the laser line is a reflected laser line.

Preferably, the step of generating the height mark information includes:

respectively calculating the corresponding heights of a plurality of laser lines on the obstacle, and sequencing the heights according to the sequence of the generation time of the laser lines to obtain a plurality of sequencing heights;

And carrying out height marking on the obstacle according to a plurality of sorting heights to generate height marking information.

Preferably, the step of calculating the heights of the plurality of laser lines on the obstacle respectively includes:

the following steps are executed one by one for a plurality of the laser lines:

acquiring the emission height of a radar laser head, the horizontal included angle information of the radar laser head and the horizontal direction, and the laser length between the laser head and the laser line;

and calculating the emission height, the horizontal included angle information and the laser length according to a trigonometric function to obtain the height of the laser line on the obstacle.

Preferably, the step of height marking the obstacle according to a plurality of the ordered heights, and generating height mark information includes:

determining whether a plurality of sorting heights meet sorting conditions from small to large;

and if the sorting heights all meet the sorting conditions from small to large, setting a first preset mark in the sorting heights of the barriers to generate height mark information.

Preferably, after the step of determining whether the plurality of sorting heights meet the sorting condition from small to large, the method further includes:

And if at least one of the plurality of sorting heights does not meet the sorting condition from small to large, setting a second preset mark in the plurality of sorting heights of the obstacle, and generating height mark information.

Preferably, the step of generating the height mark information further includes, before the step of height marking the obstacle based on the laser line:

detecting a preset range based on a camera, and determining whether a laser line exists in the preset range;

if the laser line exists in the preset range, judging that an obstacle exists;

and if no laser line exists in the preset range, judging that no obstacle exists.

determining whether the included angle information between the radar laser head and the horizontal direction is a preset included angle or not;

if the included angle information between the radar laser head and the horizontal direction is a preset included angle, judging to perform reflection filtering of the radar laser;

if the included angle information between the radar laser head and the horizontal direction is not the preset included angle, the radar laser head is adjusted to be consistent with the preset included angle.

Preferably, the step of generating the height mark information further includes, after the step of height marking the obstacle based on the laser line:

acquiring vertical included angle information of the radar laser head and the vertical direction, and calculating tangent value of the included angle information;

and calculating the height of the radar laser head and the tangent value through a trigonometric function to obtain the distance between the current position and the obstacle.

Preferably, after the step of calculating the distance between the current position and the obstacle, the method further includes:

and adding an obstacle identifier in the grid map according to the distance between the current position and the obstacle.

Preferably, after the step of calculating the height of the radar laser head and the tangent value by using a trigonometric function to obtain the distance between the current position and the obstacle, the method further includes:

determining whether the obstacle exists based on a preset time interval;

and if the obstacle does not exist, removing the obstacle identifier.

and calibrating a rolling angle, a course angle and a pitch angle of the radar respectively.

Preferably, the step of calibrating the roll angle, the heading angle and the pitch angle of the radar respectively includes:

obtaining a ranging result of the radar to the ground, and calculating the vertical axis coordinates of each ranging point in the ranging result;

arranging a plurality of vertical axis coordinates in a left-to-right manner, and carrying out pairwise difference operation on the arranged plurality of vertical axis coordinates to obtain a plurality of difference values;

and determining whether the difference values are smaller than a preset difference value, and if the difference values are smaller than the preset difference value, determining that the rolling angle calibration of the radar is completed.

Preferably, the step of calibrating the roll angle, the heading angle and the pitch angle of the radar respectively further comprises:

obtaining a ranging result of the radar to the ground, and calculating the horizontal axis coordinate and the vertical axis coordinate of each ranging point in the ranging result;

determining whether a straight line formed by the horizontal axis coordinate and the vertical axis coordinate is perpendicular to the direction facing by the radar laser head;

and if the straight line formed by the horizontal axis coordinate and the vertical axis coordinate is perpendicular to the direction facing by the radar laser head, determining that the course angle calibration of the radar is completed.

Determining whether the rolling angle calibration and the course angle calibration of the radar are completed;

if the rolling angle calibration and the course angle calibration of the radar are completed, the pitch angle is adjusted;

and determining whether the coordinate difference value between the vertical axis coordinates of the ranging points after adjustment and the preset value is within a preset difference value range, and if the coordinate difference value between the vertical axis coordinates of the ranging points after adjustment and the preset value is within the preset difference value range, judging that the pitch angle calibration of the radar is completed.

To achieve the above object, the present invention also provides a sweeping robot including:

the first marking module is used for marking the height of the obstacle based on the laser line when the obstacle is detected, and generating height marking information;

the first determining module is used for determining whether the laser line is a reflected laser line or not according to the height mark information;

and the filtering module is used for filtering the laser line if the laser line is a reflected laser line.

Preferably, the sweeping robot further comprises:

the second determining module is used for determining whether a first preset mark exists in the height mark information or not;

the first judging module is used for judging that the laser line is not a reflected laser line if the first preset mark exists in the height mark information;

And the second judging module is used for judging that the laser line is a reflected laser line if the second preset mark exists in the height mark information.

