CN112904366B - Repositioning method and device applied to sweeper, electronic equipment and medium - Google Patents
Repositioning method and device applied to sweeper, electronic equipment and medium Download PDFInfo
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- CN112904366B CN112904366B CN202110297035.6A CN202110297035A CN112904366B CN 112904366 B CN112904366 B CN 112904366B CN 202110297035 A CN202110297035 A CN 202110297035A CN 112904366 B CN112904366 B CN 112904366B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The embodiment of the disclosure discloses a repositioning method, a repositioning device, electronic equipment and a repositioning medium applied to a sweeper. One embodiment of the method comprises the following steps: when detecting that the distance between the sweeper and the ground changes, determining a change difference value of the distance; when the variation difference exceeds a preset threshold, starting a quick repositioning thread to generate a quick repositioning result; when the rapid repositioning result is lower than a preset limiting value, starting a slow repositioning thread to generate a slow repositioning result; and generating an environment map based on the fast repositioning result and the slow repositioning result. According to the embodiment, the quick repositioning thread and the slow repositioning thread are started, so that the repositioning of the sweeper and the construction of an environment map are realized. The repositioning problem of the sweeper is solved, and the user experience is improved on the side face.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of positioning of a sweeper, in particular to a repositioning method, a repositioning device, electronic equipment and a repositioning medium applied to the sweeper.
Background
The sweeping robot can use various sensors to sense environment and change motion strategies in the running motion process. The laser radar is the most important sensor of the robot for sweeping floor in the positioning and mapping process, and the laser result of the laser radar can participate in positioning and mapping, and can assist recovery under the condition that the robot loses positioning information.
The robot may be held up and then fall down due to external factors during the operation of the robot, and the positioning failure of the robot may be caused in the process, which is called as a repositioning problem of the robot. How to quickly relocate the position of the sweeping robot becomes the primary solution.
Disclosure of Invention
The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a repositioning method, apparatus, electronic device, and medium applied to a sweeper, to solve the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a repositioning method applied to a sweeper, the method comprising: when detecting that the distance between the sweeper and the ground changes, determining a change difference value of the distance; when the variation difference exceeds a preset threshold, starting a quick repositioning thread to generate a quick repositioning result; when the rapid repositioning result is lower than a preset limiting value, starting a slow repositioning thread to generate a slow repositioning result; and generating an environment map based on the fast repositioning result and the slow repositioning result.
In a second aspect, some embodiments of the present disclosure provide a repositioning apparatus for a sweeper, the apparatus comprising: the determining unit is used for determining a change difference value of the distance when the change of the distance between the sweeper and the ground is detected; the first generation unit is used for starting a quick repositioning thread when the variation difference exceeds a preset threshold value, and generating a quick repositioning result; the second generation unit is used for starting a slow repositioning thread when the fast repositioning result is lower than a preset limiting value, and generating a slow repositioning result; and a third generating unit, configured to generate an environment map based on the fast repositioning result and the slow repositioning result.
In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method as described in the first aspect.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program when executed by a processor implements the method as described in the first aspect.
One of the above embodiments of the present disclosure has the following advantageous effects: when the change difference value of the distance change between the sweeper and the ground exceeds a preset threshold value, the sweeper can be judged to be held up due to external factors and then fall down, and repositioning is needed. Then, a quick repositioning result for determining the position of the sweeper is generated by starting the quick repositioning thread. And when the obtained quick repositioning result is lower than a preset limiting value, generating a slow repositioning result for detecting and extracting surrounding environment characteristics by starting a slow repositioning thread. And finally, generating a new environment map according to the fast repositioning result and the slow repositioning result. The method provided by the embodiment realizes repositioning of the sweeper and construction of the environment map by starting the quick repositioning thread and the slow repositioning thread. The repositioning problem of the sweeper is solved, and the user experience is improved on the side face.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a schematic illustration of one application scenario of a repositioning method applied to a sweeper, according to some embodiments of the present disclosure;
FIG. 2 is a flow chart of some embodiments of a repositioning method applied to a sweeper in accordance with the present disclosure;
FIG. 3 is a schematic structural view of some embodiments of a repositioning apparatus applied to a sweeper according to the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic diagram of one application scenario of a repositioning method applied to a sweeper according to some embodiments of the present disclosure.
In the application scenario of fig. 1, first, when a change in the distance between the sweeper and the ground is detected, the computing device 101 may determine a change difference 102 in the distance. Then, when the variance difference 102 exceeds a preset threshold, the computing device 101 may initiate a quick relocation thread, as indicated by reference numeral 103, generating a quick relocation result 104. Thereafter, when the fast relocation result 104 is below a preset limit, the computing device 101 may initiate a slow relocation thread, as indicated by reference numeral 105, generating a slow relocation result 106. Finally, the computing device 101 may generate an environment map 107 based on the fast relocation result 104 and the slow relocation result 106.
