CN112269386B - Symmetrical environment repositioning method, symmetrical environment repositioning device and robot - Google Patents
Symmetrical environment repositioning method, symmetrical environment repositioning device and robot Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention is applicable to the technical field of sweeping robots, and provides a symmetrical environment repositioning method, a symmetrical environment repositioning device and a sweeping robot, wherein the method comprises the following steps: acquiring point cloud information of an environment where the robot is located, wherein the point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot; determining a first angle for limiting the repositioning of the robot according to the heading angle information; extracting target environment information matched with the first angle from the environment information; and positioning the target position of the robot in a preset world map according to the target environment information, and taking the position information mapped by the target position as real-time positioning information of the robot. In the embodiment, the repositioning is assisted by the IMU to limit the environment profile of the robot repositioning, so that the robot can be screened out as a correct position through the angle of the heading angle and the pose of the robot, the wrong symmetrical position is eliminated, and the local repositioning of the sweeping robot in the symmetrical environment is realized.
Description
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to a symmetrical environment repositioning method and device and a robot.
Background
The floor sweeping robot is also called an automatic sweeping machine, an intelligent dust collector, a robot dust collector and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. The sweeping robot generally adopts a brushing and vacuum mode, and firstly absorbs the ground sundries into the garbage storage box of the sweeping robot, so that the function of cleaning the ground is completed. The existing sweeping robot needs to plan a sweeping track and the like during sweeping, and therefore the sweeping robot needs to be capable of accurately and autonomously positioning.
In the actual working process of the sweeping robot, the situation of positioning errors can occur in a symmetrical environment, and the symmetrical environment is common in any household environment, such as an empty room is a symmetrical rectangle, and at the moment, the sweeping robot needs to be locally repositioned, the local repositioning can be carried up to a nearby position, and the coordinates of a new position can be found before the cleaning task is recovered, so that the cleaning task can be continued conveniently.
However, the existing local repositioning only depends on Lei Dadian cloud to collect the environment profile, and then compared with the environment, a plurality of overlapped positions can be generated, wherein only one position is correct, and the rest positions are wrong, so that the sweeping robot is wrongly positioned to a symmetrical position, and a wrong positioning result is generated.
Disclosure of Invention
The invention provides a symmetrical environment repositioning method, which aims to solve the problem of repositioning errors in a symmetrical environment.
The invention is realized in such a way that a symmetrical environment repositioning method comprises:
acquiring point cloud information of an environment where the robot is located, wherein the point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot;
determining a first angle for limiting the repositioning of the robot according to the heading angle information;
extracting target environment information matched with the first angle from the environment information;
and positioning the target position of the robot in a preset world map according to the target environment information, and taking the position information mapped by the target position as real-time positioning information of the robot.
Further, before the step of obtaining the point cloud information of the environment where the robot is located, the method further includes:
acquiring storage address information of a world map, wherein the world map comprises a target area consisting of a plurality of sweeping areas;
and reading the world map according to the storage address information, and loading the target area.
Still further, the step of locating the target position of the robot in the preset world map according to the target environment information includes:
any one cleaning area in the target area is extracted as a target position, and the target position is compared with the environment represented by the target environment information;
and when the target position is not matched with the environment represented by the target environment information, extracting the next cleaning area as the target position until the target position is matched with the environment represented by the target environment information.
Still further, the step of determining a first angle limiting repositioning of the robot based on the heading angle information includes:
acquiring a zero direction of a heading angle of the robot, wherein the zero direction is an orientation direction when the robot is started;
and calculating a first angle for limiting the repositioning of the robot according to a preset IMU course algorithm and a zero direction.
In a second aspect, the present application further provides a symmetrical environment having a relocating device, including:
the first acquisition module is used for acquiring point cloud information of the environment where the robot is located, wherein the point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot;
the first processing module is used for determining a first angle for limiting the repositioning of the robot according to the heading angle information;
the first extraction module is used for extracting target environment information matched with the first angle in the environment information;
the first execution module is used for positioning the target position of the robot in a preset world map according to the target environment information, and taking the position information mapped by the target position as real-time positioning information of the robot.
Still further, the method further comprises:
the second acquisition module is used for acquiring storage address information of a world map, wherein the world map comprises a target area consisting of a plurality of cleaning areas;
and the second execution module is used for reading the world map according to the storage address information and loading the target area.