Preferably, the sweeping robot further comprises:

the computing module is used for respectively computing the heights of the laser lines on the obstacle, and sequencing the heights according to the sequence of the generation time of the laser lines to obtain a plurality of sequencing heights;

and the second marking module is used for marking the height of the obstacle according to a plurality of the sorting heights and generating height marking information.

Furthermore, in order to achieve the above object, the present invention further provides a radar laser reflection filtering apparatus, where the radar laser reflection filtering apparatus includes a memory, a processor, and a radar laser reflection filtering program stored in the memory and capable of running on the processor, where the radar laser reflection filtering program is executed by the processor to implement the steps of the radar laser reflection filtering method.

Further, in order to achieve the above object, the present invention further provides a storage medium, where a reflection filtering program of radar laser is stored in the storage medium, and when the reflection filtering program of radar laser is executed by a processor, the steps of the reflection filtering method of radar laser are implemented.

The embodiment of the invention provides a radar laser reflection filtering method, a sweeping robot, equipment and a storage medium, wherein when an obstacle is detected, the obstacle is highly marked based on a laser line to generate height mark information; determining whether the laser line is a reflected laser line according to the height mark information; if the laser line is a reflected laser line, the laser line is filtered out. When the obstacle is detected, the obstacle is highly marked by the laser line formed on the obstacle by laser, and the laser line is filtered when the laser line is the reflected laser line according to the height marking information, so that the interference of the reflected laser line on the laser ranging is avoided, and the accuracy of the laser ranging result is improved.

Drawings

FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of a method for reflection filtering of radar laser of the present invention;

FIG. 2 is a flowchart of a first embodiment of a method for filtering radar laser light according to the present invention;

FIG. 3 is a flowchart of a second embodiment of a method for filtering radar laser light according to the present invention;

FIG. 4 is a schematic diagram of functional modules of a preferred embodiment of the sweeping robot of the present invention;

fig. 5 and fig. 6 are schematic diagrams of two application scenarios of a third embodiment of the reflection filtering method of the radar laser of the present invention.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a radar laser filtering device in a hardware operating environment according to an embodiment of the present invention.

In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.

The radar laser reflection filtering equipment of the embodiment of the invention can be PC, tablet personal computers, portable computers and other movable terminal equipment.

As shown in fig. 1, the reflection filtering apparatus of the radar laser 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 the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further 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 stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the configuration of the reflection filtering apparatus of the radar laser shown in fig. 1 does not constitute a limitation of the reflection filtering apparatus of the radar laser, and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.

As shown in fig. 1, an operating system, a network communication module, a user interface module, and a reflection filtering program of the radar laser may be included in the memory 1005 as one type of storage medium.

In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server, and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a reflection filtering procedure of the radar laser stored in the memory 1005, and perform the following operations:

and if the laser line is a reflected laser line, filtering the laser line.

Further, the step of determining whether the laser line is a reflected laser line according to the height mark information includes:

Further, the step of generating the height mark information includes:

Further, the step of calculating the heights of the plurality of laser lines on the obstacle respectively includes:

the following steps are executed one by one for a plurality of the laser lines:

Further, the step of performing height marking on the obstacle according to a plurality of the sorting heights, and generating height marking information includes:

Further, after the step of determining whether a plurality of the sorting heights satisfy the sorting condition from small to large, the processor 1001 may be configured to call a reflection filtering program of the radar laser stored in the memory 1005, and perform the following operations:

Further, before the step of generating the height mark information by height marking the obstacle based on the laser line, the processor 1001 may be configured to invoke a reflection filtering program of the radar laser stored in the memory 1005, and perform the following operations:

if the laser line exists in the preset range, judging that an obstacle exists;

Further, after the step of generating the height mark information by height marking the obstacle based on the laser line, the processor 1001 may be configured to call a reflection filtering program of the radar laser stored in the memory 1005, and perform the following operations:

Further, after the step of calculating the height of the radar laser head and the tangent value by using a trigonometric function to obtain the distance between the current position and the obstacle, the processor 1001 may be configured to call a reflection filtering program of the radar laser stored in the memory 1005, and perform the following operations:

Further, after the step of adding the obstacle identifier to the grid map, the processor 1001 may be configured to call a reflection filtering program of the radar laser stored in the memory 1005, and perform the following operations:

determining whether the obstacle exists based on a preset time interval;

and if the obstacle does not exist, removing the obstacle identifier.

Further, the step of calibrating the roll angle, the course angle and the pitch angle of the radar respectively includes:

Further, the step of calibrating the roll angle, the course angle and the pitch angle of the radar respectively further includes:

In order that the above-described aspects may be better understood, 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.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Referring to fig. 2, a flowchart of a method for filtering radar laser light according to a first embodiment of the present invention is provided. In this embodiment, the method for filtering the radar laser includes the following steps:

step S10, when an obstacle is detected, performing height marking on the obstacle based on a laser line, and generating height marking information;

the radar laser reflection filtering method is applied to a sweeping robot, the sweeping robot is at least provided with a radar and a camera, wherein the radar is a solid-state radar looking down the ground, the solid-state radar is a radar adopting a high-power solid-state microwave source to replace a high-power microwave tube oscillation source, and the radar is provided with a laser head for emitting laser lines; the camera is used for shooting images of the advancing direction of the sweeping robot so as to identify obstacles by combining laser lines emitted by the laser head.

