CN112034467B

CN112034467B - Method, apparatus, computer device and readable storage medium for sweeping machine composition

Info

Publication number: CN112034467B
Application number: CN202010699058.5A
Authority: CN
Inventors: 许仕哲; 乐虎
Original assignee: Shenzhen Water World Co Ltd
Current assignee: Shenzhen Water World Co Ltd
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2023-09-26
Anticipated expiration: 2040-07-20
Also published as: CN112034467A

Abstract

The application discloses a method for a floor sweeping machine composition, which comprises the steps of uniformly arranging a plurality of ultrasonic sensors on the floor sweeping machine, arranging infrared sensors between every two adjacent ultrasonic sensors, and the method comprises the following steps: acquiring a first probability value of the obstacle existing in each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment, and acquiring a second probability value of the obstacle existing in each test point in an infrared scanning range corresponding to each infrared sensor at the current moment; calculating a first generation value corresponding to the first test point according to the first probability value, and calculating a second generation value corresponding to the second test point according to the second probability value; forming an ultrasonic map of the region to be tested according to the ultrasonic cost values of all the test points, and forming an infrared map of the region to be tested according to the infrared cost values of all the test points; and superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to the one-to-one correspondence relation of the geographic positions to obtain the map corresponding to the region to be detected.

Description

Method, apparatus, computer device and readable storage medium for sweeping machine composition

Technical Field

The present application relates to the field of floor sweeping machines, and in particular, to a method, an apparatus, a computer device, and a readable storage medium for a floor sweeping machine.

Background

The household floor sweeping mechanism diagram technology in the current market is mainly divided into three types, namely collision-based composition, camera-based visual slam composition and laser composition. Based on collision composition, the composition of walking while exploring is performed, the position where walking can be performed is considered as an idle area, the position where collision passes is considered as an obstacle area, the cost is lowest, the composition is long, the area which can not be reached by a robot can not be performed, and the acquired map information is incomplete. Based on the composition of the camera, the acquired visual information is processed into map marking information, the data size is large, the operation is complex, the requirement on the CPU hardware configuration of the sweeper is high, the camera is greatly influenced by the environment, and the camera cannot be used when the light is poor. The laser sensor has higher cost, and the influence of the laser on glass or some special reflective materials is larger, so that the composition in various environments can not be satisfied.

Disclosure of Invention

The application mainly aims to provide a method for patterning a sweeping machine, and aims to solve the technical problems of limited use and high cost of the conventional patterning technology.

The application provides a method for a floor sweeping mechanism, which is characterized in that a plurality of ultrasonic sensors are uniformly arranged on the floor sweeping mechanism, an infrared sensor is arranged between every two adjacent ultrasonic sensors, and the method comprises the following steps:

acquiring a first probability value of an obstacle existing in each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment, and acquiring a second probability value of the obstacle existing in each test point in an infrared scanning range corresponding to each infrared sensor at the current moment, wherein the infrared scanning range is positioned in a blind area of the ultrasonic scanning range;

according to first probability values fed back by the ultrasonic sensors to first test points in a region to be tested respectively, calculating first generation values corresponding to the first test points, and according to second probability values corresponding to second test points in the region to be tested, calculating second generation values corresponding to the second test points, wherein the first test points belong to any test point of the region to be tested in the ultrasonic scanning range, and the second test points belong to any test point of the region to be tested in the infrared scanning range;

according to the calculation process of the first generation value, obtaining ultrasonic generation values of all test points in the ultrasonic scanning range in the region to be detected, and according to the calculation process of the second generation value, obtaining infrared generation values of all test points in the infrared scanning range in the region to be detected;

Forming an ultrasonic map of the region to be tested according to the ultrasonic cost values of all the test points, and forming an infrared map of the region to be tested according to the infrared cost values of all the test points;

and superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected.

Preferably, the step of calculating the first generation value corresponding to the first test point according to the first probability values respectively fed back by the plurality of ultrasonic sensors to the first test point in the to-be-measured area includes:

acquiring the probability q (i) of the ith ultrasonic sensor detecting that an obstacle exists in the first test point at the time t, wherein q (i) is E (0, 1);

calculating a first generation value corresponding to the first test point at the time t according to a (t) =a (t-1) + (q (0) -0.5) ×k+ (q (1) -0.5) ×k+ (q (i) -0.5), wherein a (t-1) is the first generation value corresponding to the first test point at the time t-1, the initial value of a (t-1) is 127, K is an observation influence coefficient, and K epsilon (0, 255).

Preferably, the infrared scanning range is a sector area, and the step of calculating the second cost value corresponding to the second test point according to the second probability value corresponding to the second test point in the area to be detected includes:

Determining a compensation calculation region of the infrared sensor according to first detection boundaries respectively corresponding to the two adjacent ultrasonic sensor scanning regions and second detection boundaries of the infrared sensor positioned between the two adjacent ultrasonic sensors;

determining a line segment d from the intersection point to the mapping point in the compensation calculation area according to the intersection point of two first detection boundaries of the adjacent ultrasonic sensor scanning areas mapped on the current map and the mapping point of the assembly position of the infrared sensor corresponding to the current map;

acquiring a distance d1 of the infrared sensor to detect an obstacle;

taking a point corresponding to a distance d1 from the infrared sensor in the radial direction of the line segment d as the second test point, wherein the radial direction of the line segment d takes a mapping point corresponding to the assembly position of the infrared sensor on a current map as a radial origin;

and determining a second cost value corresponding to the second test point according to the length relation between the distance d1 and the line segment d and the second probability value.

Preferably, the number of infrared sensors located between two adjacent ultrasonic sensors is one, and the step of determining the compensation calculation region of the infrared sensor according to the first detection boundaries respectively corresponding to the adjacent two ultrasonic sensor scanning regions and the second detection boundaries of the infrared sensor located between the two adjacent ultrasonic sensors includes:

Taking the intersection point of the adjacent first edge and second edge as a first vertex, taking the intersection point of the first edge and the second detection boundary of the infrared sensor as a second vertex, taking the intersection point of the second edge and the second detection boundary of the infrared sensor as a third vertex, and taking the point of the infrared sensor as a fourth vertex, wherein the first edge and the second edge are contained in all the first detection boundaries, the corresponding points of the two first edges and the first ultrasonic sensor enclose a first ultrasonic sensor scanning area, the corresponding points of the two second edges and the second ultrasonic sensor enclose a second ultrasonic sensor scanning area, and the first ultrasonic sensor scanning area and the second ultrasonic sensor scanning area are any two adjacent ultrasonic sensor scanning areas;

and taking quadrilateral areas with the first vertex, the second vertex, the third vertex and the fourth vertex as vertexes on a plane where the first vertex, the second vertex, the third vertex and the fourth vertex are positioned as the compensation calculation area.

Preferably, the step of determining the second cost value corresponding to the second test point according to the length relation between the distance d1 and the line segment d and the second probability value includes:

Judging whether an obstacle exists according to the second probability value;

if yes, judging whether the effective radius d is larger than or equal to the distance d1;

if yes, the second cost value corresponding to the second test point is calculated as a preset value in the obstacle state, otherwise, the second cost value corresponding to the second test point is calculated as zero.

