CN112525184A - Method and system for acquiring initial data of scrubber and scrubber - Google Patents
Method and system for acquiring initial data of scrubber and scrubber Download PDFInfo
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- CN112525184A CN112525184A CN201910801020.1A CN201910801020A CN112525184A CN 112525184 A CN112525184 A CN 112525184A CN 201910801020 A CN201910801020 A CN 201910801020A CN 112525184 A CN112525184 A CN 112525184A
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- scene graph
- position information
- scrubber
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- graph
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- A47L11/28—Floor-scrubbing 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
- 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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
The invention is suitable for the technical field of floor washers, and provides a method and a system for acquiring initial data of a floor washer and the floor washer, wherein the method comprises the following steps: receiving a working scene graph uploaded by a user terminal in a graph building state; converting the working scene graph into an activity scene graph according to a preset conversion method; acquiring initial position information of the floor cleaning machine in the activity scene graph; and taking the activity scene graph and the initial position information as work initial data. According to the method, the actual working scene graph is directly led into the floor washing machine, and the working scene graph is converted into the corresponding active scene graph according to the preset conversion method, so that the convenience and the accuracy of drawing construction are improved, the operation difficulty is reduced, the efficiency is improved, and the resource waste is avoided.
Description
Technical Field
The invention belongs to the technical field of floor washers, and particularly relates to a method and a system for acquiring initial data of a floor washer and a floor washer.
Background
A floor washing machine is a cleaning machine which cleans hard floors, simultaneously sucks up sewage and takes the sewage away from the site. Since the market is popular with users, more and more large public places (such as shopping malls, airports, waiting halls, hotel lobbies and the like) are cleaned by adopting the floor cleaning machine.
In the prior art, a driver of a conventional floor washing machine detects all positions in a preset scene by pushing or driving the floor washing machine with hands to establish an off-line map, and then the off-line map and a specified initial position are used as initial data of the floor washing machine, so that the floor washing machine works according to the initial data.
The defects of the initial data acquisition mode of the floor washing machine are as follows: the method has the advantages of low efficiency, high operation difficulty and relative resource waste, and the offline map is detected manually, so that certain undetected positions are inevitably generated, and the accuracy of the offline map is reduced.
Disclosure of Invention
The embodiment of the invention provides a method and a system for acquiring initial data of a scrubber and the scrubber, and aims to solve the technical problem of low efficiency of the conventional method for acquiring the initial data of the scrubber.
The embodiment of the invention is realized in such a way that the method for acquiring the initial data of the floor washing machine is characterized by comprising the following steps:
receiving a working scene graph uploaded by a user terminal in a graph building state;
converting the work scene graph into an activity scene graph;
acquiring initial position information of the floor cleaning machine in the activity scene graph;
and taking the activity scene graph and the initial position information as work initial data.
Furthermore, an environment detection device is arranged on the scrubber, and the step of acquiring the initial position information of the scrubber in the movable scene graph comprises the following steps:
acquiring environmental data acquired by the environmental detection device;
acquiring environment position information matched with the environment data in the activity scene graph;
and taking the environment position information as the initial position information.
Furthermore, an environment detection device is arranged on the scrubber, and the step of acquiring the initial position information of the scrubber in the movable scene graph comprises the following steps:
acquiring rough position information of the floor cleaning machine in the activity scene graph, wherein the rough position information is specified by a user;
controlling the floor cleaning machine to move according to a preset rule, and continuously acquiring environmental data acquired by the environmental detection device;
and positioning the real position information of the floor washing machine in the activity scene graph by adopting a preset positioning algorithm according to the rough position information and the environment data so as to obtain the initial position information.
Furthermore, the preset positioning algorithm is a particle filter algorithm or a variant algorithm of the particle filter algorithm.
Still further, the environment detection device comprises at least a laser radar and a camera.
Furthermore, the activity scene graph is a grid graph.