It will be appreciated that in most households today, tiles are installed on the floor to facilitate cleaning and to beautify the living environment. However, the tile has a relatively high reflectivity, if it is a bright black tile, the reflectivity is higher, and because the solid radar in this embodiment looks down on the ground, when the laser beam irradiates the ground made of high reflectivity material, it will be reflected to the wall or other articles to form false imaging points, and because of the reflection of the tile, the intensity of the laser beam at the imaging points on the ground is weaker, and the false imaging points are noise and dominant, resulting in the error of the ranging result of the sweeping robot when traveling. Therefore, when the sweeping robot travels, reflection conditions generated by the radar laser are required to be filtered, so that the accuracy of a laser ranging result is improved.

Further, when the robot for sweeping floor detects that an obstacle exists through the camera in the travelling process, the obstacle is scanned by the laser line emitted by the laser head of the solid-state radar, the height of the laser line during obstacle scanning is calculated, the obstacle is highly marked according to the calculated heights of the laser line on the obstacle, after the height marking is finished, height marking information is generated, so that the robot for sweeping floor judges whether the laser line on the obstacle is a reflected laser line according to the height marking information, the distance between the current position of the robot for sweeping floor and the real obstacle is conveniently and accurately determined, the interference of the reflected laser line is avoided, and the accuracy of the laser ranging result is improved.

Further, before the step of generating the height mark information, the height mark information generating method further includes:

step S1, detecting a preset range based on a camera, and determining whether a laser line exists in the preset range;

step S2, if the laser line exists in the preset range, judging that an obstacle exists;

and step S3, if no laser line exists in the preset range, judging that no obstacle exists.

It can be understood that when the sweeping robot cleans, the camera and the solid-state radar are combined to scan the surrounding environment for avoiding the obstacle after the obstacle is scanned, so that the self safety of the sweeping robot is ensured. Further, the sweeping robot calls a camera, detects a preset range through the camera, and determines whether a laser beam formed by irradiating the object by the laser head exists in the preset range, wherein the preset range is the maximum range irradiated by the laser head under the currently set inclination angle. It will be appreciated that in the travel of the robot, if there is no obstacle in the direction of travel, the laser line emitted by the laser head will be on the ground. Further, if the camera detects a laser line which is not on the ground within a preset range, the condition that the object on the ground blocks the laser from being irradiated on the ground is indicated, and the sweeping robot judges that an obstacle exists in the travelling direction; if the camera only detects the laser line on the ground in the preset range, the condition that no object blocking the laser to irradiate on the ground exists on the ground is indicated, and the sweeping robot judges that no obstacle exists in the travelling direction.

s4, determining whether the included angle information between the radar laser head and the horizontal direction is a preset included angle;

s5, if the included angle information between the radar laser head and the horizontal direction is a preset included angle, judging to perform reflection filtering of the radar laser;

and S6, if the included angle information between the radar laser head and the horizontal direction is not a preset included angle, adjusting the included angle information between the radar laser head and the horizontal direction to be consistent with the preset included angle.

Further, before height marking is performed on an obstacle based on a laser line, height marking information is generated, and a sweeping robot starts to execute a cleaning task, the sweeping robot detects included angle information between a laser head and a horizontal direction in a solid-state radar to determine whether the included angle information between the radar laser head and the horizontal direction is a preset included angle, and understandably, in order to enable the sweeping robot to clearly identify the obstacle, the preset included angle between the radar laser head and the horizontal direction is set to be 17 degrees. Further, if the included angle information of the radar laser head and the horizontal direction is determined to be the preset included angle of 17 degrees through detection, the cleaning task can be executed, and the sweeping robot judges to perform reflection filtering of radar laser, so that interference of reflected laser lines on laser ranging is avoided, and the accuracy of a laser ranging result is improved. Further, if the included angle information of the radar laser head and the horizontal direction is determined to be not the preset included angle 17 degrees through detection, if the cleaning task is executed according to the current included angle, the efficiency of executing the cleaning task is reduced, so that the sweeping robot adjusts the direction of the radar laser head, specifically, adjusts the included angle information of the radar laser head and the horizontal direction to be consistent with the preset included angle, so that the radar laser is subjected to reflection filtering, interference of the reflected laser line on laser ranging is avoided, and the accuracy of the laser ranging result is improved.

Step S20, determining whether the laser line is a reflected laser line according to the height mark information;

further, after the height mark information is generated, the sweeping robot recognizes the height mark information, specifically, the sweeping robot judges whether a first preset mark exists in the height mark information, if the first preset mark exists, the laser line is judged to be a reflected laser line, and the laser line is conveniently filtered; if the second preset mark exists, judging that the laser line is not the reflected laser line, and calculating the distance between the current position of the sweeping robot and the obstacle conveniently, wherein the first preset mark is a mark set by a user and used for indicating that the laser line on the obstacle is formed by direct irradiation of a laser head; the second preset mark is also a mark set by a user and used for indicating that the laser line on the obstacle is formed by ground reflection.