Preferably, the step of determining the line segment d from the intersection point to the mapping point in the compensation calculation region according to the intersection point of the two first detection boundaries of the adjacent ultrasonic sensor scanning regions mapped on the current map and the mapping point of the assembly position of the infrared sensor corresponding to the current map includes:

forming a first triangle by using the intersection points of the reverse extension lines of the angle bisectors of the scanning divergence angles respectively corresponding to the two adjacent ultrasonic sensor scanning areas and the setting points respectively corresponding to the adjacent ultrasonic sensors, and forming a second triangle by using the intersection points of the two first detection boundaries of the adjacent ultrasonic sensor scanning areas and the setting points respectively corresponding to the adjacent ultrasonic sensors, wherein the sweeper is circular, the ultrasonic sensors and the infrared sensors are arranged on the circumference of the sweeper, and the intersection points of the reverse extension lines of the angle bisectors of the scanning divergence angles respectively corresponding to the adjacent ultrasonic sensor scanning areas are the circle centers of the sweeper;

And solving the length of the line segment d of the compensation calculation region according to the first triangle, the second triangle, the circle radius of the sweeper and the scanning divergence angle of the ultrasonic sensor.

Preferably, the number of infrared sensors located between two adjacent ultrasonic sensors is two or more, and the step of determining the compensation calculation area of the infrared sensors according to the first detection boundaries respectively corresponding to the adjacent two ultrasonic sensor scanning areas and the second detection boundaries of the infrared sensors located between the two adjacent ultrasonic sensors includes:

the first detection boundary comprises a first side and a second side which are intersected, and a region which is formed by surrounding the first side and/or the second side and two second detection boundaries corresponding to the first infrared sensor is taken as a first compensation calculation region, wherein the first infrared sensor belongs to any one of two or more infrared sensors, and the first compensation calculation region belongs to any one of two or more compensation calculation regions;

and determining the compensation calculation areas of all the infrared sensors according to the determination process of the first compensation calculation areas.

The application also provides a device of the sweeping mechanism, which is integrated on the sweeping machine, wherein a plurality of ultrasonic sensors are uniformly arranged on the sweeping machine, and an infrared sensor is arranged between every two adjacent ultrasonic sensors, and the device comprises:

The device comprises an acquisition module, a detection module and a detection module, wherein the acquisition module is used for acquiring a first probability value of an obstacle existing in each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment, and acquiring a second probability value of the obstacle existing in each test point in an infrared scanning range corresponding to each infrared sensor at the current moment, wherein the infrared scanning range is positioned in a blind area of the ultrasonic scanning range;

the calculation module is used for calculating a first generation value corresponding to a first test point in a region to be detected according to first probability values fed back by a plurality of ultrasonic sensors respectively, and calculating a second generation value corresponding to a second test point in the region to be detected according to a second probability value corresponding to the second test point, wherein the first test point belongs to any test point of the region to be detected in the ultrasonic scanning range, and the second test point belongs to any test point of the region to be detected in the infrared scanning range;

the obtaining module is used for obtaining ultrasonic cost values of all test points in the ultrasonic scanning range in the region to be detected according to a first cost calculation process and obtaining infrared cost values of all test points in the infrared scanning range in the region to be detected according to a second cost calculation process;

The forming module is used for forming an ultrasonic map of the region to be tested according to the ultrasonic cost values of all the test points and forming an infrared map of the region to be tested according to the infrared cost values of all the test points;

and the superposition module is used for superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected.

The application also provides a computer device comprising a memory storing a computer program and a processor implementing the steps of the above method when executing the computer program.

The application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method described above.

The application realizes the technology of composition by the ultrasonic sensor, and has high efficiency compared with the existing collision composition; compared with the visual slam composition or laser composition based on a camera, the cost is low; the effective detection distance of the ultrasonic sensor exceeds 3m, the effective detection distance is enough to adapt to the working environment of the household sweeper, meanwhile, ultrasonic is sonar equipment, and the ultrasonic sensor is better in environmental adaptability compared with photosensitive equipment based on an echo positioning technology, is not influenced by special reflective materials such as indoor illumination or glass and the like on obstacles, and in addition, in order to compensate for the detection blind areas of the ultrasonic sensor outside the area, which exist the scanning divergence angle of the ultrasonic sensor, the accuracy of map marking is influenced, and the detection compensation is performed by arranging an infrared sensor between every two adjacent ultrasonic sensors.

Drawings

FIG. 1 is a schematic flow chart of a method of a sweeping mechanism according to an embodiment of the present application;

FIG. 2 is a schematic diagram of solving for the effective radius d in accordance with an embodiment of the present application;

FIG. 3 is a schematic view of a device structure of a sweeping mechanism according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a computing module according to an embodiment of the present application;

FIG. 5 is a schematic diagram of the first determining unit according to an embodiment of the present application;

FIG. 6 is a schematic diagram of the structure of a third determining unit according to an embodiment of the present application;

FIG. 7 is a schematic diagram of the structure of a second determining unit according to an embodiment of the present application;

fig. 8 is a schematic structural view of a first determining unit according to another embodiment of the present application;

FIG. 9 is a schematic diagram showing an internal structure of a computer device according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. 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 application.

Referring to fig. 1, in a method for a floor sweeping machine according to an embodiment of the present application, a plurality of ultrasonic sensors are uniformly disposed on the floor sweeping machine, and an infrared sensor is disposed between every two adjacent ultrasonic sensors, the method includes:

S1: acquiring a first probability value of an obstacle existing in each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment, and acquiring a second probability value of the obstacle existing in each test point in an infrared scanning range corresponding to each infrared sensor at the current moment, wherein the infrared scanning range is positioned in a blind area of the ultrasonic scanning range;

s2: according to first probability values fed back by the ultrasonic sensors respectively to first test points in a to-be-detected area, calculating first generation values corresponding to the first test points, and according to second probability values corresponding to second test points in the to-be-detected area, calculating second generation values corresponding to the second test points, wherein the first test points belong to any test point of the to-be-detected area in the ultrasonic scanning range, and the second test points belong to any test point of the to-be-detected area in the infrared scanning range;

s3: according to the calculation process of the first generation value, obtaining ultrasonic generation values of all test points in the ultrasonic scanning range in the region to be detected, and according to the calculation process of the second generation value, obtaining infrared generation values of all test points in the infrared scanning range in the region to be detected;

S4: forming an ultrasonic map of the region to be tested according to the ultrasonic cost values of all the test points, and forming an infrared map of the region to be tested according to the infrared cost values of all the test points;

s5: and superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected.

According to the application, the probability value of the obstacle existing in the test point is measured through the ultrasonic sensor arranged on the sweeper, whether the obstacle exists in each test point or not is marked according to the probability value, and a map with marking information is formed, so that the sweeper is prompted where the large probability is an obstacle area and where the large probability is a blank area, and the sweeper is guided to work normally. In order to compensate the detection blind area of the ultrasonic sensor except the area corresponding to the scanning divergence angle, the accuracy of map marking is affected, and the detection compensation is carried out by arranging the infrared sensor between every two adjacent ultrasonic sensors, or the detection blind area is reduced by increasing the arrangement density of the ultrasonic sensors. According to the application, the infrared sensors are preferably arranged between every two adjacent ultrasonic sensors for detection compensation, and because the divergence angle of the infrared sensors is generally smaller, more accurate data can be obtained through a simple calculation model, compared with the arrangement density of the ultrasonic sensors, the accuracy of measuring the distribution condition of the obstacle is similar, but the calculated amount is greatly reduced.