Still further, the method further comprises:
the first extraction submodule is used for extracting any one of the cleaning areas in the target area as a target position and comparing the target position with the environment represented by the target environment information;
and the first execution sub-module is used for extracting the next cleaning area as the target position when the target position is not matched with the environment represented by the target environment information until the target position is matched with the environment represented by the target environment information.
Still further, the method further comprises:
the first acquisition sub-module is used for acquiring the zero direction of the heading angle of the robot, wherein the zero direction is the direction of the robot when the robot is started;
and the second execution sub-module is used for calculating a first angle for limiting the repositioning of the robot according to a preset IMU course algorithm and a zero direction.
In a third aspect, the present application also provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the computer program.
In a fourth aspect, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method as described above.
In a fifth aspect, the present application also provides a sweeping robot comprising a memory for storing a program for the sweeping robot to perform a method as described above, and a processor configured to execute the program stored in the memory.
According to the embodiment of the invention, the point cloud information comprises the environment information of the environment where the robot is located and the course angle information of the robot, wherein the environment information is the environment outline of the environment where the robot is located, which is acquired by the radar point cloud, the first angle of repositioning of the robot is limited according to the course angle information, and further, the target environment information corresponding to the first angle in the environment information is extracted, so that the environment outline of repositioning of the robot is limited, therefore, the target position of the robot in a world map can be positioned according to the target environment information, namely the real-time positioning position of the robot, the correct position is selected through the course angle and the angle of the pose of the robot, the wrong symmetrical position is eliminated, and the local repositioning of the sweeping robot in the symmetrical environment is realized.
Drawings
FIG. 1 is a schematic diagram of a specific flow chart of one embodiment of a method for symmetrical environment relocation provided by the present invention;
FIG. 2 is a schematic view of a robot position in a rectangular environment according to one embodiment of the present invention;
FIG. 3 is a schematic view of the heading and position of a robot according to one embodiment of the present invention;
FIG. 4 is a schematic flow chart of loading a map according to an embodiment of the symmetrical environment repositioning method provided by the present invention;
FIG. 5 is a schematic flow chart of a method for repositioning a target according to an embodiment of the present invention;
FIG. 6 is a flow chart illustrating a first angle calculation according to an embodiment of the method for symmetrical environment repositioning according to the present invention;
FIG. 7 is a schematic diagram of a module for symmetrical environment relocation provided by the present invention.
Detailed Description
The present invention 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 invention 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 invention.
The existing local repositioning only depends on Lei Dadian cloud to collect the environment profile, so that the sweeping robot is easily positioned to a symmetrical position by mistake, and an incorrect positioning result is generated. The point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot, and the robot is positioned through the radar point cloud and the heading of the robot, so that the wrong symmetrical position can be eliminated, and the local repositioning of the sweeping robot in the symmetrical environment is realized.
Example 1
In some alternative embodiments, referring to fig. 1, fig. 1 is a flow chart illustrating a symmetrical environment relocation method according to one embodiment of the present application.
As shown in fig. 1, the present application provides a symmetrical environment relocation method, including:
s1100, acquiring point cloud information of an environment where the robot is located, wherein the point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot;
the point cloud information can be environmental information collected by a laser radar, the laser radar is measurement equipment integrating a laser scanning system, a positioning system and a gesture determining system, the laser radar system comprises a laser and a receiving system, the working principle is that the laser generates and emits a beam of light pulse, the light pulse is beaten on an object and reflected back, the light pulse is finally received by a receiver, and the receiver accurately measures the propagation time from emission to reflection of the light pulse. In view of the fact that the speed of light is known, the travel time can be converted into a distance measurement, and the three-dimensional coordinates X, Y and Z of each ground light spot can be accurately calculated by combining the height of the laser and the laser scanning angle. Point cloud data refers to a set of vectors in a three-dimensional coordinate system, which are typically represented in the form of X, Y, Z three-dimensional coordinates, and are generally mainly used to represent the shape of the outer surface of an object, and may also represent RGB colors, gray values, depths, segmentation results, and the like of a point.