Step S30, if the laser line is a reflected laser line, filtering the laser line;

further, if the laser line is determined to be a reflected laser line according to the height mark information, it is stated that the laser line on the obstacle is formed by reflection of the laser head after laser is emitted by the laser head and then passes through the ground, if the distance between the current position of the sweeping robot and the obstacle is calculated according to the reflected laser line, a false ranging result is formed due to the reflection problem, so that the sweeping machine considers that the obstacle exists in front of the sweeping machine and needs to avoid, and a certain distance still exists between the sweeping robot and the obstacle in practice. Therefore, when the robot approaches a wall or an obstacle during traveling, the robot is considered to be about to collide with the obstacle when a certain distance is provided from the wall or the obstacle, so that the robot avoids the obstacle, and a plurality of areas are missed during cleaning, so that the cleaning task cannot be completed. Therefore, the sweeping robot filters the laser lines, avoids the interference of the reflected laser lines on the laser ranging, and is beneficial to improving the accuracy of the laser ranging result.

Further, if it is determined that the laser line is not the reflected laser line according to the height mark information, it is stated that the laser line on the obstacle is formed by directly irradiating laser emitted by the laser head on the obstacle, at this time, the distance between the current position of the sweeping robot and the obstacle is a real distance through calculation of the laser line, and the distance between the current position of the sweeping robot and the obstacle is calculated through trigonometric function according to the height of the laser head in the solid radar and the information of the included angle between the laser head and the horizontal direction, so that the robot can execute cleaning task according to the distance between the robot and the obstacle.

Further, the step of generating the height mark information further includes, after the step of height marking the obstacle based on the laser line:

s41, acquiring vertical included angle information of the radar laser head and the vertical direction, and calculating the tangent value of the included angle information;

and S42, calculating the height of the radar laser head and the tangent value through a trigonometric function to obtain the distance between the current position and the obstacle.

Further, the sweeping robot determines the direction of the laser head of the solid-state radar, detects the information of the vertical included angle between the direction of the laser head and the vertical direction, and calculates the tangent value corresponding to the information of the vertical included angle. Further, the robot sweeps floor calls the trigonometric function that inside set up, inputs data such as height, laser length and the tangent value of calculating of radar laser head to the trigonometric function, calculates the height, laser length and the tangent value of calculating of radar laser head through the trigonometric function, obtains the distance between robot current position and the barrier of sweeping floor.

Further, after the step of calculating the height of the radar laser head and the tangent value through the trigonometric function to obtain the distance between the current position and the obstacle, the method further includes:

and S50, adding an obstacle identifier in the grid map according to the distance between the current position and the obstacle.

Further, after the distance between the current position of the sweeping robot and the obstacle is calculated, the sweeping robot searches a grid corresponding to the distance in the grid map according to the distance between the current position and the obstacle, and adds an obstacle mark in the grid so as to record the position information of the obstacle, so that the sweeping robot can conveniently and timely avoid the obstacle, the sweeping robot can be prevented from colliding with the obstacle in the traveling process, and understandably, the method of the local grid multidimensional map is adopted in the embodiment, the obstacle in the half meter range of the sweeping robot is recorded, the grid resolution of the grid map is 1cm, each grid can be used for representing the existence or the absence of the obstacle, and each grid is 5 metadata.

Further, after the step of adding the obstacle identifier to the grid map, the method further includes:

Step S60, determining whether the obstacle exists or not based on a preset time interval;

and step S70, if the obstacle does not exist, removing the obstacle identifier.

It can be appreciated that there is a problem of dynamic obstacle in the scene of the robot for cleaning, in which the obstacle after the obstacle identifier is originally added to the grid map may be manually moved by the user or the obstacle itself is a moving obstacle, so that the obstacle identifier needs to be erased from the grid map after the obstacle moves. Further, after a preset time interval, the robot detects an obstacle marked by the obstacle through the camera or the laser head, and determines whether the obstacle still exists at the original position, specifically, if the camera can directly shoot the ground, it is indicated that no obstacle exists in the range of the radar line, the robot erases the obstacle mark in the grid map, and the 5-tuple data also need to be cleared. As the sweeping robot travels, the sweeping robot may erase obstacle identifications in the grid map one by one when the original obstacle is not detected.

The embodiment provides a radar laser reflection filtering method, a sweeping robot, equipment and a storage medium, wherein when an obstacle is detected, the obstacle is highly marked based on a laser line, and height mark information is generated; determining whether the laser line is a reflected laser line according to the height mark information; if the laser line is a reflected laser line, the laser line is filtered out. When the obstacle is detected, the obstacle is highly marked by the laser line formed on the obstacle by laser, and the laser line is filtered when the laser line is the reflected laser line according to the height marking information, so that the interference of the reflected laser line on the laser ranging is avoided, and the accuracy of the laser ranging result is improved.

