CN112515560A - Method, chip and robot for acquiring cleaning direction through laser data - Google Patents
Method, chip and robot for acquiring cleaning direction through laser data Download PDFInfo
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- CN112515560A CN112515560A CN202011233648.5A CN202011233648A CN112515560A CN 112515560 A CN112515560 A CN 112515560A CN 202011233648 A CN202011233648 A CN 202011233648A CN 112515560 A CN112515560 A CN 112515560A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method, a chip and a robot for acquiring a cleaning direction through laser data, wherein the method comprises the following steps: s1: the robot controls the laser head to work and then obtains laser data; s2: the robot acquires a line segment in the laser data, if only one line segment exists, the line segment is taken as a pointing line segment, and the step S4 is carried out; otherwise, go to step S3; s3: the robot obtains a pointing line segment according to the position and the consistency degree of the line segment; s4: the robot determines the cleaning direction according to the pointing line segment. The robot can rapidly and accurately acquire the cleaning route through the acquired laser data in different environments, the speed is high, the accuracy is high, and the cleaning efficiency of the robot is improved.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method, a chip and a robot for acquiring a cleaning direction through laser data.
Background
When the laser sweeper is placed in a sweeping scene at first, the laser sweeper cannot be placed in parallel with the scene basically, and at the moment, the sweeper can only sweep in the direction of 0 degree of the laser head, so that the sweeping route is irregular. If the sweeper is placed in a scene, such as a wall, the sweeper needs to calculate an included angle with the wall, so that the sweeping direction parallel to the wall can be obtained, if the sweeping direction is incorrect, the sweeping direction of the robot is inaccurate, and the robot is not attractive in appearance and is not efficient.
Disclosure of Invention
In order to solve the problems, the invention provides a method for acquiring a cleaning direction through laser data, a chip and a robot, so that the cleaning efficiency of the robot is greatly improved. The specific technical scheme of the invention is as follows:
a method of acquiring a sweeping direction from laser data, the method comprising the steps of: s1: the robot controls the laser head to work and then obtains laser data; s2: the robot acquires a line segment in the laser data, if only one line segment exists, the line segment is taken as a pointing line segment, and the step S4 is carried out; otherwise, go to step S3; s3: the robot obtains a pointing line segment according to the position and the consistency degree of the line segment; s4: the robot determines the cleaning direction according to the pointing line segment. The robot can rapidly and accurately determine the pointing line segment parallel to the wall surface through the acquired laser data, and then determines the cleaning direction according to the pointing line segment, so that the speed is high, the accuracy is high, and the cleaning efficiency of the robot is improved.
In one or more aspects of the present invention, in step S1: the robot acquires a plurality of frames of laser data and fuses the frames of laser data. The robot acquires a plurality of frames of laser data to calculate, so that data instability is avoided, and calculation accuracy is improved.
In one or more aspects of the present invention, in step S2: the robot acquires line segments in the laser data in a straight line fitting mode.
In one or more aspects of the present invention, in step S3: and the robot selects the line segment which has the maximum consistency degree and is closest to the robot as the pointing line segment.
In one or more aspects of the present invention, a method for obtaining a line segment consistency degree includes: and the robot compares every two line segments in the laser data, and if the two line segments are parallel or vertical, the consistency degree of each line segment is added with 1. And the robot removes the line segments which do not meet the requirements, and eliminates the interference of the environment on the calculation of the robot.
In one or more embodiments of the present invention, when the degree of coincidence of the line segments is calculated, if the included angle between the two line segments is within the parallel angle range, the robot determines that the two line segments are parallel.
In one or more embodiments of the present invention, when the degree of coincidence of the line segments is calculated, if an included angle between the two line segments is within a vertical angle range, the robot determines that the two line segments are vertical. The parallelism or the verticality of the line segments is judged by setting a certain floating value, so that the influence of laser noise is avoided.
In one or more aspects of the present invention, in step S4: the robot selects the direction of one end of the directional line segment as the cleaning direction. The pointing direction of the pointing line segment is parallel to the wall surface, the starting cleaning direction of the robot is parallel to the wall surface, and the cleaning efficiency of the robot is improved.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the method for acquiring the cleaning direction through laser data. The chip is loaded in different robots, so that the robots can rapidly acquire the cleaning direction through the method, and the practicability is high.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot can acquire the direction of cleaning fast to different scenes, improves the efficiency of cleaning of robot.
Drawings
FIG. 1 is a flow chart of a method of acquiring a cleaning direction from laser data according to the present invention;
fig. 2 is a flow chart of the robot fitting straight line of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1, a method for acquiring a sweeping direction by laser data includes the following steps: s1: the robot controls the laser head to work and then obtains laser data; s2: the robot acquires a line segment in the laser data, if only one line segment exists, the line segment is taken as a pointing line segment, and the step S4 is carried out; otherwise, go to step S3; s3: the robot obtains a pointing line segment according to the position and the consistency degree of the line segment; s4: the robot determines the cleaning direction according to the pointing line segment. The robot can rapidly and accurately acquire the cleaning route through the acquired laser data in different environments, the speed is high, the accuracy is high, and the cleaning efficiency of the robot is improved. The robot acquires a plurality of frames of laser data and fuses the laser data, and during fusion, the robot combines all data points on the acquired multi-frame laser data together. The robot acquires multiframe laser data to calculate, avoids data instability, and improves calculation accuracy. The robot can obtain 3 frames of laser data, the quantity of the obtained laser data is moderate, too much laser data does not need to be calculated, and the accuracy of the calculation result is high.