The application adopts an ultrasonic sensor with a probability model. On the basis of an evenly distributed ultrasonic model, using Gaussian distribution to model an obstacle on a sonar arc, wherein the center of the obstacle distribution is regarded as the center of the sonar arc, but the probability of the obstacle existence is different in the range detected by ultrasonic waves, namely, in a sector area formed by the sonar arc and the sonar, the probability model is used to model the obstacle in the sector area detected by the sonar, and the probability value of the obstacle existence at the center line/the central axis of the sonar arc is regarded as the maximum.

The floor sweeping machine is provided with a plurality of ultrasonic sensors, the observed probability values of the ultrasonic sensors at the same position are different, the cost value of detecting the obstacle is obtained by comprehensively considering the tested probability values of the ultrasonic sensors, and the obstacle information of the area to be detected is marked by the cost value, wherein the obstacle information comprises the probability of existence of the obstacle, the distribution position of the obstacle and the like. And detecting the ultrasonic map of the region to be detected by the ultrasonic sensor, detecting the infrared map of the region to be detected by the infrared sensor corresponding to the ultrasonic detection blind area, and carrying out one-to-one corresponding superposition according to the geographic position to obtain the complete map of the region to be detected, which is marked with obstacle information. When updating the cost value of each point on the map, the cost map detected by the ultrasonic sensor array and the cost map detected by the infrared sensor are subjected to OR operation, namely, the cost value of any one of the two cost maps of the same position point is 255, the final calculation result is 255, and otherwise, the final calculation result is 0 (the cost value will be described in detail later). According to the application, the obstacle is divided into a plurality of points, the cost value of the obstacle detected by the ultrasonic sensor and the cost value of the obstacle detected by the infrared sensor on each point are overlapped to be judged, if the adjacent point 1, the adjacent point 2 and the adjacent point 3 are respectively the judgment results with high cost value, the point 1, the point 2 and the point 3 are considered to be the points occupied by one obstacle, and the coverage area of the obstacle can be determined through the area ranges corresponding to the adjacent continuous points. The scattered obstacles corresponding to the high cost values can be identified as the scattered obstacles, the area of the interval zone between the scattered obstacles can be calculated to determine a better planning route of the sweeper, if the area of the interval zone meets the walking area of the sweeper, the walking sweeping route is planned, otherwise, the side brushing sweeping route is planned. Compared with the existing collision composition, the application has high efficiency; compared with visual slam composition or laser composition based on a camera, the method has low cost. The effective detection distance of the ultrasonic sensor exceeds 3m, the effective detection distance is enough to adapt to the working environment of the household sweeper, meanwhile, the ultrasonic is sonar equipment, and the ultrasonic sensor is better in environmental adaptability compared with photosensitive equipment based on an echo positioning technology and is not influenced by indoor illumination or special reflective materials such as glass and the like.

In addition, in S5, "overlapping according to the one-to-one correspondence relationship of the geographic positions to obtain the map corresponding to the region to be measured" may specifically be "overlapping according to the one-to-one correspondence relationship of the grid position coordinates to obtain the grid map corresponding to the region to be measured to which the map belongs".

Further, the step S2 includes two steps S21 and S22, where the step S21 of calculating the first generation value corresponding to the first test point according to the first probability values respectively fed back by the plurality of ultrasonic sensors to the first test point in the to-be-detected area includes:

s211: acquiring the probability q (i) of the ith ultrasonic sensor detecting that an obstacle exists in the first test point at the time t, wherein q (i) is E (0, 1);

s212: calculating a first generation value corresponding to the first test point at the time t according to a (t) =a (t-1) + (q (0) -0.5) ×k+ (q (1) -0.5) ×k+ (q (i) -0.5), wherein a (t-1) is the first generation value corresponding to the first test point at the time t-1, the initial value of a (t-1) is 127, K is an observation influence coefficient, and K epsilon (0, 255).

The fusion process of the detection data of the ultrasonic sensors is as follows: and calculating the probability value of whether the obstacle exists at each point of the corresponding region to be detected, which is scanned by the ultrasonic sensor at a certain moment, by using a differential control model for the obstacle detected by each ultrasonic sensor. Wherein, the unknown region is set with a probability value of 0.5, and is output by the ultrasonic model. Setting the cost value of the ultrasonic map at the initial moment to be 127 by default, wherein the cost value range of all test points of the ultrasonic map is 0 to 255, the cost value is the fusion result of a plurality of probability values, and the cost value is convenient for computer storage and calculation, and the cost value is calculated by using the method (2 which accords with the computer data rule ⁸ -1), so the cost value range is a dimension range of 0 to 255, for a point p fixed on the map at time t-1, the cost value is a (t-1) =127. Assume that the ith ultrasonic sensor is inthe probability of detecting that the point P has an obstacle at the time t is q (i), q (i) epsilon (0, 1), and the cost value of the point P at the time t is: a (t) =a (t-1) + (q (0) -0.5) ·+ (q (i) -0.5) ·k, where a (t-1) has an initial value of 127, K is the observed influence coefficient, K e (0, 255). An ultrasonic sensor facing away from an obstacle cannot scan the obstacle, i.e. the obstacle belongs to an unknown area of the ultrasonic sensor, i.e. q (i) is 0.5. In the formula "(q (i) -0.5) ×k" plays a data enhancement role: "-0.5" can make the detection results of the high probability obstacle and the low probability obstacle form positive and negative numbers respectively to distinguish obviously. For example, when q (i) is greater than 0.5, a positive number will be formed, and q (i) less than 0.5 will cause the result to form a negative number, the positive and negative results being related to the currently detected probability value. The observation influence coefficient K is an influence coefficient of the observation value of the ultrasonic sensor, preferably K e (0, 255), and if K is large, it indicates that the influence of the real-time observation value on the obstacle detection is large, and if K is small, it indicates that the influence of the real-time observation value on the obstacle detection is small, and K in this embodiment is preferably 10. In addition, the calculation of the observation data of the ultrasonic sensor has a certain error, the data at the time t-1 and the time t are required to be overlapped, and the detection accuracy is improved by overlapping the historical data. In the superposition calculation process, the application sets a judgment threshold range, wherein the judgment threshold is [0, 255 ] ]. For example, when a (t-1) is larger than 255, a (t-1) is equal to 255 when a (t) is calculated by substituting the above formula. Considering that in the map maintenance process, calculation is performed in real time, and dynamic obstacles exist, at each overlapping moment, whether the cost value of the previous moment exceeds the set threshold value of the obstacle or not, overlapping detection is still performed at the next moment, and the threshold value is taken as the cost value for overlapping. After the dynamic obstacle is moved away, the superposed cost value is gradually reduced to a cost value range corresponding to the non-obstacle. When the map is called to carry out route planning, the map state corresponding to the calling time is the state corresponding to the using map, and the cost value marked on the current map is the superposition cost value corresponding to the calling time.