The computing device 101 may be hardware or software. When the computing device 101 is hardware, it may be implemented as a distributed cluster formed by a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device (e.g., a sweeper, etc.). When the computing device 101 is embodied as software, it may be installed in the hardware devices listed above. It may be implemented as a plurality of software or software modules, for example, for providing distributed services, or as a single software or software module. The present invention is not particularly limited herein.
It should be understood that the number of computing devices in fig. 1 is merely illustrative. There may be any number of computing devices, as desired for an implementation.
With continued reference to fig. 2, a flow 200 of some embodiments of a repositioning method applied to a sweeper in accordance with the present disclosure is shown. The method may be performed by the computing device 101 in fig. 1. The repositioning method applied to the sweeper comprises the following steps of:
and 201, when detecting that the distance between the sweeper and the ground changes, determining a change difference value of the distance.
In some embodiments, the execution subject of the repositioning method applied to the sweeper (such as the computing device 101 shown in fig. 1) may determine the difference in the change in distance by: the first step, when detecting that the distance between the sweeper and the ground changes, the executing main body can record the change process of the distance; the second step, based on the change process, the execution subject may determine a peak value in the change process; thirdly, the executing main body can acquire the initial distance between the sweeper and the ground; fourth, the execution body may perform a difference between the peak value and the initial distance, and then the execution body may determine a difference result as the variation difference value.
As an example, the peak value in the above-described change process may be "110.5 cm", the initial distance may be "1.5 cm", and the above-described execution subject may determine the change difference value to be "109 cm".
And 202, when the variation difference exceeds a preset threshold, starting a quick repositioning thread to generate a quick repositioning result.
In some embodiments, the executing entity may initiate the quick relocation thread, and the executing entity may generate the quick relocation result by: the first step, the execution main body can select at least one frame of laser radar signal to score the position of the sweeper, and at least one score is obtained through calculation; the second step, the execution subject may select a preset number of scores from the at least one score in order of scores from large to small; third, the execution subject may calculate the variance of the predetermined number of scores; fourth, the execution subject may compare the variance with a preset threshold to obtain a comparison result; fifth, based on the comparison result, the execution subject may select a score from the preset number of scores as a target score; and sixthly, the execution body can determine the position corresponding to the target score as the quick repositioning result. Here, the quick repositioning result is mainly used to determine the position of the sweeper. As an example, in the fourth and fifth steps, when the variance is greater than the preset threshold, the comparison result may be "the variance is greater than the preset threshold". The execution body may select a score having a largest score from among the predetermined number of scores as the target score.
In some optional implementations of some embodiments, the fifth step includes: in response to determining that the variance is not less than the preset threshold, the execution body may select a score having a largest score from the preset number of scores as a target score.
In some optional implementations of some embodiments, the executing body may further generate the quick relocation result by: firstly, the execution body can control the sweeper to transmit laser radar information at least one position to obtain at least one signal feedback result set. Then, the executing body may obtain the position of the sweeper by using a three-ball intersection theorem based on the at least one signal feedback result set. The executing body may determine the location as the quick relocation result.
And 203, starting a slow repositioning thread when the fast repositioning result is lower than a preset limiting value, and generating a slow repositioning result.
In some embodiments, the executing entity may start the slow relocation thread when the fast relocation result is lower than a preset limit value. Then, the executing body can control the sweeper to start detecting according to the preset moving speed based on a preset detecting strategy and a preset time period. As an example, the preset limit value may be a score set in advance for describing the accuracy of the quick relocation result. Here, the preset detection strategy may be a wall-along strategy. When the environment detection is successful, the execution body may determine the obtained detection result as the slow relocation result. Here, the slow relocation result is mainly used to probe the environment to obtain effective environmental features.
In some optional implementations of some embodiments, the steps further include: when the environment detection fails, the execution body can control the sweeper to start to re-detect. When the re-probing is successful, the execution body may determine the obtained re-probing result as the slow relocation result.
And 204, generating an environment map based on the fast repositioning result and the slow repositioning result.
In some embodiments, based on the position of the sweeper provided by the fast repositioning result, the execution body may superimpose the environmental features extracted from the slow repositioning result to obtain a superimposed result. Then, the execution subject may remove the repeated portion in the superimposed result, and determine the removed image as the environment map.
In some optional implementations of some embodiments, the method further includes: when both the fast repositioning and the slow repositioning fail, the executing main body can initialize the synchronous positioning and map building functions of the sweeper. And then, based on the detection strategy, controlling the sweeper to start detection according to the preset moving speed to obtain a detection result. Finally, the execution subject may perform composition based on the detection result to obtain an environment map.