The point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot, when the point cloud information is implemented, environment profile information acquired through laser radar point cloud is used as environment information of the environment where the robot is located, the heading angle information of the robot is a self-defined direction angle of the sweeping robot, the heading of the robot on a map can be measured through an IMU, the heading of the robot when the robot is started determines the zero point direction of the heading angle of the IMU, and after the map is built each time, the included angle between the heading angle of the IMU and a world axis (such as X, Y, Z axis) of a world map is fixed, and IMU (Inertial measurement unit) is a device for measuring the three-axis attitude angle and acceleration of an object. The general IMU includes a tri-axis gyroscope and a tri-axis accelerometer. The course angle of the robot is calculated through an IMU algorithm when the machine is started, the environment information of the environment where the robot is located is scanned through a laser radar in the working process of the sweeping robot, and the environment information and the course angle information are combined into point cloud information.
S1200, determining a first angle for limiting the repositioning of the robot according to the heading angle information;
s1300, extracting target environment information matched with the first angle from the environment information;
the first angle of the robot repositioning is determined by a course angle, and when the robot is implemented, the robot for sweeping the floor collects the environmental profile through the laser radar point cloud by carrying out omnibearing scanning on the surrounding environment, and the first angle of the robot repositioning is limited, so that the collection angle of the robot on the environmental information can be limited or the environmental information of a limited range is adopted to determine the positioning position of the robot.
S1400, positioning a target position of the robot in a preset world map according to the target environment information, and taking the position information mapped by the target position as real-time positioning information of the robot.
The system limits target environment information in collected environment information according to a heading angle, and performs comparison and matching in a world map according to the target environment information, so that the target position of the robot in the world map is positioned, the target position is the real-time positioning position of the robot, in a symmetrical environment, the laser radar point cloud is used for carrying out omnibearing scanning on the surrounding environment, positioning errors easily occur, for example, in a rectangular room, the sweeping robot is positioned at any one corner of four corners of the rectangle, the robot is abutted with two side walls of the corners, at the moment, when the robot is carried to other corners, the robot scans to the positions, which are consistent with positioning conditions, of the two side walls, a plurality of overlapped positions are generated, the positions of the four corners are considered to be the positioning positions before carrying, but only one position of the four corners is correct, and the rest positions are wrong, so that the robot is positioned to the symmetrical positions in error.
While the first angle of repositioning of the robot is limited by the heading angle information, so that the robot only adopts environment information within a limited angle range, please refer to fig. 2, fig. 2 is a schematic diagram of the robot position in the rectangular environment of the symmetrical environment repositioning method, as shown in fig. 2, the rectangular environment comprises a position a, a position B and a position C, wherein the position a is positioned at the lower left corner of the rectangular environment, the position B is positioned at the lower right corner of the rectangular environment, the position C is positioned in the middle of the rectangular environment, the initial position of the robot is positioned at the position a, when the robot is conveyed to the position C, the robot acquires a change of the distance between the robot and a wall due to the characteristic of the laser radar point cloud, the robot is determined to move to the position C, and the cleaning track is planned again to complete the cleaning task; when the robot is transported from the position a to the position B, for example, the distance between the robot and the walls on both sides is 2 cm in the position a, and the distance between the robot and the walls on both sides is 2 cm in the position B, at this time, the robot does not perform local repositioning, the current cleaning task cannot be completed, and the map construction is wrong. According to the method and the device, the first angle of repositioning of the robot is limited, for example, the robot only scans the environment information of the left side and the lower side within the 90-degree angle range, when the robot is conveyed to the position B from the position A, the distance of the left side wall of the robot changes, and at the moment, the robot performs local repositioning, so that the unique and correct position is screened out.
In some embodiments, referring to fig. 3, fig. 3 is a schematic diagram of a heading and a position of a robot in a symmetrical environment repositioning method according to the present application, as shown in fig. 3, the robot is at a position 1 before being moved, taking an IMU heading of the robot at the position 1 as an example, and a pose of the sweeping robot in a map of the world is (X1, Y1, 45 °); the robot is carried and then placed at a position 2, the orientation of the robot is not changed at the position 2, the heading of the IMU is not changed at the moment, the pose of the robot in a map is (X2, Y2 and phi 2), and according to the corresponding relation between the IMU and the pose angle, the pose angle phi2 = 45 degrees of the current robot; according to the environmental information observed by the radar point cloud, the position 3 in fig. 2 also accords with the result of the point cloud matching, and the pose of the machine in the map is (X3, Y3, phi 3), at the moment, the angle phi3 which is calculated by the IMU algorithm is = -170 degrees and is not matched with the heading angle of the IMU, so that the position 3 is eliminated, and the misplacement position can be effectively eliminated.