The ultrasonic sensor array comprises a plurality of ultrasonic sensors, and the model of each ultrasonic sensor is a probability type ultrasonic model which is uniformly distributed. The gaussian distribution is used to model obstacles on the sonar arc, the center of which is considered the center line of the arc, on the basis of an evenly distributed ultrasound model. However, considering the scattering angle and reflection characteristics of the ultrasonic sensor, the probability of the existence of the obstacle is different in the detection range of the ultrasonic sensor, namely, in the sector formed by the sonar arc and the sonar, the probability model is utilized to model the obstacle in the sector detected by the sonar, and the probability value of the obstacle existence at the center line/central axis of the sonar arc is considered to be the maximum.

The application introduces 2 functions for representing sonar measurement uncertainty according to an evenly distributed ultrasonic model.

θ is the included angle of the measured point relative to the sonar arc central axis; ρ _V A predetermined value indicates a smooth transition point of the sonar from the determination to the uncertainty. In real environment detection, the range detected by the ultrasonic sensor is discretized into m×n rectangular grid sets with the same size, each grid is represented by Cij, and then the range detected by sonar can be written as u= { C _ij i∈[1,m],j∈[1,n]}. For C _ij ,S(C _ij ) =e indicates that the grid is empty, and S (C _ij ) =o means that the grid is an obstacle and there is a constraint on the probability of these two events, P [ S (C _ij )＝E]+P[S(C _ij )＝O]=1, wherein P [ S (C _ij )]The probability value indicating the presence or absence of an obstacle. From the uncertainty function of the previous sonar, a probabilistic model of the sonar is created.

Wherein p is the distance between Cij and sodium; r is sonar measurement value; dr and 2dr represent an estimate of r accuracy. λ= (θ), an uncertainty function of the reference sonar measurement. According to the application, through data fusion of a plurality of ultrasonic sensors, the generation of the obstacle detected by the ultrasonic sensors is obtainedValue. The region to be measured in the application uses a map occupying a grid model, and the positioning and the pose of the robot are obtained through the odometer and IMU data.

Further, the step S22 of calculating the second cost value corresponding to the second test point according to the second probability value corresponding to the second test point in the area to be detected, where the infrared scanning range is a sector area includes:

s221: determining a compensation calculation region of the infrared sensor according to first detection boundaries respectively corresponding to the two adjacent ultrasonic sensor scanning regions and second detection boundaries of the infrared sensor positioned between the two adjacent ultrasonic sensors;

s222: determining a line segment d from the intersection point to the mapping point in the compensation calculation area according to the intersection point of two first detection boundaries of the adjacent ultrasonic sensor scanning areas mapped on the current map and the mapping point of the assembly position of the infrared sensor corresponding to the current map;

s223: acquiring a distance d1 of the infrared sensor to detect an obstacle;

s224: taking a point corresponding to a distance d1 from the infrared sensor in the radial direction of the line segment d as the second test point, wherein the radial direction of the line segment d takes a mapping point corresponding to the assembly position of the infrared sensor on a current map as a radial origin;

s225: and determining a second cost value corresponding to the second test point according to the length relation between the distance d1 and the line segment d and the second probability value.

In order to further compensate the detection blind areas between adjacent ultrasonic sensors for detecting the obstacle, the application can set an infrared sensor for carrying out the supplementary detection on the detection blind areas. The detection value of the infrared sensor can be referred to only in the detection blind area, and the detection value of the infrared sensor outside the detection blind area is considered to be zero. The infrared sensor gathers more than the divergent characteristic of the detection line emitted by the ultrasonic sensor, but also diverges, so the infrared scanning range is also a sector area. In the application, because the detection dead zone between adjacent ultrasonic waves is very small, the compensation calculation zone is included in the detection dead zone, and in order to simplify calculation, the infrared scanning in the compensation calculation zone uses a linear model to obtain the cost value detected by the infrared sensor. Since the divergence angle of the infrared sensor is generally small, for example, 15 °, and the line segment d of the compensation calculation region is small, the infrared compensation calculation region can be regarded as approximately a straight line segment. In addition, as the influence of the superposition effect of the obstacle cost value of the infrared sensor and the historical data is not obvious, the application only needs to take the data measured in real time as the cost value of the obstacle detected by the infrared sensor, and does not need the superposition of the data at the time t-1. In the above straight line model, the obstacle cost values obtained by the infrared sensor in the actual effective compensation calculation area are considered to be obstacles at a point with a distance d1 from the infrared sensor on the center axis line of the fan-shaped infrared scanning range.

Further, the number of infrared sensors located between two adjacent ultrasonic sensors is one, and the step S221 of determining the compensation calculation area of the infrared sensor according to the first detection boundaries respectively corresponding to the scanning areas of the two adjacent ultrasonic sensors and the second detection boundaries of the infrared sensors located between the two adjacent ultrasonic sensors includes:

s2211: taking the intersection point of the adjacent first edge and second edge as a first vertex, taking the intersection point of the first edge and the second detection boundary of the infrared sensor as a second vertex, taking the intersection point of the second edge and the second detection boundary of the infrared sensor as a third vertex, and taking the point of the infrared sensor as a fourth vertex, wherein the first edge and the second edge are contained in all the first detection boundaries, the corresponding points of the two first edges and the first ultrasonic sensor enclose a first ultrasonic sensor scanning area, the corresponding points of the two second edges and the second ultrasonic sensor enclose a second ultrasonic sensor scanning area, and the first ultrasonic sensor scanning area and the second ultrasonic sensor scanning area are any two adjacent ultrasonic sensor scanning areas;

S2212: and taking quadrilateral areas with the first vertex, the second vertex, the third vertex and the fourth vertex as vertexes on a plane where the first vertex, the second vertex, the third vertex and the fourth vertex are positioned as the compensation calculation area.

In this embodiment, an infrared sensor is disposed between two adjacent ultrasonic sensors for complementary detection, and a determination process of the compensation calculation region is described in detail. The number of compensation calculation regions of the present embodiment is one quadrangular region. In order to reduce repeated calculation of the infrared sensor scanning area and the ultrasonic sensor scanning area, when the linear model is used for carrying out infrared sensor complementary detection calculation, an effective area which has practical significance on compensation calculation in the infrared sensor scanning area, namely a compensation calculation area, is planned. The scanning boundary corresponding to the divergence angle of the infrared sensor and the area surrounded by two sides intersected with the scanning areas of the two ultrasonic sensors are taken as compensation calculation areas.

Further, the step S225 of determining the second cost value corresponding to the second test point according to the length relation between the distance d1 and the line segment d and the second probability value includes:

S2250: judging whether an obstacle exists according to the second probability value;

s2251: if yes, judging whether the effective radius d is larger than or equal to the distance d1;

s2252: if yes, the second cost value corresponding to the second test point is calculated as a preset value in the obstacle state, otherwise, the second cost value corresponding to the second test point is calculated as zero.