Further, the step of converting the working scenario diagram into the activity scenario diagram according to a preset conversion method includes:
converting the working scene graph from a CAD format into a PDF file with a layer;
converting the PDF file into a first picture file in a JPEG or PNG format with redundant layers removed;
converting the first picture file into a grid map in a PGM format;
or, the step of converting the working scene graph into the activity scene graph according to a preset conversion method includes:
removing redundant layers in the working scene graph, wherein the redundant layers are layers outside the building outline layer;
converting the work scene graph with the layer removed from the CAD format into a second picture file in a JPEG or PNG format;
converting the second picture file into a grid map in a PGM format;
or, the step of converting the working scene graph into the activity scene graph according to a preset conversion method includes:
combining layers in the working scene graph;
converting the work scene graph with the layers combined from the CAD format into a third picture file in a JPEG or PNG format;
and converting the third picture file into a grid map in a PGM format.
The embodiment of the invention also provides a system for acquiring the initial data of the scrubber, which comprises the following steps:
the scene graph acquisition module is used for receiving the working scene graph uploaded by the user terminal when the graph is established;
the image file conversion module is used for converting the working scene graph into an activity scene graph;
the position acquisition module is used for acquiring initial position information of the floor washing machine in the activity scene graph;
and the data processing module is used for taking the activity scene graph and the initial position information as work initial data.
The embodiment of the invention also provides a floor washing machine, which comprises a processor, a memory and a computer program which is stored on the memory and can be run on the processor, wherein when the processor runs the computer program, the floor washing machine executes the method for acquiring the initial data of the floor washing machine.
An embodiment of the present invention further provides a storage medium, which stores the computer program used in the floor washing machine, and when the computer program is executed by a processor, the method for acquiring initial data of the floor washing machine is implemented.
The invention achieves the following beneficial effects: by directly guiding the actual working scene graph (such as a building floor leveling graph) into the floor washing machine and converting the working scene graph into the corresponding movable scene graph according to a preset conversion method, the convenience and the accuracy of graph construction are improved, the operation difficulty is reduced, the efficiency is improved, and the resource waste is avoided.
Drawings
FIG. 1 is a flow chart of a method for obtaining initial data of a scrubber according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a method for obtaining initial data of a scrubber according to a second embodiment of the present invention;
FIG. 3 is a flow chart of a method for obtaining initial data of a scrubber according to a third embodiment of the present invention;
FIG. 4 is a block diagram of a system for acquiring initial data of a scrubber according to a fourth embodiment of the present invention;
fig. 5 is a block diagram of a floor scrubber according to the fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
All positions of the floor cleaning machine are detected in a preset scene by pushing hands of a driver or driving the floor cleaning machine to establish an off-line map as initial data of the floor cleaning machine, so that the efficiency is low, the operation difficulty is high, resources are wasted relatively, and the off-line map is detected manually, so that certain undetected positions are inevitably generated, and the accuracy of the off-line map is reduced. Therefore, the invention aims to provide a method and a system for acquiring initial data of a scrubber and the scrubber, so that the convenience and accuracy of drawing construction are improved, the operation difficulty is reduced, the efficiency is improved, and the resource waste is avoided by directly guiding an actual working scene graph into the scrubber and converting the working scene graph into a corresponding activity scene graph according to a preset conversion method.
Example one
Referring to fig. 1, a method for acquiring initial data of a scrubber according to a first embodiment of the present invention is shown, which can be implemented by software and/or hardware, and includes steps S01 to S04.
And step S01, receiving the work scene graph uploaded by the user terminal in the graph establishing state.
The work scene graph is a plan view or a perspective view reflecting the work environment of the floor washing machine, for example, when the floor washing machine is applied to the second floor of a mall, the work scene graph can be a building plan view or a perspective view of the second floor of the mall a. Meanwhile, the format of the work scene graph can be a picture format, a CAD format, a PDF format and the like. In consideration of convenience and rapidness of subsequent drawing processing, the working scene graph is preferably a plan view in a CAD format in practical use.
In particular implementations, the mapping state may be activated automatically when the scrubber is first started, or manually during use of the scrubber. When the mapping state is activated, the user terminal can transmit the corresponding work scene map to the scrubber by using a communication line (wired or wireless communication) between the user terminal and the scrubber.
And step S02, converting the work scene graph into an activity scene graph according to a preset conversion method.