One of the above embodiments of the present disclosure has the following advantageous effects: when the change difference value of the distance change between the sweeper and the ground exceeds a preset threshold value, the sweeper can be judged to be held up due to external factors and then fall down, and repositioning is needed. Then, a quick repositioning result for determining the position of the sweeper is generated by starting the quick repositioning thread. And when the obtained quick repositioning result is lower than a preset limiting value, generating a slow repositioning result for detecting and extracting surrounding environment characteristics by starting a slow repositioning thread. And finally, generating a new environment map according to the fast repositioning result and the slow repositioning result. The method provided by the embodiment realizes repositioning of the sweeper and construction of the environment map by starting the quick repositioning thread and the slow repositioning thread. The repositioning problem of the sweeper is solved, and the user experience is improved on the side face.
With further reference to fig. 3, as an implementation of the above methods of the above figures, the present disclosure provides embodiments of a repositioning device for use in a sweeper, which device embodiments correspond to those described above with respect to fig. 2, and which device is particularly applicable to a variety of electronic devices.
As shown in fig. 3, a relocating device 300 applied to a sweeper of some embodiments includes: a determination unit 301, a first generation unit 302, a second generation unit 303, and a third generation unit 304. Wherein, the determining unit 301 is configured to determine a difference value of the distance when a change in the distance between the sweeper and the ground is detected; a first generating unit 302, configured to start a quick relocation thread when the variation difference exceeds a preset threshold, and generate a quick relocation result; a second generating unit 303, configured to start a slow relocation thread when the fast relocation result is lower than a preset limiting value, and generate a slow relocation result; and a third generating unit 304, configured to generate an environment map based on the fast repositioning result and the slow repositioning result.
In some optional implementations of some embodiments, the determining unit 301 of the repositioning device 300 applied to the sweeper is further configured to: when detecting that the distance between the sweeper and the ground changes, recording the change process of the distance; determining a peak value in the change process based on the change process; acquiring an initial distance between the sweeper and the ground; and carrying out difference between the peak value and the initial distance, and determining a difference result as the variation difference value.
In some alternative implementations of some embodiments, the first generation unit 302 of the relocating device 300 applied to a sweeper is further configured to: selecting at least one frame of laser radar signal to score the position of the sweeper, and calculating to obtain at least one score; selecting a preset number of scores from the at least one score in the order of from the score to the score; calculating the variance of the preset number of scores; comparing the variance with a preset threshold value to obtain a comparison result; selecting a score from the preset number of scores as a target score based on the comparison result; and determining the position corresponding to the target score as the quick repositioning result.
In some alternative implementations of some embodiments, the first generation unit 302 of the relocating device 300 applied to a sweeper is further configured to: controlling the sweeper to emit laser radar signals at least one position to obtain at least one signal feedback result set; and generating a quick repositioning result based on the at least one signal feedback result set.
In some optional implementations of some embodiments, the second generating unit 303 of the relocating device 300 applied to the sweeper is further configured to: based on a preset detection strategy and a preset time period, controlling the sweeper to start detection according to a preset moving speed; and when the environment detection is successful, obtaining a detection result and determining the detection result as the slow repositioning result.
In some alternative implementations of some embodiments, the first generation unit 302 of the relocating device 300 applied to a sweeper is further configured to: when the environment detection fails, controlling the sweeper to start re-detection; and when the re-detection is successful, obtaining a re-detection result and determining the re-detection result as the slow relocation result.
In some alternative implementations of some embodiments, the relocating device 300 applied to a sweeper is further configured to: when the quick repositioning fails and the slow repositioning fails, initializing the synchronous positioning and map construction functions of the sweeper; based on the detection strategy, controlling the sweeper to start detection according to the preset moving speed to obtain a detection result; and generating an environment map based on the detection result.
It will be appreciated that the elements described in the apparatus 300 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting benefits described above with respect to the method are equally applicable to the apparatus 300 and the units contained therein, and are not described in detail herein.
Referring now to FIG. 4, a schematic diagram of an electronic device 400 (e.g., computing device 101 of FIG. 1) suitable for use in implementing some embodiments of the present disclosure is shown. The server illustrated in fig. 4 is merely an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present disclosure in any way.
As shown in fig. 4, the electronic device 400 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 401, which may perform various suitable actions and processes according to a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage means 408 into a Random Access Memory (RAM) 403. In the RAM403, various programs and data necessary for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
In general, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 shows an electronic device 400 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 4 may represent one device or a plurality of devices as needed.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 409, or from storage 408, or from ROM 402. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing device 401.