In the embodiment of the application, when the infrared detects/is likely to have an obstacle, the second probability value is determined to be 1, and if no obstacle exists, the second probability value is 0. And when the second probability value is judged to be 1, starting distance detection to further determine the cost value in the infrared compensation area. When d is smaller than d1, it means that the obstacle is not in the detection blind area of the ultrasonic sensor, and the data of the infrared sensor is not required to be superimposed, so that the cost values corresponding to all points in the compensation calculation area are all set to 0, that is, the cost values of the obstacle detected by the infrared sensor are not repeatedly calculated or superimposed with the detection area of the ultrasonic sensor as much as possible, and are only used for supplementing the data when the obstacle appears in the detection blind area of the ultrasonic sensor. When d is greater than or equal to d1, the obstacle is actually in the dead zone of the ultrasonic sensor and is in the compensation calculation area, a point p corresponding to the distance d1 from the infrared sensor in the ray direction of the effective radius d in the compensation calculation area is taken according to the linear model, the point p is the detected obstacle point, the cost value of the point p is 255, and the cost value of other points except the point p in the compensation calculation area is 0. And (3) according to the probability value of the obstacle cost detected by the infrared sensor and the probability cost value of each point at the current moment on the map detected by the ultrasonic sensor, binarizing, setting the threshold value to be 200, and setting the cost value to be 255 when the threshold value is larger than the threshold value, otherwise, setting the cost value to be 0.

Further, the step S222 of determining a line segment d from the intersection point to the mapping point in the compensation calculation region according to the intersection point of the two first detection boundaries of the adjacent ultrasonic sensor scanning regions mapped on the current map and the mapping point of the assembly position of the infrared sensor corresponding to the current map includes:

s2221: forming a first triangle by using the intersection points of the reverse extension lines of the angle bisectors of the scanning divergence angles respectively corresponding to the two adjacent ultrasonic sensor scanning areas and the setting points respectively corresponding to the adjacent ultrasonic sensors, and forming a second triangle by using the intersection points of the two first detection boundaries of the adjacent ultrasonic sensor scanning areas and the setting points respectively corresponding to the adjacent ultrasonic sensors, wherein the sweeper is circular, the ultrasonic sensors and the infrared sensors are arranged on the circumference of the sweeper, and the intersection points of the reverse extension lines of the angle bisectors of the scanning divergence angles respectively corresponding to the adjacent ultrasonic sensor scanning areas are the circle centers of the sweeper;

s2222: and solving the length of the line segment d of the compensation calculation region according to the first triangle, the second triangle, the circle radius of the sweeper and the scanning divergence angle of the ultrasonic sensor.

In this embodiment, the sweeping machine is a circular machine with a radius r, the ultrasonic sensor and the infrared sensor are arranged on the circumference of the sweeping machine, and the infrared sensor is arranged at the middle position of the two ultrasonic sensors, which is taken as an example, and the process of solving the length of the line segment d is described in detail.

As shown in fig. 2, n ultrasonic sensors are uniformly arranged on the circumference of the sweeper, and the divergence angle of each ultrasonic sensor is B degrees. If the first triangle is an isosceles triangle, then: central angle a+=360/n; then c= (180 ° -a °)/2 in the first triangle; high f=r×sin c °. The second triangle comprises two congruent right-angled triangles, a right-angle side g=r×cos c degrees is obtained according to the right-angled triangles, the circle center O is connected to the center of one ultrasonic sensor, reverse extension lines are made, the divergence angle B degrees can be divided evenly, and then: b° = b°/2. Since b° +Θ° +c° =180°, Θ is=180 ° -b ° -c °. In the first triangle, e=r-f, so in the right triangle: (d+e) =g×tan Θ°, i.e. d=g×tan Θ ° -e=r×cos c° tan (180 ° -b ° -c°) - (r-f) =r×cos [ (180 ° -a°)/2]*tan[180°-(180°-A°+B°)/2)]-(r-r*sin c°)＝r*cos(90°-A°/2)*tan[90°+(A°-B°)/2)]-r (1- × sin c°). For example, the radius of the sweeper is r, 6 ultrasonic sensors are evenly distributed on the circumference, and the first triangle is an isosceles triangle with a vertex angle of 60 degrees, namely, the isosceles triangle. The divergence angle of the ultrasonic sensors is 120 degrees, then half of the divergence angle is 60 degrees, the base angle of the second triangle is 60 degrees, and the infrared sensor is positioned in the middle of the ultrasonic sensors, namely the infrared sensor bisects the circular arc between the two ultrasonic sensors, then the second triangle is also an equilateral triangle, and the height of the second triangle is equal to that of the first triangle ) Length of line segment d ∈>

Further, the number of infrared sensors located between two adjacent ultrasonic sensors is two or more, and the step S221 of determining the compensation calculation area of the infrared sensor according to the first detection boundaries respectively corresponding to the adjacent two ultrasonic sensor scanning areas and the second detection boundaries of the infrared sensors located between the two adjacent ultrasonic sensors includes:

s2213: the first detection boundary comprises a first side and a second side which are intersected, and a region which is formed by surrounding the first side and/or the second side and two second detection boundaries corresponding to the first infrared sensor is taken as a first compensation calculation region, wherein the first infrared sensor belongs to any one of two or more infrared sensors, and the first compensation calculation region belongs to any one of two or more compensation calculation regions;

s2214: and determining the compensation calculation areas of all the infrared sensors according to the determination process of the first compensation calculation areas.

In this embodiment, when the setting density of the ultrasonic sensor is smaller, and the detection blind area is larger, the plurality of infrared sensors are arranged between the adjacent ultrasonic sensors, and the emitting surfaces of the infrared sensors face different directions, so as to make up when the infrared sensors adopt the linear model when performing compensation calculation, the proportion of the detection blind area occupied by the compensation calculation area is too small, and the missed detection is more. At this time, a plurality of infrared sensors with different orientations of the emitting surfaces may be disposed at the same position, or a plurality of infrared sensors with different orientations of the emitting surfaces may be disposed in a dispersed manner on the circular arc between two adjacent ultrasonic sensors. At this time, one infrared sensor corresponds to one compensation calculation region, and each compensation calculation region is a region surrounded by the emission boundary of each infrared sensor and the first edge and/or the second edge, where the first edge and the second edge respectively belong to the scanning boundaries of two adjacent ultrasonic sensors.

Referring to fig. 3, a device of a sweeping mechanism of an embodiment of the present application is integrated on a sweeping machine, a plurality of ultrasonic sensors are uniformly disposed on the sweeping machine, and an infrared sensor is disposed between every two adjacent ultrasonic sensors, and the device includes:

the device comprises an acquisition module 1, a detection module and a detection module, wherein the acquisition module 1 is used for acquiring a first probability value of an obstacle existing in each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment and acquiring a second probability value of the obstacle existing in each test point in an infrared scanning range corresponding to each infrared sensor at the current moment, wherein the infrared scanning range is positioned in a blind area of the ultrasonic scanning range;

a calculating module 2, configured to calculate a first generation value corresponding to a first test point according to first probability values respectively fed back by a plurality of ultrasonic sensors respectively to first test points in a to-be-detected area, and calculate a second generation value corresponding to a second test point according to a second probability value corresponding to the second test point in the to-be-detected area, where the first test point belongs to any test point of the to-be-detected area within the ultrasonic scanning range, and the second test point belongs to any test point of the to-be-detected area within the infrared scanning range;

The obtaining module 3 is configured to obtain ultrasonic cost values of all test points in the to-be-detected area within the ultrasonic scanning range according to a first cost calculation process, and obtain infrared cost values of all test points in the to-be-detected area within the infrared scanning range according to a second cost calculation process;

the forming module 4 is used for forming an ultrasonic map of the region to be tested according to the ultrasonic cost values of all the test points and forming an infrared map of the region to be tested according to the infrared cost values of all the test points;

and the superposition module 5 is used for superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected.