The active scene graph may be a grid graph, and in specific implementation, the working scene graph in a picture format, a CAD format or a PDF format may be converted into a corresponding grid graph according to a corresponding graph format conversion rule. In addition, the two steps of obtaining the scene graph and converting the image file can be directly finished on the floor cleaning machine, and can also be input into the floor cleaning machine after being processed on a cloud or other computers.
And step S03, acquiring the initial position information of the floor washing machine in the activity scene graph.
The initial position information is generally the position information of the starting work of the floor washing machine, and the floor washing machine can automatically return to the initial position after finishing the work. In particular implementation, the initial position information of the scrubber in the activity scene graph can be found through user specification, GPS positioning, environment recognition positioning, or through laser and/or visual positioning algorithm + rough initial position (which can be preset by a user).
And step S04, using the activity scene graph and the initial position information as work initial data.
In summary, according to the method for acquiring initial data of the floor washing machine in the embodiment, the actual working scene graph is directly imported into the floor washing machine, and the working scene graph is converted into the corresponding movable scene graph according to the preset conversion method, so that the convenience and accuracy of graph construction are improved, the operation difficulty is reduced, the efficiency is improved, and the resource waste is avoided.
Example two
Referring to fig. 2, a method for acquiring initial data of a scrubber according to a second embodiment of the present invention is shown, which can be implemented by software and/or hardware, and includes steps S11-S16.
And step S11, receiving the work scene graph uploaded by the user terminal in the graph establishing state.
And step S12, converting the work scene graph into an activity scene graph according to a preset conversion method.
In this embodiment, the working scene graph is a planar two-dimensional graph file in CAD format, and the active scene graph is a grid graph in PGM format. Specifically, step S12 can be implemented in any one of the following three ways:
the method specifically comprises the following steps of (A) converting the working scene graph into an activity scene graph according to a preset conversion method:
converting the working scene graph from a CAD format into a PDF file with a layer;
converting the PDF file into a first picture file in a JPEG or PNG format with redundant layers removed;
converting the first picture file into a grid map in a PGM format;
(II) the step of converting the working scene graph into the activity scene graph according to the preset conversion method specifically comprises the following steps:
removing redundant layers in the working scene graph;
converting the work scene graph with the layer removed from the CAD format into a second picture file in a JPEG or PNG format;
converting the second picture file into a grid map in a PGM format;
(III), the step of converting the working scene graph into the activity scene graph according to a preset conversion method specifically comprises the following steps:
combining layers in the working scene graph;
converting the work scene graph with the layers combined from the CAD format into a third picture file in a JPEG or PNG format;
and converting the third picture file into a grid map in a PGM format.
It should be noted that the redundant image layers are image layers outside the building outline image layer, such as a scale, a special object mark, and the like, that is, the image layers such as the scale and the special object mark are removed, and only the real building border (scene outline) is reserved. The merging of the image layers refers to merging all information such as a scale, a special object mark, a building frame and the like into one picture.
And step S13, acquiring the environmental data acquired by the environmental detection device.
In this embodiment, the environment detection device at least includes a laser radar and a camera. Therefore, the environment data at least comprises the environment picture of the current position of the floor washing machine acquired by the camera and the distance between the floor washing machine and the surrounding environment acquired by the laser radar. In practical application, the detection directions of the laser radar and the camera are preferably towards the same direction, or the omnibearing laser radar and the panoramic camera can be directly adopted.
And step S14, acquiring environment position information of the environment data matched in the activity scene graph.
It can be understood that the vicinity and the direction of the reference point reflected by the environment picture of the floor cleaning machine can be determined by acquiring the environment picture of the current position of the floor cleaning machine, and the distance between the floor cleaning machine and the surrounding environment acquired by the laser radar in the direction can be determined by acquiring the distance between the floor cleaning machine and the reference point, so that the actual position information of the floor cleaning machine in the activity scene graph is positioned, namely the environment position information. For example, when the environment picture of the X direction (such as the forward direction) of the current position of the scrubber collected by the camera includes the elevator No. 1, and the distance between the scrubber collected by the laser radar in the X direction and the surrounding environment (i.e., the elevator No. 1) is 10mm, it can be determined that the scrubber is located at the 10mm position of the elevator No. 1 along the reverse X direction.