Further, referring to fig. 3, based on the first embodiment of the reflection filtering method of the radar laser of the present invention, a second embodiment of the reflection filtering method of the radar laser of the present invention is proposed, in the second embodiment, the step of determining whether the laser line is a reflected laser line according to the altitude mark information includes:

step S21, determining whether a first preset mark exists in the height mark information;

step S22, if the first preset mark exists in the height mark information, judging that the laser line is not a reflected laser line;

step S23, if the second preset identifier exists in the height mark information, determining that the laser line is a reflected laser line.

Further, the sweeping robot analyzes the height mark information, specifically, whether a first preset mark exists in the height mark information is identified, if the first preset mark representing the current laser line to directly irradiate the laser line exists in the height mark information after identification, the sweeping robot judges that the laser line is not a reflected laser line, and therefore the sweeping robot can calculate the distance between the current position and an obstacle conveniently. If the second preset mark representing that the current laser line is the reflected laser line exists in the height mark information after identification, the sweeping robot judges that the laser line is the reflected laser line, so that the sweeping robot filters the laser line, interference of the reflected laser line on laser ranging is avoided, and the accuracy of a laser ranging result is improved. For example: the method comprises the steps that a first preset mark is true, a second preset mark is false, a sweeping robot identifies height mark information, if the first preset mark true exists in the height mark information, a laser head of a solid-state radar is indicated to directly irradiate an obstacle to form a laser line, and the sweeping robot judges that the laser line is not a reflected laser line; if the second preset mark false exists in the height mark information, the fact that the laser line is formed on the obstacle through reflection of the laser line emitted by the laser head of the solid-state radar is indicated, and the sweeping robot judges that the laser line is the reflected laser line.

According to the embodiment, whether the first preset mark representing the fact that the current laser line is the reflected laser line exists in the height mark information or not is determined, whether the laser line is the reflected laser line or not is determined, whether the distance between the current position and the obstacle is calculated or not is determined by the sweeping robot conveniently, interference of the reflected laser line on laser ranging is avoided, and accuracy of a laser ranging result is improved.

Further, based on the first embodiment of the reflection filtering method of the radar laser of the present invention, a third embodiment of the reflection filtering method of the radar laser of the present invention is provided, in the third embodiment, the step of generating the height mark information includes:

step S11, respectively calculating the corresponding heights of a plurality of laser lines on the obstacle, and sequencing the heights according to the sequence of the generation time of the laser lines to obtain a plurality of sequencing heights;

and step S12, carrying out height marking on the barriers according to a plurality of sorting heights to generate height marking information.

It can be understood that the robot sweeps floor, forms a plurality of laser lines on the barrier through the laser that the laser head launched during marcing, and further, the robot that sweeps floor calculates the height that a plurality of laser lines correspond respectively on the barrier, specifically, calculates the emission height of radar laser head and the horizontal contained angle information with the horizontal direction according to trigonometric function, obtains the height of laser line on the barrier. Further, the robot sorts the calculated heights according to the time sequence generated by the robot, and after sorting of all the heights is completed, a plurality of sorting heights are obtained. Further, the sweeping robot marks the height of the obstacle according to whether the plurality of sorting heights meet sorting conditions, and generates height mark information after the height mark is completed, so that whether the laser line is a reflected laser line or not can be judged according to the height mark information.

step S111, for a plurality of the laser lines, executing the following steps one by one:

step S112, acquiring the emission height of a radar laser head, the horizontal included angle information of the radar laser head and the horizontal direction, and the laser length between the laser head and the laser line;

step S113, calculating the emission height, the horizontal included angle information and the laser length according to a trigonometric function, so as to obtain the height of the laser line on the obstacle.

Further, the sweeping robot executes the steps one by one for a plurality of laser lines on the obstacle: the method comprises the steps of obtaining the transmitting height representing the distance between a radar laser head and the ground, obtaining the horizontal included angle information between the direction pointed by the radar laser head and the horizontal direction, and obtaining the laser length between the laser head and a laser line. Further, the sweeping robot calls a trigonometric function, and the middle height is calculated by combining the laser length and the horizontal included angle information through the trigonometric function. Further, the difference value operation is carried out on the emission height between the radar laser head and the ground and the calculated middle height, so that the height of the laser line on the obstacle is obtained. Further, the sweeping robot sequentially performs the steps until the heights of the plurality of laser lines on the obstacle are obtained.

step S121, determining whether a plurality of sorting heights meet sorting conditions from small to large;

step S122, if the plurality of sorting heights all meet the sorting condition from small to large, setting a first preset identifier in the plurality of sorting heights of the obstacle, and generating height mark information.