According to the method, the environment information of the environment where the robot is located and the course angle information of the robot are included in the point cloud information, the environment information is the environment outline of the environment where the robot is located, which is acquired through laser radar point cloud environment acquisition, the first angle of repositioning of the robot is limited according to the course angle information, and then the target environment information corresponding to the first angle in the environment information is extracted, so that the environment outline of repositioning of the robot is limited, therefore, the target position of the robot in a world map can be positioned according to the target environment information, namely the real-time positioning position of the robot, the correct position is selected through the course angle and the angle of the pose of the robot, the wrong symmetrical position is eliminated, and the local repositioning of the sweeping robot in the symmetrical environment is realized.
Example two
In some alternative embodiments, referring to fig. 4, fig. 4 is a schematic flow chart of loading a map according to one embodiment of the symmetrical environment repositioning method of the present application.
As shown in fig. 4, before the step of obtaining the point cloud information of the environment where the robot is located, the method further includes:
s1010, acquiring storage address information of a world map, wherein the world map comprises a target area consisting of a plurality of cleaning areas;
in the working process of the robot, the cleaning environment is scanned and the cleaning track is planned so as to construct a world map, the cleaning environment is divided into a plurality of cleaning areas, for example, a household cleaning area is divided into a plurality of cleaning areas (for example, grid areas) on a household cleaning map, the plurality of cleaning areas form a target area, a living room and a bedroom are taken as examples, the living room and the bedroom are respectively one target area, the living room comprises a sofa cleaning area, a carpet cleaning area, a dining table cleaning area and the like, and the bedroom comprises a bed bottom cleaning area, a dressing table cleaning area and the like.
S1020, reading the world map according to the storage address information, and loading the target area.
The world map is stored in a local database or a cloud server, the world map can be obtained through the storage address of the world map, and the world map is loaded, so that the target area is loaded, when the target position of the robot in the world map is located, the target environment information can be compared and matched with each cleaning area, or the target environment information can be compared and matched with the environment outline of each cleaning area, and the position of the robot is accurately located.
Example III
In some alternative embodiments, referring to fig. 5, fig. 5 is a schematic flow chart illustrating the positioning of a target location according to one embodiment of the symmetrical environment repositioning method of the present application.
As shown in fig. 5, the step of locating the target position of the robot in the preset world map according to the target environment information includes:
s1410, any one cleaning area in the target area is extracted as a target position, and the target position is compared with the environment represented by the target environment information;
s1420, when the target position is not matched with the environment represented by the target environment information, extracting the next cleaning area as the target position until the target position is matched with the environment represented by the target environment information.
The target area comprises a plurality of cleaning areas, the system compares the cleaning areas in the target area with target environment information so as to find out the target position matched with the target environment information, or taking the example of the figure 2, the rectangular environment corresponds to the target area, and the positions A, B and C correspond to the cleaning areas, and of course, in the implementation, the rectangular environment also comprises other cleaning areas, and only takes the positions A, B and C as examples, when the robot is conveyed from the position A to the position B, the robot acquires the target environment information of the position B through the laser radar point cloud, and then compares and matches the cleaning areas corresponding to the positions A, B and C in the world map with the environment of the position B, so that the robot is positioned at the position B, the wrong symmetrical position A is eliminated, and the local repositioning accuracy is improved.
Example IV
In some alternative embodiments, referring to fig. 6, fig. 6 is a schematic flow chart illustrating the calculation of the first angle according to one embodiment of the symmetrical environment repositioning method of the present application.
As shown in fig. 6, the step of determining a first angle limiting the repositioning of the robot based on the heading angle information includes:
s1210, acquiring a zero direction of a heading angle of the robot, wherein the zero direction is a direction of the robot when the robot is started;
s1220, calculating a first angle for limiting the repositioning of the robot according to a preset IMU course algorithm and a zero direction.