The floor sweeping machine is provided with a plurality of ultrasonic sensors, the observed probability values of the ultrasonic sensors at the same position are different, the cost value of detecting the obstacle is obtained by comprehensively considering the tested probability values of the ultrasonic sensors, and the obstacle information of the area to be detected is marked by the cost value, wherein the obstacle information comprises the probability of existence of the obstacle, the distribution position of the obstacle and the like. And detecting the ultrasonic map of the region to be detected by the ultrasonic sensor, detecting the infrared map of the region to be detected by the infrared sensor corresponding to the ultrasonic detection blind area, and carrying out one-to-one corresponding superposition according to the geographic position to obtain the complete map of the region to be detected, which is marked with obstacle information. When updating the cost value of each point on the map, performing OR operation on the cost map detected by the ultrasonic sensor array and the cost map detected by the infrared sensor, namely, the cost value of any one of the two cost maps of the same position point is 255, and the final calculation result is 255, otherwise, 0. According to the application, the obstacle is divided into a plurality of points, the cost value of the obstacle detected by the ultrasonic sensor and the cost value of the obstacle detected by the infrared sensor on each point are overlapped to be judged, if the adjacent point 1, the adjacent point 2 and the adjacent point 3 are respectively the judgment results with high cost value, the point 1, the point 2 and the point 3 are considered to be the points occupied by one obstacle, and the coverage area of the obstacle can be determined through the area ranges corresponding to the adjacent continuous points. The scattered obstacles corresponding to the high cost values can be identified as the scattered obstacles, the area of the interval zone between the scattered obstacles can be calculated to determine a better planning route of the sweeper, if the area of the interval zone meets the walking area of the sweeper, the walking sweeping route is planned, otherwise, the side brushing sweeping route is planned. Compared with the existing collision composition, the application has high efficiency; compared with visual slam composition or laser composition based on a camera, the method has low cost. The effective detection distance of the ultrasonic sensor exceeds 3m, the effective detection distance is enough to adapt to the working environment of the household sweeper, meanwhile, the ultrasonic is sonar equipment, and the ultrasonic sensor is better in environmental adaptability compared with photosensitive equipment based on an echo positioning technology and is not influenced by indoor illumination or special reflective materials such as glass and the like.

In addition, the content of the "the map corresponding to the region to be measured is obtained by stacking according to the one-to-one correspondence relationship between the geographic positions" in the stacking module 5 may specifically be "the grid map corresponding to the region to be measured is obtained by stacking according to the one-to-one correspondence relationship between the grid position coordinates".

Referring to fig. 4, the above-mentioned calculation module 2 includes two small modules, a first calculation sub-module 21 and a second calculation sub-module 22, the first calculation sub-module 21 including:

a first obtaining unit 211, configured to obtain a probability q (i) that an ith ultrasonic sensor detects that an obstacle exists in the first test point at a time t, where q (i) ∈ (0, 1);

the calculating unit 212 is configured to calculate a first generation value corresponding to the first test point at time t according to a (t) =a (t-1) + (q (0) -0.5) ×k+ (q (1) -0.5) ×k+ (q (i) -0.5) ×k, where a (t-1) is the first generation value corresponding to the first test point at time t-1, an initial value of a (t-1) is 127, K is an observation influence coefficient, and K e (0, 255).

The application is multiple ultrasonic wavesThe fusion process of the detection data of the sensor is as follows: and calculating the probability value of whether the obstacle exists at each point of the corresponding region to be detected, which is scanned by the ultrasonic sensor at a certain moment, by using a differential control model for the obstacle detected by each ultrasonic sensor. Wherein, the unknown region is set with a probability value of 0.5, and is output by the ultrasonic model. Setting the cost value of the ultrasonic map at the initial moment to be 127 by default, wherein the cost value range of all test points of the ultrasonic map is 0 to 255, the cost value is the fusion result of a plurality of probability values, and the cost value is convenient for computer storage and calculation, and the cost value is calculated by using the method (2 which accords with the computer data rule ⁸ -1), so the cost value range is a dimension range of 0 to 255, for a point p fixed on the map at time t-1, the cost value is a (t-1) =127. Assuming that the probability that the ith ultrasonic sensor detects that the point P has an obstacle at the time t is q (i), q (i) ∈ (0, 1), the cost value of the point P at the time t is: a (t) =a (t-1) + (q (0) -0.5) ·+ (q (i) -0.5) ·k, where a (t-1) has an initial value of 127, K is the observed influence coefficient, K e (0, 255). An ultrasonic sensor facing away from an obstacle cannot scan the obstacle, i.e. the obstacle belongs to an unknown area of the ultrasonic sensor, i.e. q (i) is 0.5. In the formula "(q (i) -0.5) ×k" plays a data enhancement role: "-0.5" can make the detection results of the high probability obstacle and the low probability obstacle form positive and negative numbers respectively to distinguish obviously. For example, when q (i) is greater than 0.5, a positive number will be formed, and q (i) less than 0.5 will cause the result to form a negative number, the positive and negative results being related to the currently detected probability value. The observation influence coefficient K is an influence coefficient of the observation value of the ultrasonic sensor, preferably K e (0, 255), and if K is large, it indicates that the influence of the real-time observation value on the obstacle detection is large, and if K is small, it indicates that the influence of the real-time observation value on the obstacle detection is small, and K in this embodiment is preferably 10. In addition, the calculation of the observation data of the ultrasonic sensor has a certain error, the data at the time t-1 and the time t are required to be overlapped, and the detection accuracy is improved by overlapping the historical data. In the superposition calculation process, the application sets a judgment threshold range, wherein the judgment threshold is [0, 255 ] ]. For example, when a (t-1) is greater than 255, a (t) is taken when a (t) is calculated by substituting the above formula-1) equal to 255. Considering that in the map maintenance process, calculation is performed in real time, and dynamic obstacles exist, at each overlapping moment, whether the cost value of the previous moment exceeds the set threshold value of the obstacle or not, overlapping detection is still performed at the next moment, and the threshold value is taken as the cost value for overlapping. After the dynamic obstacle is moved away, the superposed cost value is gradually reduced to a cost value range corresponding to the non-obstacle. When the map is called to carry out route planning, the map state corresponding to the calling time is the state corresponding to the using map, and the cost value marked on the current map is the superposition cost value corresponding to the calling time.

The application introduces 2 functions for representing sonar measurement uncertainty according to an evenly distributed ultrasonic model.Wherein θ is the included angle of the measured point relative to the sonar arc central axis; ρ _V A predetermined value indicates a smooth transition point of the sonar from the determination to the uncertainty. In real environment detection, discretizing the range detected by the ultrasonic sensor into m×n rectangular grids with the same size, wherein each grid is denoted by Cij, the range detected by sonar can be written as +.>For C _ij ,S(C _ij ) =e represents the gridIs empty, and S (C _ij ) =o means that the grid is an obstacle and there is a constraint on the probability of these two events, P [ S (C _ij )＝E]+P[S(C _ij )＝O]=1, wherein P [ S (C _ij )]The probability value indicating the presence or absence of an obstacle. From the uncertainty function of the previous sonar, a probabilistic model of the sonar is created.