Further, the robot analyzes the sorted plurality of sorting heights, specifically, sequentially performs difference operation on the sorted plurality of sorting heights to obtain a plurality of height differences, and determines whether the sorting heights all meet sorting conditions from small to large according to the plurality of height differences. Referring to fig. 5, the sweeping robot invokes the laser emitted by the solid-state radar laser head to directly irradiate on the building blocks placed on the ground, generate a plurality of laser lines, identify the laser lines through the camera, and respectively calculate the heights corresponding to the laser lines, for example, the calculated heights are 2, 4 and 6 respectively, and it can be understood that in the 4 th scene of fig. 5, the camera cannot shoot the laser lines due to the shielding of the building blocks, and then the heights corresponding to the laser lines cannot be calculated. Further, the sorted heights 2, 4, 6 and the like are sequentially subjected to pairwise difference operation, namely, the difference operation is performed on the heights 2 and 4, and the difference operation is performed on the heights 4 and 6 to obtain a plurality of height difference values-2 and-2. Further, whether the plurality of height differences are negative numbers or 0 is judged, if the plurality of height differences are negative numbers or 0, it is judged that the plurality of sorting heights all meet sorting conditions from small to large, a first preset mark is set in the plurality of sorting heights of the obstacle by the sweeping robot, for example, the first preset mark true is set in the plurality of sorting heights of 2, 4, 6 and the like, and the plurality of sorting heights after the first preset mark is set are used as height mark information.

Further, after the step of determining whether the plurality of sorting heights meet the sorting condition from small to large, the method further includes:

step S123, if at least one of the plurality of sorting heights does not meet the sorting condition from small to large, setting a second preset identifier in the plurality of sorting heights of the obstacle, and generating height mark information.

Further, if the sorted plurality of sorting heights are analyzed, it is determined that at least one of the sorting heights does not meet sorting conditions from small to large, the sweeping robot sets a second preset identifier in the sorting heights of the obstacle, height mark information is generated, referring to fig. 6, laser heads of the solid-state radar emit laser, the laser heads irradiate the building blocks sequentially through ground reflection, the sweeping robot recognizes laser lines on the building blocks through the cameras, calculates the heights of the laser lines on the building blocks respectively, if the calculated heights are 5, 3 and 1 respectively, the sorting heights are obtained, then the sorting heights are subjected to difference operation, namely, difference operation is performed on the 5 and 3, difference operation is performed on the 3 and the 1, and then a plurality of height difference values 2 and 2 are obtained, and as the difference values of the heights are not all negative numbers, it is determined that at least one sorting height does not meet sorting conditions from small to large, for example, the sweeping robot sets the preset heights, namely, sets the second preset identifier in the preset heights of the obstacle, namely, the preset heights are set at the second preset identifier, namely, the height mark is set at the height of 5 and the second preset identifier, and the height mark is set at the height of 3.

According to the method, the obstacle is highly marked based on the laser line, height mark information is generated, so that the sweeping robot can conveniently judge whether the laser line is the reflected laser line according to the height mark information, when the laser line is determined not to be the reflected laser line, the distance between the current position and the obstacle is calculated, when the laser line is the reflected laser line, the laser line is filtered, interference of the reflected laser line to laser ranging is avoided, and accuracy of a laser ranging result is improved.

Further, based on the first embodiment of the reflection filtering method of the radar laser of the present invention, a fourth embodiment of the reflection filtering method of the radar laser of the present invention is provided, in the fourth embodiment, before the step of generating the height mark information by performing height marking on the obstacle based on the laser line, the method further includes:

and step A, calibrating a rolling angle, a course angle and a pitch angle of the radar respectively.

It can be appreciated that in the actual production and assembly process, the installation position of the solid radar in the sweeping robot has a certain deviation from the ideal position. In this embodiment, the obstacle detected by the solid-state radar is a low obstacle, and the small parameter deviation may cause the calculated height of the detected obstacle to not reach the threshold value, or treat the ground as an obstacle, so that the sweeper cannot work according to the normal condition. Therefore, before the obstacle is highly marked according to the laser line and the height mark information is generated, the position of the solid radar needs to be calibrated, the relative relation between the sensor and the mass center of the sweeper needs to be determined in the calibration process, and the description amounts are six amounts of x, y, z and yaw, pitch, roll, wherein x represents the horizontal axis coordinate, y represents the vertical axis coordinate, z represents the vertical axis coordinate, yaw represents the pitch angle, pitch represents the course angle, and roll represents the roll angle. Wherein x, y and z represent the relative positions of the sensor and the mass center of the sweeper, the installation tolerance of the relative positions is between plus or minus 1.5mm, the influence on the actual position and the height of the calculated obstacle is negligible, and the calculation can be skipped in the calibration. The Yaw, pitch and roll describe the attitude of the sensor in a space coordinate system of the sweeper, the installation tolerance is within plus or minus 5 degrees, the actual position and the height of the calculated obstacle are greatly influenced, the height information of the obstacle is key data of a reflection filtering algorithm, so that the attitude data of the sensor also need to be calibrated for a rolling angle, a course angle and a pitch angle after the assembly is completed, specifically, the sweeping robot firstly measures the distance of the ground, respectively calibrates the rolling angle and the course angle for the solid radar according to the ranging result of the ground, adjusts the pitch angle of the solid radar after the calibration for the rolling angle and the course angle is completed, and completes the calibration for the pitch angle so as to reduce the deviation value between the installation position and the ideal position of the solid radar to an acceptable error range.

a1, obtaining a ranging result of the radar to the ground, and calculating the vertical axis coordinates of each ranging point in the ranging result;

a2, arranging a plurality of vertical axis coordinates in a left-to-right mode, and carrying out difference value operation on the arranged vertical axis coordinates to obtain a plurality of difference values;

and A3, determining whether a plurality of the differences are smaller than a preset difference, and if the differences are smaller than the preset difference, determining that the rolling angle calibration of the radar is completed.