As an example, referring to fig. 2, the robot acquires a line segment in the laser data by fitting a straight line. The method of straight line fitting is similar to weighted least square, segmentation is added, the robot obtains a point sequence with 360 distances through a laser radar, then MAX (the maximum distance between two adjacent points, the maximum distance between the current point and two points at the head and the tail form a straight line) is calculated, whether the MAX value is smaller than a preset value is judged, for example, 5cm is obtained, if yes, the current point sequence is taken as a straight line segment and added into a list, and then MAX is continuously calculated until no unprocessed analysis point sequence exists, and a straight line list is output; if not, splitting the current point into two point sequences, if the split point sequence is more than or equal to 3 points, calculating MAX, if not, determining that no unprocessed analysis point sequence exists, otherwise, outputting a straight line list, and otherwise, continuously calculating MAX.
As one of the embodiments, the robot selects the line segment which has the largest degree of coincidence and is closest to the robot as the pointing line segment. The method for acquiring the line segment consistency degree comprises the following steps: and the robot compares every two line segments in the laser data, and if the two line segments are parallel or vertical, the consistency degree of each line segment is added with 1. And the robot removes the line segments which do not meet the requirements, and eliminates the interference of the environment on the calculation of the robot. When the consistency degree of the line segments is calculated, if the included angle of the two line segments is in a parallel angle interval, the robot judges that the two line segments are parallel, and the parallel angle interval is between 0 degree and 5 degrees. When the consistency degree of the line segments is calculated, if the included angle of the two line segments is in a vertical angle interval, the robot judges that the two line segments are vertical, and the vertical angle interval is 85-95 degrees. The parallelism or the verticality of the line segments is judged by setting a certain floating value, so that the influence of laser noise is avoided. In step S4: the robot selects the direction of one end of the directional line segment as the cleaning direction. The pointing direction of the pointing line segment is parallel to the wall surface, the starting cleaning direction of the robot is parallel to the wall surface, and the cleaning efficiency of the robot is improved.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the method for acquiring the cleaning direction through laser data. The chip is loaded in different robots, so that the robots can rapidly acquire the cleaning direction through the method, and the practicability is high.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot can acquire the direction of cleaning fast to different scenes, improves the efficiency of cleaning of robot.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (10)
1. A method for acquiring a sweeping direction by laser data, comprising the steps of:
s1: the robot controls the laser head to work and then obtains laser data;
s2: the robot acquires a line segment in the laser data, if only one line segment exists, the line segment is taken as a pointing line segment, and the step S4 is carried out; otherwise, go to step S3;
s3: the robot obtains a pointing line segment according to the position and the consistency degree of the line segment;
s4: the robot determines the cleaning direction according to the pointing line segment.
2. The method for acquiring a cleaning direction by laser data according to claim 1, wherein in step S1: the robot acquires a plurality of frames of laser data and fuses the laser data.
3. The method for acquiring a cleaning direction by laser data according to claim 1, wherein in step S2: the robot acquires line segments in the laser data in a straight line fitting mode.
4. The method for acquiring a cleaning direction by laser data according to claim 1, wherein in step S3: and the robot selects the line segment which has the maximum consistency degree and is closest to the robot as the pointing line segment.
5. The method for acquiring the cleaning direction through the laser data as set forth in claim 4, wherein the line segment consistency degree is acquired by: and the robot compares every two line segments in the laser data, and if the two line segments are parallel or vertical, the consistency degree of each line segment is added with 1.
6. The method for acquiring the cleaning direction through the laser data as claimed in claim 5, wherein when the degree of coincidence of the line segments is calculated, if the included angle between the two line segments is within the parallel angle interval, the robot judges that the two line segments are parallel.
7. The method for acquiring the cleaning direction through the laser data as claimed in claim 5, wherein when the degree of coincidence of the line segments is calculated, if the included angle between the two line segments is within the vertical angle interval, the robot judges that the two line segments are vertical.
8. The method for acquiring a cleaning direction by laser data according to claim 1, wherein in step S4: the robot selects the direction of one end of the directional line segment as the cleaning direction.
9. A chip with a built-in control program for controlling a robot to perform the method of acquiring a cleaning direction by laser data according to any one of claims 1 to 8.
10. A robot equipped with a master control chip, characterized in that the master control chip is the chip of claim 9.
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| CN202011233648.5A CN112515560B (en) | 2020-11-06 | 2020-11-06 | Method, chip and robot for acquiring cleaning direction through laser data |
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| CN202011233648.5A CN112515560B (en) | 2020-11-06 | 2020-11-06 | Method, chip and robot for acquiring cleaning direction through laser data |
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