CN112904367B - Position scoring method and device applied to relocation of sweeper and electronic equipment - Google Patents
Position scoring method and device applied to relocation of sweeper and electronic equipment Download PDFInfo
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- CN112904367B CN112904367B CN202110297188.0A CN202110297188A CN112904367B CN 112904367 B CN112904367 B CN 112904367B CN 202110297188 A CN202110297188 A CN 202110297188A CN 112904367 B CN112904367 B CN 112904367B
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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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- 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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Abstract
The embodiment of the disclosure discloses a position scoring method and device applied to relocation of a sweeper and electronic equipment. One embodiment of the method comprises: controlling a sweeper to emit a preset number of frames of laser to perform environment detection to obtain an environment detection result; generating a grid map based on the environment detection result; traversing the grid map based on the map precision and the preset pose degree of the grid map to obtain the traversed grid map; and determining the score of the position of the sweeper based on the traversed grid map. The embodiment utilizes emitted laser light for environment detection to generate a grid map. And traversing the grid map twice to obtain the grid map with higher integrity. The score of the determined position of the sweeper provides convenience for determining the repositioning and the map building of the sweeper. The sweeper is beneficial to better providing cleaning service for users, and the user experience is improved laterally.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of positioning of a sweeper, in particular to a position scoring method and device applied to repositioning of the sweeper and electronic equipment.
Background
The sweeping robot can sense the environment and change the motion strategy by using various sensors in the running and moving process. The laser radar is the most important sensor of the sweeping robot in the positioning and mapping process, and the laser result of the laser radar can participate in positioning and mapping and can assist in recovery under the condition that the robot loses positioning information.
The sweeping robot can be lifted up and then fall down due to external factors in the running process, and the positioning of the sweeping robot is failed due to the process, so that the problem is called the relocation problem of the sweeping robot. How to reposition the position of the sweeping robot by using laser assistance becomes a primary solution.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary 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 provide a position scoring method, device and electronic device applied to repositioning of a sweeper, so as to solve the technical problems mentioned in the above background.
In a first aspect, some embodiments of the present disclosure provide a position scoring method applied when a sweeper is repositioned, the method including: controlling the sweeper to emit a preset number of frames of laser to carry out environment detection to obtain an environment detection result; generating a grid map based on the environment detection result; traversing the grid map based on the map precision and the preset pose degree of the grid map to obtain the traversed grid map; and determining the score of the position of the sweeper based on the traversed grid map.
In a second aspect, some embodiments of the present disclosure provide a position scoring device applied to repositioning of a sweeper, the device including: the detection unit is used for controlling the sweeper to emit a preset number of frames of laser to carry out environment detection so as to obtain an environment detection result; a generating unit configured to generate a grid map based on the environment detection result; the traversal unit is used for traversing the grid map based on the map precision and the preset pose degree of the grid map to obtain the traversed grid map; and the determining unit is used for determining the score of the position of the sweeper based on the traversed grid map.
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 a method as described in the first aspect.
In a fourth aspect, some embodiments of the 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 various embodiments of the present disclosure has the following beneficial effects: the sweeper is controlled to emit laser to detect the environment, and then a grid map is generated according to the detection result. And traversing the grid map twice based on the map precision and the preset pose degree of the grid map, so as to obtain the grid map with higher integrity. And finally, the score of the position of the sweeper is determined, so that convenience is provided for determining the relocation of the sweeper and constructing a map. The sweeper is beneficial to better providing cleaning service for users, and the user experience is improved laterally.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of one application scenario applied to a location scoring method when a sweeper is repositioned, according to some embodiments of the present disclosure;
figure 2 is a flow chart of some embodiments of a position scoring method applied when the sweeper is repositioned according to the present disclosure;
figure 3 is a schematic structural view of some embodiments of a position scoring device applied when the sweeper is repositioned according to the present disclosure;
FIG. 4 is a schematic block 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 disclosure are shown in the drawings, it is to be understood that the 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 for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the 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 an application scenario of the location scoring method when the sweeper is repositioned according to some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may control the sweeper to emit a preset number of frames of laser light for environment detection, so as to obtain an environment detection result 102. Then, based on the environment detection result 102, the computing device 101 may generate a grid map 103. Then, based on the map accuracy and the preset pose degree of the grid map, as shown by reference numeral 104, the computing device 101 may traverse the grid map 103 to obtain a traversed grid map 105. Finally, based on the traversed grid map 105, the computing device 101 may determine a score 106 for the location of the sweeper.
The computing device 101 may be hardware or software. When the computing device 101 is hardware, it may be implemented as a distributed cluster consisting of 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, for example, as multiple software or software modules for providing distributed services, or as a single software or software module. And 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 implementation needs dictate.
With continued reference to fig. 2, a flow 200 of some embodiments of a location scoring method applied when the sweeper is repositioned according to the present disclosure is shown. The method may be performed by the computing device 101 of fig. 1. The position scoring method applied to the relocation of the sweeper comprises the following steps:
In some embodiments, an executing entity (e.g., the computing device 101 shown in fig. 1) that applies the location scoring method when the sweeper is repositioned may detect whether the distance between the sweeper and the floor changes. The distance between the sweeper and the ground is detected to be changed, and the execution main body can determine the change difference of the distance. Then, when the variation difference exceeds a preset threshold, the execution main body can control the sweeper to emit a preset number of frames of laser to perform environment detection, so as to obtain an environment detection result. The laser may contain focused information. Here, the environment detection result may be a feedback signal received after a preset number of frames of laser light are emitted.