In practice, the zero direction of the heading angle of the IMU is determined by the orientation of the machine when it is started. The orientation of the sweeper on the map is determined by an algorithm. After each map is built, the included angle between the two is fixed, but the two are not necessarily overlapped. The range of course angles calculated by the IMU is-180 to 180 degrees, the x axis is taken as the initial axis, the anticlockwise direction is positive, and the clockwise direction is negative, as in the case of the robot in figure 3, if the robot faces the center of the rectangle at four angular points of 45 degrees, the course angles of the upper left, the lower left, the upper right and the lower right are-45 degrees, -135 degrees and 135 degrees respectively although the point cloud data are the same. In a symmetric environment, repositioning cannot distinguish multiple symmetric positions only depending on point cloud information acquired by a lidar sensor. In the method, the heading angle of the IMU is closely related to the angle of the pose of the robot, and the unique correct position can be screened out according to the information of the heading angle after the position is changed, so that the wrong symmetrical position is eliminated, and the unique correct pose of the symmetrical environment is determined by auxiliary repositioning of the IMU.
Example five
In some alternative embodiments, the application further provides a symmetrical environment with a relocating device, and referring to fig. 7, fig. 7 is a schematic diagram of a module of an embodiment of the symmetrical environment relocating device of the application.
As shown in fig. 7, the symmetrical environment repositioning device of the present application includes:
a first obtaining module 2100, configured to obtain point cloud information of an environment where the robot is located, where the point cloud information includes environment information of the environment where the robot is located and heading angle information of the robot;
a first processing module 2200 for determining a first angle limiting the repositioning of the robot based on the heading angle information;
a first extraction module 2300, configured to extract target environmental information adapted to a first angle from the environmental information;
the first execution module 2400 is configured to locate a target position of the robot in a preset world map according to the target environment information, and take the position information mapped by the target position as real-time location information of the robot.
According to the method, the environment information of the environment where the robot is located and the course angle information of the robot are included in the point cloud information, the environment information is the environment outline of the environment where the robot is located, which is acquired through laser radar point cloud environment acquisition, the first angle of repositioning of the robot is limited according to the course angle information, and then the target environment information corresponding to the first angle in the environment information is extracted, so that the environment outline of repositioning of the robot is limited, therefore, the target position of the robot in a world map can be positioned according to the target environment information, namely the real-time positioning position of the robot, the correct position is selected through the course angle and the angle of the pose of the robot, the wrong symmetrical position is eliminated, and the local repositioning of the sweeping robot in the symmetrical environment is realized.
In some alternative embodiments, the symmetrical environment repositioning device of the present application further comprises:
the second acquisition module is used for acquiring storage address information of a world map, wherein the world map comprises a target area consisting of a plurality of cleaning areas;
and the second execution module is used for reading the world map according to the storage address information and loading the target area.
In some alternative embodiments, the symmetrical environment repositioning device of the present application further comprises:
the first extraction submodule is used for extracting any one of the cleaning areas in the target area as a target position and comparing the target position with the environment represented by the target environment information;
and the first execution sub-module is used for extracting the next cleaning area as the target position when the target position is not matched with the environment represented by the target environment information until the target position is matched with the environment represented by the target environment information.
In some alternative embodiments, the symmetrical environment repositioning device of the present application further comprises:
the first acquisition sub-module is used for acquiring the zero direction of the heading angle of the robot, wherein the zero direction is the direction of the robot when the robot is started;
and the second execution sub-module is used for calculating a first angle for limiting the repositioning of the robot according to a preset IMU course algorithm and a zero direction.
The symmetrical environment repositioning device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment portion is not mentioned.
Example six
In some alternative embodiments, the present application also provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the computer program.
Example seven
In some alternative embodiments, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method as described above.
Example eight
In some alternative embodiments, the present application also provides a sweeping robot comprising a memory for storing a program for the sweeping robot to perform a method as described above, and a processor configured to execute the program stored in the memory.
For example, a computer program may be split into one or more modules, one or more modules stored in memory and executed by a processor to perform the present invention. One or more modules may be a series of computer program instruction segments capable of performing particular functions to describe the execution of a computer program in a computer device. For example, a computer program may be partitioned into the steps of the food safety classification method provided by the various method embodiments described above.
It will be appreciated by those skilled in the art that the foregoing description of computer apparatus is merely an example and is not intended to be limiting, and that more or fewer components than the foregoing description may be included, or certain components may be combined, or different components may be included, for example, input-output devices, network access devices, buses, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center of the computer device, connecting various parts of the overall computer device using various interfaces and lines.