Wherein p is the distance between Cij and sodium; r is sonar measurement value; dr and 2dr represent an estimate of r accuracy. λ= (θ), an uncertainty function of the reference sonar measurement. According to the application, the cost value of the obstacle detected by the ultrasonic sensor is obtained through data fusion of the ultrasonic sensors. The region to be measured in the application uses a map occupying a grid model, and the positioning and the pose of the robot are obtained through the odometer and IMU data.

Referring to fig. 4, the infrared scanning range is a sector area, and the second calculating submodule 22 includes:

a first determining unit 221, configured to determine a compensation calculation region of the infrared sensor according to first detection boundaries corresponding to two adjacent ultrasonic sensor scanning regions, respectively, and a second detection boundary of the infrared sensor located between the two adjacent ultrasonic sensors;

a second determining unit 222, configured to determine a line segment d from the intersection point to the mapping point in the compensation calculation region according to the intersection point of the two first detection boundaries of the adjacent ultrasonic sensor scanning regions mapped on the current map and the mapping point of the assembly position of the infrared sensor corresponding to the current map;

a second acquisition unit 223 for acquiring a distance d1 of the obstacle detected by the infrared sensor;

a unit 224, configured to use a point corresponding to a distance d1 from the infrared sensor in a radial direction where a line segment d is located, as the second test point, where the radial direction where the line segment d is located uses a mapping point corresponding to an assembly position of the infrared sensor on a current map as a radial origin;

the third determining unit 225 is configured to determine a second cost value corresponding to the second test point according to the length relationship between the distance d1 and the line segment d and the second probability value.

Referring to fig. 5, the number of infrared sensors located between two adjacent ultrasonic sensors is one, and the first determining unit 221 includes:

a first sub-unit 2211, configured to use an intersection point of a first side and a second side that are adjacent to each other as a first vertex, use an intersection point of the first side and a second detection boundary of an infrared sensor as a second vertex, use an intersection point of the second side and the second detection boundary of the infrared sensor as a third vertex, and use a point where the infrared sensor is located as a fourth vertex, where the first side and the second side are included in all the first detection boundaries, two points corresponding to the first side and the first ultrasonic sensor enclose a first ultrasonic sensor scanning area, two points corresponding to the second side and the second ultrasonic sensor enclose a second ultrasonic sensor scanning area, and the first ultrasonic sensor scanning area and the second ultrasonic sensor scanning area are any two adjacent ultrasonic sensor scanning areas;

the second sub-unit 2212 is configured to use, as the compensation calculation region, a quadrilateral region on a plane where the first vertex, the second vertex, the third vertex, and the fourth vertex are located, where the first vertex, the second vertex, the third vertex, and the fourth vertex are vertices.

Referring to fig. 6, the third determination unit 225 includes:

a first judging subunit 2250, configured to judge whether an obstacle exists according to the second probability value;

a second judging subunit 2251 for judging whether the effective radius d is greater than or equal to the distance d1;

and a third subunit 2252, configured to, if yes, count the second cost value corresponding to the second test point as a preset value with an obstacle state, otherwise, record the second cost value corresponding to the second test point as zero.

Referring to fig. 7, the second determination unit 222 includes:

a sub-unit 2221, configured to form a first triangle with the intersection points of the reverse extension lines of the angular bisectors of the scan divergence angles respectively corresponding to the two adjacent ultrasonic sensor scan areas and the set points respectively corresponding to the adjacent ultrasonic sensors, and form a second triangle with the intersection points of the two first detection boundaries of the adjacent ultrasonic sensor scan areas and the set points respectively corresponding to the adjacent ultrasonic sensors, where the sweeper is circular, the ultrasonic sensor and the infrared sensor are disposed on the circumference of the sweeper, and the intersection points of the reverse extension lines of the angular bisectors of the scan divergence angles respectively corresponding to the adjacent ultrasonic sensor scan areas are the circle centers of the sweeper;

and a solving subunit 2222, configured to solve the length of the line segment d of the compensation calculation region according to the first triangle, the second triangle, the radius of the circle of the sweeper, and the scan divergence angle of the ultrasonic sensor.

Referring to fig. 8, in another embodiment of the present application, the number of infrared sensors located between two adjacent ultrasonic sensors is two or more, and the first determining unit 221 includes:

fourth, as a sub-unit 2213, for the first detection boundary including intersecting first and second sides, an area surrounded by two second detection boundaries corresponding to the first infrared sensor, which belongs to any one of two or more infrared sensors, as a first compensation calculation area, which belongs to any one of two or more compensation calculation areas;

a determining subunit 2214 is configured to determine the compensation calculating areas of all the infrared sensors according to the determination process of the first compensation calculating area.

Referring to fig. 9, a computer device is further provided in an embodiment of the present application, where the computer device may be a server, and the internal structure of the computer device may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store all the data required for the process of the sweeping machine map. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a method of sweeping a floor mechanism map.

The processor executes the method of the sweeping mechanism, the sweeping machine is uniformly provided with a plurality of ultrasonic sensors, and an infrared sensor is arranged between every two adjacent ultrasonic sensors, and the method comprises the following steps: acquiring a first probability value of an obstacle existing in each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment, and acquiring a second probability value of the obstacle existing in each test point in an infrared scanning range corresponding to each infrared sensor at the current moment, wherein the infrared scanning range is positioned in a blind area of the ultrasonic scanning range; according to first probability values fed back by the ultrasonic sensors to first test points in a region to be tested respectively, calculating first generation values corresponding to the first test points, and according to second probability values corresponding to second test points in the region to be tested, calculating second generation values corresponding to the second test points, wherein the first test points belong to any test point of the region to be tested in the ultrasonic scanning range, and the second test points belong to any test point of the region to be tested in the infrared scanning range; according to the calculation process of the first generation value, obtaining ultrasonic generation values of all test points in the ultrasonic scanning range in the region to be detected, and according to the calculation process of the second generation value, obtaining infrared generation values of all test points in the infrared scanning range in the region to be detected; forming an ultrasonic map of the region to be tested according to the ultrasonic cost values of all the test points, and forming an infrared map of the region to be tested according to the infrared cost values of all the test points; and superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected.

The computer equipment realizes the technology of composition by the ultrasonic sensor, and has high efficiency compared with the existing collision composition; compared with the visual slam composition or laser composition based on a camera, the cost is low; the effective detection distance of the ultrasonic sensor exceeds 3m, the effective detection distance is enough to adapt to the working environment of the household sweeper, meanwhile, ultrasonic is sonar equipment, and the ultrasonic sensor is better in environmental adaptability compared with photosensitive equipment based on an echo positioning technology, is not influenced by special reflective materials such as indoor illumination or glass and the like on obstacles, and in addition, in order to compensate for the detection blind areas of the ultrasonic sensor outside the area, which exist the scanning divergence angle of the ultrasonic sensor, the accuracy of map marking is influenced, and the detection compensation is performed by arranging an infrared sensor between every two adjacent ultrasonic sensors.

It will be appreciated by those skilled in the art that the architecture shown in fig. 9 is merely a block diagram of a portion of the architecture in connection with the present inventive arrangements and is not intended to limit the computer devices to which the present inventive arrangements are applicable.