It should be noted that, in the above process of locating the environmental position information matched with the environmental data in the activity scene graph, the locating may be performed manually or the scrubber may perform the locating automatically according to the environmental data, and when the scrubber performs the locating automatically, the environmental picture of the working scene may be collected or input in advance before the implementation, so as to perform the matching with the environmental data subsequently, so as to capture the locating reference point.
And step S15, taking the environment position information as the initial position information of the floor washing machine in the activity scene graph.
It should be noted that the purpose of steps S13 to S15 is to locate the initial position information of the scrubber in the active scene graph according to the environmental parameters of the scrubber at the current position collected by the environmental detection device, and in actual operation, the scrubber needs to be ensured to be at the set initial position when steps S13 to S15 are executed.
And step S16, using the activity scene graph and the initial position information as work initial data.
EXAMPLE III
Referring to fig. 3, a third embodiment of the method for obtaining initial data of a scrubber according to the present invention is shown, which can be implemented by software and/or hardware, wherein the scrubber is provided with an environment detection device, the environment detection device at least includes a laser radar and a camera, and the method includes steps S21 to S27.
And step S21, receiving the work scene graph uploaded by the user terminal in the graph establishing state.
And step S22, converting the work scene graph into an activity scene graph according to a preset conversion method.
Wherein, the activity scene graph is a grid graph.
And step S23, acquiring rough position information of the floor washing machine in the activity scene graph, which is specified by a user.
In specific implementation, the user may specify the rough position p 'of the scrubber in the work scene graph on the UI interface of the scrubber, for example, mark a position point in the work scene CAD graph, and then convert the rough position p' into the relative position of the scrubber in the grid graph according to the positioning algorithm, that is, obtain the rough position information of the scrubber in the activity scene graph. Wherein, the positioning algorithm may be: and scaling the map by the CAD graph according to a scale, and mapping the map onto a grid graph with the resolution of r, wherein the relative position p0 of the mark point in the grid graph is r × p'.
And step S24, controlling the floor washing machine to move according to a preset rule, and continuously acquiring the environmental data acquired by the environmental detection device.
The preset rule is that the vehicle travels a preset distance in a slow and obstacle avoidance mode, and the vehicle travels based on a path planning algorithm of the vehicle.
And step S25, positioning the real position information of the floor cleaning machine in the activity scene graph by adopting a preset positioning algorithm according to the rough position information and the environment data so as to obtain the initial position information of the floor cleaning machine in the activity scene graph. The resolution of the active scene graph is the same as that of the grid graph, the direction definition is also the same, but the origin information is added on the basis of the grid graph, the origin of the active scene graph is the mark point p0, and then the real position information of the scrubber can be positioned in the grid graph based on the environment data.
It should be noted that the specific procedure of this step is to use the rough position information as the initial position p0 of the positioning algorithm, and then to match the feature points extracted by the lidar/camera with the grid map (i.e. the active scene map), so as to converge the initial position p0 to the real position.
The preset positioning algorithm may be a particle filter algorithm, and may also be a deformation algorithm of the particle filter algorithm. Particle filter algorithms are functions that represent probability densities approximated by finding a set of random samples that propagate in a state space.
And step S26, using the activity scene graph and the initial position information as work initial data.
Example four
Referring to fig. 4, a system for acquiring initial data of a scrubber according to a fourth embodiment of the present invention is shown, which can be applied to a scrubber and can be implemented by software and/or hardware, where the system includes a scene graph acquiring module 11, a drawing file converting module 12, a position acquiring module 13, and a data processing module 14, where:
the scene graph obtaining module 11 is configured to receive a working scene graph uploaded by a user terminal in a graph creating state.
The work scene graph is a plan view or a perspective view reflecting the work environment of the floor washing machine, for example, when the floor washing machine is applied to the second floor of a mall, the work scene graph can be a building plan view or a perspective view of the second floor of the mall a. Meanwhile, the format of the work scene graph can be a picture format, a CAD format, a PDF format and the like. In consideration of convenience and rapidness of subsequent drawing processing, the working scene graph is preferably a plan view in a CAD format in practical use.