It should be noted that, in some embodiments of the present disclosure, the computer readable medium may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be embodied in the apparatus; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: when detecting that the distance between the sweeper and the ground changes, determining a change difference value of the distance; when the variation difference exceeds a preset threshold, starting a quick repositioning thread to generate a quick repositioning result; when the rapid repositioning result is lower than a preset limiting value, starting a slow repositioning thread to generate a slow repositioning result; and generating an environment map based on the fast repositioning result and the slow repositioning result.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a determination unit, a first generation unit, a second generation unit, and a third generation unit. The names of these units do not constitute a limitation of the unit itself in some cases, and the determining unit may also be described as "a unit that determines a difference in the change of the distance when a change of the distance between the sweeper and the ground is detected", for example.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (8)
1. A repositioning method applied to a sweeper, comprising:
when detecting that the distance between the sweeper and the ground changes, determining a change difference value of the distance;
when the variation difference exceeds a preset threshold, starting a quick repositioning thread to generate a quick repositioning result, wherein the quick repositioning result is used for determining the position of the sweeper;
when the quick repositioning result is lower than a preset limiting value, starting a slow repositioning thread to generate a slow repositioning result, wherein the slow repositioning result is used for detecting an environment to acquire effective environmental characteristics;
superposing the position of the sweeper provided by the quick repositioning result and the environment characteristics extracted by the slow repositioning result to generate an environment map;
and when the variation difference exceeds a preset threshold, starting a quick repositioning thread to generate a quick repositioning result, wherein the quick repositioning result comprises the following steps of:
selecting at least one frame of laser radar signal to score the position of the sweeper, and calculating to obtain at least one score;
selecting a preset number of scores from the at least one score in the order of from the score to the score;
calculating the variance of the preset number of scores;
comparing the variance with a preset threshold value to obtain a comparison result;
selecting a score from the preset number of scores as a target score based on the comparison result;
determining the position corresponding to the target score as the quick repositioning result;
or alternatively, the process may be performed,
and when the variation difference exceeds a preset threshold, starting a quick repositioning thread to generate a quick repositioning result, wherein the quick repositioning result comprises the following steps of:
controlling the sweeper to emit laser radar signals at least one position to obtain at least one signal feedback result set;
and generating a quick repositioning result based on the at least one signal feedback result set.
2. The method of claim 1, wherein the determining the difference in the distance change when the change in the distance between the sweeper and the ground is detected comprises:
when detecting that the distance between the floor sweeping machine and the ground changes, recording the change process of the distance;
determining a peak value in the change process based on the change process;
acquiring an initial distance between the sweeper and the ground;
and carrying out difference between the peak value and the initial distance, and determining a difference result as the variation difference value.
3. The method of claim 1, wherein the initiating a slow relocation thread when the fast relocation result is below a preset limit value, generating a slow relocation result, comprises:
when the rapid repositioning result is lower than a preset limiting value, controlling the sweeper to start detecting according to a preset moving speed based on a preset detecting strategy and a preset time period;
and when the environment detection is successful, obtaining a detection result and determining the detection result as the slow repositioning result.
4. The method of claim 3, wherein the initiating a slow relocation thread when the fast relocation result is below a preset limit value, generating a slow relocation result, comprises:
when the environment detection fails, controlling the sweeper to start re-detection;
and when the re-detection is successful, obtaining a re-detection result and determining the re-detection result as the slow relocation result.
5. The method according to one of claims 1-4, wherein the method further comprises:
when the quick repositioning fails and the slow repositioning fails, initializing the synchronous positioning and map construction functions of the sweeper;
based on a detection strategy, controlling the sweeper to start detection according to a preset moving speed to obtain a detection result;
and generating an environment map based on the detection result.
6. A relocating device for use with a sweeper comprising:
the determining unit is used for determining a change difference value of the distance when the change of the distance between the sweeper and the ground is detected;
the first generation unit is used for starting a quick repositioning thread when the variation difference exceeds a preset threshold value, and generating a quick repositioning result which is used for determining the position of the sweeper;
the second generation unit is used for starting a slow repositioning thread when the fast repositioning result is lower than a preset limiting value, and generating a slow repositioning result, wherein the slow repositioning result is used for detecting the environment to acquire effective environment characteristics;
the third generating unit is used for superposing the position of the sweeper provided by the quick repositioning result and the environment characteristics extracted by the slow repositioning result to generate an environment map;
the first generation unit is further configured to: selecting at least one frame of laser radar signal to score the position of the sweeper, and calculating to obtain at least one score; selecting a preset number of scores from the at least one score in the order of from the score to the score; calculating the variance of the preset number of scores; comparing the variance with a preset threshold value to obtain a comparison result; selecting a score from the preset number of scores as a target score based on the comparison result; determining the position corresponding to the target score as the quick repositioning result;
or alternatively, the process may be performed,
the first generation unit is further configured to: controlling the sweeper to emit laser radar signals at least one position to obtain at least one signal feedback result set; and generating a quick repositioning result based on the at least one signal feedback result set.
7. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-5.
8. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-5.
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