The memory may be used to store the computer program and/or modules, and the processor may implement various functions of the computer device by running or executing the computer program and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The modules/units integrated with the computer apparatus may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier wave signal, an electrical signal, a software distribution medium, and so forth.
According to the method, the environment information of the environment where the robot is located and the course angle information of the robot are included in the point cloud information, the environment information is the environment outline of the environment where the robot is located, which is acquired through the radar point cloud environment, the first angle of repositioning of the robot is limited according to the course angle information, and then the target environment information corresponding to the first angle in the environment information is extracted, so that the environment outline of repositioning of the robot is limited, therefore, the target position of the robot in a world map can be positioned according to the target environment information, namely the real-time positioning position of the robot, the correct position is selected through the course angle and the angle of the pose of the robot, the wrong symmetrical position is eliminated, and the local repositioning of the sweeping robot in the symmetrical environment is realized.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. A method of symmetrical environment repositioning comprising:
acquiring point cloud information of an environment where a robot is located, wherein the point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot;
determining a first angle limiting repositioning of the robot according to the heading angle information;
extracting target environment information matched with the first angle from the environment information;
positioning a target position of the robot in a preset world map according to target environment information, and taking the position information mapped by the target position as real-time positioning information of the robot;
before the step of obtaining the point cloud information of the environment where the robot is located, the method further comprises:
acquiring storage address information of the world map, wherein the world map comprises a target area consisting of a plurality of cleaning areas;
reading the world map according to the storage address information, and loading the target area;
the step of positioning the target position of the robot in the preset world map according to the target environment information comprises the following steps:
extracting any one of the cleaning areas in the target area as the target position, and comparing the target position with the environment represented by the target environment information;
when the target position is not matched with the environment represented by the target environment information, extracting the next cleaning area as the target position until the target position is matched with the environment represented by the target environment information;
the step of determining a first angle limiting repositioning of the robot based on the heading angle information includes:
acquiring a zero direction of a heading angle of the robot, wherein the zero direction is a direction when the robot is started;
and calculating a first angle limiting the repositioning of the robot according to a preset IMU course algorithm and the zero direction.
2. A symmetrical environment having a relocating device comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring point cloud information of an environment where a robot is located, and the point cloud information comprises environment information of the environment where the robot is located and heading angle information of the robot;
the first processing module is used for determining a first angle for limiting the repositioning of the robot according to the heading angle information;
the first extraction module is used for extracting target environment information matched with the first angle in the environment information;
the first execution module is used for positioning the target position of the robot in a preset world map according to the target environment information, and taking the position information mapped by the target position as real-time positioning information of the robot;
the second acquisition module is used for acquiring storage address information of the world map, wherein the world map comprises a target area consisting of a plurality of sweeping areas;
the second execution module is used for reading the world map according to the storage address information and loading the target area;
the first extraction submodule is used for extracting any one of the cleaning areas in the target area as the target position and comparing the target position with the environment represented by the target environment information;
the first execution sub-module is used for extracting the next cleaning area as the target position when the target position is not matched with the environment represented by the target environment information until the target position is matched with the environment represented by the target environment information;
the first acquisition submodule is used for acquiring a zero direction of a heading angle of the robot, wherein the zero direction is a direction when the robot is started;
and the second execution sub-module is used for calculating a first angle for limiting the repositioning of the robot according to a preset IMU course algorithm and the zero direction.
3. A computer readable storage medium storing a computer program, which when executed by a processor performs the steps of the method according to claim 1.
4. A sweeping robot comprising a memory for storing a program for executing the method of claim 1, and a processor configured to execute the program stored in the memory.
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| CN115177178A (en) * | 2021-04-06 | 2022-10-14 | 美智纵横科技有限责任公司 | Cleaning method, cleaning device and computer storage medium |
| CN113960999B (en) * | 2021-07-30 | 2024-05-07 | 珠海一微半导体股份有限公司 | Repositioning method, repositioning system and repositioning chip for mobile robot |
| CN114012725B (en) * | 2021-11-05 | 2023-08-08 | 深圳拓邦股份有限公司 | Robot repositioning method, system, robot and storage medium |
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