Further, the sweeping robot performs distance test on the ground through the solid-state radar, specifically, laser is emitted to the ground through the laser head, laser lines are formed on the ground, distances between the current position and each ranging point on the laser lines are calculated respectively, and vertical axes, namely z-axis coordinates, of each ranging point are calculated according to the distances between the current position and each ranging point on the laser lines, so that a plurality of vertical axis coordinates are obtained. Further, the robot arranges the vertical axis coordinates of each ranging point in a left-to-right manner, performs two-to-two difference value operation on the arranged vertical axis coordinates, and obtains a plurality of difference values after the difference value operation is completed. Further, comparing the plurality of difference values with a preset difference value one by one, and determining whether the plurality of difference values are smaller than the preset difference value, wherein the preset difference value is a numerical value set by a user according to own needs or standard data; if the comparison is completed, the differences are smaller than the preset differences, and the fact that the vertical axis coordinates of the ranging points are similar is indicated, and the sweeping robot judges that the rolling angle calibration of the solid radar is completed.

step A4, obtaining a ranging result of the radar to the ground, and calculating the horizontal axis coordinate and the vertical axis coordinate of each ranging point in the ranging result;

step A5, determining whether a straight line formed by the horizontal axis coordinate and the vertical axis coordinate is perpendicular to the direction facing the radar laser head;

and step A6, if the straight line formed by the horizontal axis coordinate and the vertical axis coordinate is perpendicular to the direction facing by the radar laser head, determining that the course angle calibration of the radar is completed.

Further, the sweeping robot performs distance test on the ground through the solid-state radar, specifically, laser is emitted to the ground through the laser head, a laser line is formed on the ground, distances between the current position and each ranging point on the laser line are calculated respectively, and a transverse axis coordinate and a longitudinal axis coordinate of each ranging point are calculated respectively according to the distances between the current position and each ranging point on the laser line, so that a plurality of transverse axis coordinates and a plurality of longitudinal axis coordinates are obtained. Further, connecting each ranging point according to the horizontal axis coordinate and the vertical axis coordinate of each ranging point to form a straight line, detecting an angle between the straight line formed by each ranging point and the direction facing by the laser head of the solid-state radar, determining whether the angle is equal to 90 degrees, and if the angle between the straight line formed by each ranging point and the direction facing by the laser head of the solid-state radar is equal to 90 degrees, characterizing that the straight line formed by each ranging point is perpendicular to the direction facing by the laser head of the solid-state radar, and judging that the course angle calibration of the radar is completed by the sweeping robot.

step A7, determining whether the rolling angle calibration and the course angle calibration of the radar are completed;

step A8, if the rolling angle calibration and the course angle calibration of the radar are completed, adjusting a pitch angle;

and A9, determining whether the coordinate difference value between the vertical axis coordinates of the ranging points after adjustment and the preset value is within a preset difference value range, and if the coordinate difference value between the vertical axis coordinates of the ranging points after adjustment and the preset value is within the preset difference value range, judging that the pitch angle calibration of the radar is completed.

Further, the sweeping robot determines whether the rolling angle calibration and the course angle calibration of the solid-state radar are completed, specifically, whether a plurality of differences obtained by carrying out two-by-two difference operation on the arranged vertical axis coordinates are smaller than a preset difference or not and whether a straight line formed by each ranging point is perpendicular to the direction facing by the laser head of the solid-state radar or not. Further, if the difference values are smaller than the preset difference value and the straight line formed by the ranging points is perpendicular to the direction facing the laser head of the solid-state radar, the rolling angle calibration and the course angle calibration of the solid-state radar are judged to be completed, the pitch angle is adjusted, and concretely, the vertical axis coordinates of the ranging points are close to 0 by adjusting the pitch angle. Further, whether the coordinate difference value between the vertical axis coordinates of each ranging point after adjustment and the preset value 0 is within a preset difference value range is determined, if the coordinate difference value between the vertical axis coordinates of each ranging point after adjustment and the preset value 0 is within the preset difference value range, the radar pitch angle calibration is judged to be completed, wherein the preset difference value range is a range set by a user according to actual requirements or according to error judgment standards.

According to the embodiment, the rolling angle, the course angle and the pitch angle are calibrated for the solid-state radar respectively, so that deviation between the installation position of the solid-state radar and the ideal position is reduced, the sweeping robot can accurately travel according to a preset path when executing a cleaning task, and the service efficiency of the sweeping robot is improved.

Further, the invention also provides a sweeping robot.

Referring to fig. 4, fig. 4 is a schematic functional block diagram of a first embodiment of the sweeping robot according to the present invention.