In particular implementations, the mapping state may be activated automatically when the scrubber is first started, or manually during use of the scrubber. When the mapping state is activated, the user terminal can transmit the corresponding work scene map to the scrubber by using a communication line (wired or wireless communication) between the user terminal and the scrubber.
The drawing file conversion module 12 is used for converting the work scene graph into an activity scene graph.
The active scene graph may be a grid graph, and in specific implementation, the working scene graph in a picture format, a CAD format or a PDF format may be converted into a corresponding grid graph according to a corresponding graph format conversion rule.
The position acquisition module 13 is configured to acquire initial position information of the scrubber in the activity scene graph.
The initial position information is generally the position information of the starting work of the floor washing machine, and the floor washing machine can automatically return to the initial position after finishing the work. In specific implementation, the initial position information of the scrubber in the activity scene graph can be found through modes of user specification, GPS positioning, environment identification positioning and the like.
The data processing module 14 is configured to use the activity scene graph and the initial position information as initial work data.
Furthermore, an environment detection device is arranged on the floor washing machine, and the position acquisition module 13 is also used for acquiring environment data acquired by the environment detection device; acquiring environment position information matched with the environment data in the activity scene graph; and taking the environment position information as the initial position information.
Furthermore, the position obtaining module 13 is further configured to obtain rough position information of the scrubber in the active scene graph specified by the user, control the scrubber to move according to a preset rule, continuously obtain environment data collected by the environment detection device, and position real position information of the scrubber in the active scene graph by using a preset positioning algorithm according to the rough position information and the environment data to obtain the initial position information.
The preset positioning algorithm is a particle filter algorithm. The environment detection device at least comprises a laser radar and a camera. The activity scene graph is a grid graph.
Further, the drawing file conversion module 12 is further configured to convert the working scene graph from a CAD format into a PDF file with a layer, convert the PDF file into a first picture file in a JPEG or PNG format with a layer removed, and convert the first picture file into a grid map in a PGM format;
or, the drawing file conversion module 12 is further configured to remove layers in the working scene graph, convert the working scene graph after the layers are removed from a CAD format into a second picture file in a JPEG or PNG format, and convert the second picture file into a grid graph in a PGM format;
or, the drawing file converting module 12 is further configured to combine layers in the working scene graph, convert the working scene graph after the layers are combined from a CAD format into a third picture file in a JPEG or PNG format, and convert the third picture file into a grid graph in a PGM format.
To sum up, the system for acquiring initial data of the floor cleaning machine in the embodiment directly guides the actual working scene graph into the floor cleaning machine, and converts the working scene graph into the corresponding movable scene graph according to the preset conversion method, so that the convenience and accuracy of graph construction are improved, the operation difficulty is reduced, the efficiency is improved, and the resource waste is avoided.
EXAMPLE five
Referring to fig. 5, a floor washing machine according to a fifth embodiment of the present invention is shown, which includes a processor 10, a memory 20, a computer program 30 stored in the memory and executable on the processor, and an environment detecting device 40 disposed on the floor washing machine, wherein when the processor 10 executes the computer program 30, the floor washing machine performs the above method for acquiring initial data of the floor washing machine.
The environment detection device 40 at least includes a laser radar and a camera, and the processor 10 may be a Central Processing Unit (CPU), an upper computer, a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and is configured to run program codes stored in the memory 20 or process data.
The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal storage unit of the scrubber, such as a hard disk of the scrubber. The memory 20 may also be an external storage device of the scrubber in other embodiments, such as a plug-in hard drive provided on the scrubber, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 20 may also include both an internal storage unit and an external storage device of the scrubber. The memory 20 may be used not only to store application software installed in the scrubber and various types of data, but also to temporarily store data that has been output or will be output.
Optionally, the scrubber may further comprise a user interface, a network interface, a communication bus, etc., the user interface may comprise a Display (Display), an input unit such as a remote control, physical keys, etc., and the optional user interface may also comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the scrubber and for displaying a visual user interface, among other things. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), typically used to establish a communication link between the apparatus and other electronic devices. The communication bus is used for realizing connection communication among all components in the floor washing machine.
It should be noted that the configuration shown in FIG. 5 does not constitute a limitation of a scrubber, which in other embodiments may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.