The application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements a method for sweeping a floor mechanism map, wherein a plurality of ultrasonic sensors are uniformly arranged on the sweeping machine, and an infrared sensor is arranged between every two adjacent ultrasonic sensors, and the method comprises: acquiring a first probability value of an obstacle existing in each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment, and acquiring a second probability value of the obstacle existing in each test point in an infrared scanning range corresponding to each infrared sensor at the current moment, wherein the infrared scanning range is positioned in a blind area of the ultrasonic scanning range; according to first probability values fed back by the ultrasonic sensors to first test points in a region to be tested respectively, calculating first generation values corresponding to the first test points, and according to second probability values corresponding to second test points in the region to be tested, calculating second generation values corresponding to the second test points, wherein the first test points belong to any test point of the region to be tested in the ultrasonic scanning range, and the second test points belong to any test point of the region to be tested in the infrared scanning range; according to the calculation process of the first generation value, obtaining ultrasonic generation values of all test points in the ultrasonic scanning range in the region to be detected, and according to the calculation process of the second generation value, obtaining infrared generation values of all test points in the infrared scanning range in the region to be detected; forming an ultrasonic map of the region to be tested according to the ultrasonic cost values of all the test points, and forming an infrared map of the region to be tested according to the infrared cost values of all the test points; and superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected.

The computer readable storage medium realizes the technology of composition by the ultrasonic sensor, and has high efficiency compared with the existing collision composition; compared with the visual slam composition or laser composition based on a camera, the cost is low; the effective detection distance of the ultrasonic sensor exceeds 3m, the effective detection distance is enough to adapt to the working environment of the household sweeper, meanwhile, ultrasonic is sonar equipment, and the ultrasonic sensor is better in environmental adaptability compared with photosensitive equipment based on an echo positioning technology, is not influenced by special reflective materials such as indoor illumination or glass and the like on obstacles, and in addition, in order to compensate for the detection blind areas of the ultrasonic sensor outside the area, which exist the scanning divergence angle of the ultrasonic sensor, the accuracy of map marking is influenced, and the detection compensation is performed by arranging an infrared sensor between every two adjacent ultrasonic sensors.

Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided by the present application and used in embodiments may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

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, apparatus, article, or method 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, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the application.

Claims

1. The method of the floor sweeping machine composition is characterized in that a plurality of ultrasonic sensors are uniformly arranged on the floor sweeping machine, and an infrared sensor is arranged between every two adjacent ultrasonic sensors, and the method comprises the following steps:

according to first probability values fed back by the ultrasonic sensors respectively to first test points in a to-be-detected area, calculating first generation values corresponding to the first test points, and according to second probability values corresponding to second test points in the to-be-detected area, calculating second generation values corresponding to the second test points, wherein the first test points belong to any test point of the to-be-detected area in the ultrasonic scanning range, and the second test points belong to any test point of the to-be-detected area in the infrared scanning range;

superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected;

the step of calculating the first generation value corresponding to the first test point according to the first probability values fed back by the plurality of ultrasonic sensors respectively to the first test point in the to-be-detected area comprises the following steps:

calculating a first generation value corresponding to the first test point at the time t according to a (t) =a (t-1) + (q (0) -0.5) ×k+ (q (1) -0.5) ×k+ (q (i) -0.5) ×k, wherein a (t-1) is the first generation value corresponding to the first test point at the time t-1, the initial value of a (t-1) is 127, K is an observation influence coefficient, and K epsilon (0, 255);

the infrared scanning range is a sector area, and the step of calculating the second cost value corresponding to the second test point according to the second probability value corresponding to the second test point in the area to be detected comprises the following steps:

acquiring a distance d1 of the infrared sensor to detect an obstacle;

2. The method of a floor sweeping mechanism according to claim 1, wherein the number of the infrared sensors located between two adjacent ultrasonic sensors is one, and the step of determining the compensation calculation region of the infrared sensors based on the first detection boundaries respectively corresponding to the adjacent two ultrasonic sensor scanning regions and the second detection boundaries of the infrared sensors located between the two adjacent ultrasonic sensors includes:

3. The method of claim 2, wherein the step of determining the second cost value corresponding to the second test point according to the length relation between the distance d1 and the line segment d and the second probability value includes:

Judging whether an obstacle exists according to the second probability value;

4. A method according to any one of claims 1 to 3, wherein the step of determining the line segment d from the intersection point to the mapping point in the compensation calculation region according to the intersection point of the two first detection boundaries of the adjacent ultrasonic sensor scanning regions mapped on the current map and the fitting position of the infrared sensor corresponding to the mapping point on the current map comprises:

5. The method of a floor sweeping machine according to claim 1, wherein the number of the infrared sensors located between two adjacent ultrasonic sensors is two or more, the step of determining the compensation calculation region of the infrared sensors based on the first detection boundaries respectively corresponding to the adjacent two ultrasonic sensor scanning regions and the second detection boundaries of the infrared sensors located between the two adjacent ultrasonic sensors, comprising:

6. The utility model provides a sweep the floor device of mechanism diagram, its characterized in that, integrate in sweep the floor on the machine, sweep and evenly set up a plurality of ultrasonic sensor on the machine, set up infrared sensor between every two adjacent ultrasonic sensor, the device includes:

the superposition module is used for superposing the ultrasonic map of the region to be detected and the infrared map of the region to be detected according to a one-to-one correspondence relationship of geographic positions to obtain a map corresponding to the region to be detected;

the calculation module includes two small modules, a first calculation sub-module and a second calculation sub-module, the first calculation sub-module includes:

a first obtaining unit, configured to obtain q (i) of a probability that an ith ultrasonic sensor detects that an obstacle exists in the first test point at a time t, where q (i) is e (0, 1);

a calculating unit, configured to calculate a first generation value corresponding to the first test point at time t according to a (t) =a (t-1) + (q (0) -0.5) ×k+ (q (1) -0.5) ×k+ (q (i) -0.5) ×k, where a (t-1) is the first generation value corresponding to the first test point at time t-1, an initial value of a (t-1) is 127, K is an observation influence coefficient, and K e (0, 255);

The second computing sub-module includes:

the first determining unit is used for determining a compensation calculation area of the infrared sensor according to first detection boundaries respectively corresponding to the two adjacent ultrasonic sensor scanning areas and second detection boundaries of the infrared sensor positioned between the two adjacent ultrasonic sensors;

the second determining unit is used for determining a line segment d from the intersection point to the mapping point in the compensation calculation area according to the intersection point of the two first detection boundaries of the adjacent ultrasonic sensor scanning areas mapped on the current map and the mapping point of the assembly position of the infrared sensor corresponding to the current map;

a second acquisition unit configured to acquire a distance d1 of the obstacle detected by the infrared sensor;

the unit is used for taking a point corresponding to a distance d1 from the infrared sensor in the radial direction of the line segment d as the second test point, wherein the radial direction of the line segment d takes a mapping point corresponding to the assembly position of the infrared sensor on a current map as a radial origin;

and the third determining unit is used for determining a second cost value corresponding to the second test point according to the length relation between the distance d1 and the line segment d and the second probability value.

7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.

8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.