The robot for sweeping floor includes:

a first marking module 10 for, when an obstacle is detected, highly marking the obstacle based on a laser line, generating highly marking information;

a first determining module 20, configured to determine whether the laser line is a reflected laser line according to the height mark information;

and a filtering module 30, configured to filter the laser line if the laser line is a reflected laser line.

Preferably, the sweeping robot further comprises:

a second determining module 40, configured to determine whether a first preset identifier exists in the altitude mark information;

a first determining module 50, configured to determine that the laser line is not a reflected laser line if the first preset identifier exists in the altitude mark information;

And a second determining module 60, configured to determine that the laser line is a reflected laser line if the second preset identifier exists in the altitude mark information.

Preferably, the sweeping robot further comprises:

the calculating module 70 is configured to calculate heights of the plurality of laser lines on the obstacle respectively, and order the plurality of heights according to a sequence of generating times of the plurality of laser lines, so as to obtain a plurality of ordered heights;

and the second marking module 80 is configured to perform height marking on the obstacle according to a plurality of the ordered heights, and generate height marking information.

In addition, the invention further provides a storage medium, preferably a computer readable storage medium, on which a reflection filtering program of radar laser is stored, wherein the reflection filtering program of radar laser realizes the steps of the embodiments of the reflection filtering method of radar laser when being executed by a processor.

In the embodiments of the sweeping robot and the storage medium of the present invention, all technical features of each embodiment of the method for filtering and reflecting radar laser are included, and description and explanation contents are basically the same as those of each embodiment of the method for filtering and reflecting radar laser, which are not described in detail herein.

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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or partly in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a fixed terminal, such as an intelligent device for internet of things, including intelligent home such as an intelligent air conditioner, an intelligent lamp, an intelligent power supply, an intelligent router, or a mobile terminal, including a smart phone, a wearable internet-of-a-r/VR device, an intelligent sound box, an automatic car, or the like) to perform the method according to the embodiments of the present invention.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. The radar laser reflection filtering method is characterized by comprising the following steps of:

when an obstacle is detected, carrying out height marking on the obstacle based on a laser line emitted by a radar, and generating height marking information, wherein the radar is a fixed radar looking down the ground;

if the laser line is a reflected laser line, filtering the laser line;

wherein, according to the height mark information, the step of determining whether the laser line is a reflected laser line includes:

2. The method of claim 1, wherein the step of generating height mark information includes:

3. The method of claim 2, wherein the step of calculating the respective heights of the plurality of laser lines on the obstacle comprises:

the following steps are executed one by one for a plurality of the laser lines:

4. The method of reflection filtering of radar lasers of claim 2, wherein said step of altitude marking said obstacle according to a plurality of said ordered altitudes, generating altitude mark information includes:

5. The method of filtering out reflections of a radar laser of claim 4, wherein after the step of determining whether a plurality of said ranking heights meet a ranking condition from small to large, further comprising:

6. The method of claim 1, wherein the step of generating height mark information by height marking the obstacle based on the laser line further comprises:

if the laser line exists in the preset range, judging that an obstacle exists;

7. The method of claim 1, wherein the step of generating height mark information by height marking the obstacle based on the laser line further comprises:

8. The method of claim 1, wherein after the step of generating the height mark information by height marking the obstacle based on the laser line, further comprising:

9. The method for filtering out radar laser light according to claim 8, wherein after the step of calculating the height of the radar laser head and the tangent value by a trigonometric function to obtain the distance between the current position and the obstacle, further comprising:

10. The method of claim 9, further comprising, after the step of adding the obstacle identifier to the grid map:

determining whether the obstacle exists based on a preset time interval;

and if the obstacle does not exist, removing the obstacle identifier.

11. The method of claim 1, wherein the step of generating height mark information by height marking the obstacle based on the laser line further comprises:

12. The method of claim 11, wherein the step of calibrating the roll angle, the heading angle, and the pitch angle of the radar respectively comprises:

13. The method of claim 11, wherein the step of calibrating the roll angle, the heading angle, and the pitch angle of the radar respectively further comprises:

14. The method of claim 11, wherein the step of calibrating the roll angle, the heading angle, and the pitch angle of the radar respectively further comprises:

15. A sweeping robot, characterized in that the sweeping robot comprises:

the first marking module is used for marking the height of the obstacle based on a laser line emitted by a radar when the obstacle is detected, and generating height marking information, wherein the radar is a fixed radar looking down the ground;

the second judging module is used for judging that the laser line is a reflected laser line if a second preset mark exists in the height mark information;

16. The sweeping robot of claim 15, further comprising:

17. A radar laser reflection filtering apparatus, characterized in that it comprises a memory, a processor and a radar laser reflection filtering program stored on the memory and executable on the processor, which radar laser reflection filtering program, when executed by the processor, implements the steps of the radar laser reflection filtering method according to any one of claims 1-14.

18. A storage medium, wherein a radar laser reflection filtering program is stored on the storage medium, and the radar laser reflection filtering program, when executed by a processor, implements the steps of the radar laser reflection filtering method according to any one of claims 1-14.