To sum up, the floor cleaning machine in the embodiment introduces the actual working scene graph into the floor cleaning machine directly, and converts the working scene graph into the corresponding movable scene graph according to the preset conversion method, so that the convenience and accuracy of graph construction are improved, the operation difficulty is reduced, the efficiency is improved, and the resource waste is avoided.
The present embodiment also provides a storage medium on which a computer program for use in a scrubber as described above is stored, which program, when being executed by a processor, carries out a method of obtaining initial data for a scrubber as described above.
The storage medium may be, but is not limited to, a ROM/RAM, a magnetic disk, an optical disk, and other readable storage media.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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. In this specification, the schematic representations of the terms used above 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 above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A method for acquiring initial data of a scrubber, which is characterized by comprising the following steps:
receiving a working scene graph uploaded by a user terminal in a graph building state;
converting the working scene graph into an activity scene graph according to a preset conversion method;
acquiring initial position information of the floor cleaning machine in the activity scene graph;
and taking the activity scene graph and the initial position information as work initial data.
2. The method for acquiring initial data of a floor washing machine according to claim 1, wherein an environment detection device is arranged on the floor washing machine, and the step of acquiring the initial position information of the floor washing machine in the activity scene graph comprises the following steps:
acquiring environmental data acquired by the environmental detection device;
acquiring environment position information matched with the environment data in the activity scene graph;
and taking the environment position information as the initial position information.
3. The method for acquiring initial data of a floor washing machine according to claim 1, wherein an environment detection device is arranged on the floor washing machine, and the step of acquiring the initial position information of the floor washing machine in the activity scene graph comprises the following steps:
acquiring rough position information of the floor cleaning machine in the activity scene graph, wherein the rough position information is specified by a user;
controlling the floor cleaning machine to move according to a preset rule, and continuously acquiring environmental data acquired by the environmental detection device;
and positioning the real position information of the floor washing machine in the activity scene graph by adopting a preset positioning algorithm according to the rough position information and the environment data so as to obtain the initial position information.
4. The method for acquiring initial data of a floor washing machine as claimed in claim 3, wherein the preset positioning algorithm is a particle filter algorithm or a deformation algorithm of the particle filter algorithm.
5. The method for acquiring initial data of a floor washing machine according to claim 2 or 3, wherein the environment detection device comprises at least a laser radar and a camera.
6. The method for acquiring initial data of a scrubber as recited in claim 1, wherein the activity scene graph is a raster graph.
7. The method for acquiring initial data of a floor washing machine according to claim 6, wherein the step of converting the work scene graph into the active scene graph according to a preset conversion method comprises the following steps:
converting the working scene graph from a CAD format into a PDF file with a layer;
converting the PDF file into a first picture file in a JPEG or PNG format with redundant layers removed;
converting the first picture file into a grid map in a PGM format;
or, the step of converting the working scene graph into the activity scene graph according to a preset conversion method includes:
removing redundant layers in the working scene graph, wherein the redundant layers are layers outside the building outline layer;
converting the work scene graph with the layer removed from the CAD format into a second picture file in a JPEG or PNG format;
converting the second picture file into a grid map in a PGM format;
or, the step of converting the working scene graph into the activity scene graph according to a preset conversion method includes:
combining layers in the working scene graph;
converting the work scene graph with the layers combined from the CAD format into a third picture file in a JPEG or PNG format;
and converting the third picture file into a grid map in a PGM format.
8. A system for obtaining initial data of a scrubber, the system comprising:
the scene graph acquisition module is used for receiving the working scene graph uploaded by the user terminal when the graph is established;
the image file conversion module is used for converting the working scene graph into an activity scene graph;
the position acquisition module is used for acquiring initial position information of the floor washing machine in the activity scene graph;
and the data processing module is used for taking the activity scene graph and the initial position information as work initial data.
9. A scrubber comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the scrubber executes the computer program to perform the method of acquiring initial data of the scrubber of any one of claims 1-7.
10. A storage medium, characterized in that it stores a computer program for use in a scrubber according to claim 9, which computer program, when being executed by a processor, carries out a method for obtaining initial data of a scrubber according to any one of claims 1-7.
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