In some optional implementations of some embodiments, the executing body may determine the difference in the change of the distance by: firstly, detecting the change of the distance between the sweeper and the ground, wherein the execution main body can record the change process of the distance; a second step in which the execution body determines a peak value in the change process based on the change process; thirdly, the execution main body can obtain the initial distance between the sweeper and the ground; in the fourth step, 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 change process may be "95.5 cm", the initial distance may be "1.5 cm", the execution subject may determine that the change difference is "94 cm", and the preset threshold may be "2 cm".
In some embodiments, the execution body may calculate and determine the distance between the sweeper and the obstacle based on the environment detection result, the emission speed of the preset number of frames of laser light, and the time of receiving the feedback signal. Then, the execution body may construct a grid map based on the distance.
In some optional implementations of some embodiments, the method further comprises: detecting the integrity of the grid map to obtain a detection result; initializing a synchronous positioning map construction function of the sweeper in response to determining that the detection result represents that the grid map is incomplete; and controlling the sweeper to detect again.
And 203, traversing the grid map based on the map precision and the preset pose degree of the grid map to obtain the traversed grid map.
In some embodiments, the executing entity may perform a traversal of the grid map based on the map accuracy to obtain a traversed grid map. And then, the executing body can perform secondary traversal on the primary traversal grid map by taking the pose angle as the preset pose degree to obtain a secondary traversal grid map. Finally, the execution subject may determine the secondary traversal grid map as the traversed grid map.
And 204, determining the score of the position of the sweeper based on the traversed grid map.
In some embodiments, based on the traversed grid map, the executing entity may determine the score of the location of the sweeper by: the first step, the execution main body can remove the laser meeting the preset condition in the preset number of frames of laser to obtain a calculable laser set; secondly, the execution subject can calculate and determine the score of each laser beam in the calculable laser set to obtain a laser score set; and thirdly, the execution main body can sum the laser score set, and then the sum result is determined as the score of the position of the sweeper under the preset number of frames of laser. Here, the preset condition includes, but is not limited to, at least one of: the laser of the previous unit which is hit by the unit when the obstacle is hit is not the feasible reachable unit, and the laser which does not hit the obstacle.
In some optional implementations of some embodiments, the performing agent may calculate a score for determining at least one laser hit point of the laser, resulting in a set of laser hit point scores. Then, the executing body may sum the set of scores of the laser hit points, and determine the sum as the score of the laser.
In some optional implementations of some embodiments, the performing agent may determine the score of the at least one laser hit point of the laser by: firstly, the executing body can calculate and determine the position coordinates of the laser hitting point on the traversed grid map; secondly, the execution subject can calculate and determine the position coordinates of a target feasible region (for example, a previous feasible region) of the laser hit point in the direction of the corresponding laser; thirdly, when the hit rate of the laser hit point in the grid is higher than a preset hit threshold, the execution main body can judge whether the hit rate of the laser hit point in the grid of the target feasible region is lower than the preset hit threshold; fourthly, when the hit rate of the grid where the target feasible region is located is lower than the preset hit threshold, the execution main body can calculate the difference value between the hit position and the center position of the grid where the laser hit point is located; in the fifth step, the execution subject may calculate a score of the laser hit point based on the difference.
In some optional implementations of some embodiments, the performing agent may determine the score of the laser hit point by calculating, based on the difference, a score of the laser hit point according to the following formula:
score+＝exp(-1.0/σ*distance*distance)，
where score represents the score of the laser hit point. σ denotes the trust index, e.g. in the order of one percent. Distance represents the above difference.
In some optional implementations of some embodiments, the method further comprises: the execution main body can transmit the score of the position of the sweeper to target equipment with a display function, and control the target equipment to display the score.
One of the above-described various embodiments of the present disclosure has the following advantageous effects: the environment is detected by controlling the sweeper to emit laser, and then a grid map is generated according to the detection result. And traversing the grid map twice based on the map precision and the preset pose degree of the grid map, so as to obtain the grid map with higher integrity. And finally, the score of the position of the sweeper is determined, so that convenience is provided for determining the relocation of the sweeper and constructing a map. The sweeper is beneficial to better providing cleaning service for users, and the user experience is improved laterally.
With further reference to fig. 3, as an implementation of the above method for the above drawings, the present disclosure provides some embodiments of a position scoring device applied to repositioning of a sweeper, which correspond to the above method embodiments of fig. 2, and which can be applied to various electronic devices.
As shown in fig. 3, the position scoring device 300 applied to the relocation of the sweeper in some embodiments includes: a detection unit 301, a generation unit 302, a traversal unit 303 and a determination unit 304. The detection unit 301 is configured to control the sweeper to emit a preset number of frames of laser to perform environment detection, so as to obtain an environment detection result; a generating unit 302, configured to generate a grid map based on the environment detection result; the traversing unit 303 is configured to traverse the grid map based on the map precision and the preset pose degree of the grid map to obtain a traversed grid map; a determining unit 304, configured to determine a score of the location of the sweeper based on the traversed grid map.
In some optional implementations of some embodiments, the detection unit 301 applied to the position scoring device 300 when the sweeper is repositioned is further configured to: detecting the change of the distance between the sweeper and the ground, and determining the change difference of the distance; and when the change difference value exceeds a preset threshold value, controlling the sweeper to emit a preset number of frames of laser to carry out environment detection, and obtaining an environment detection result.
In some optional implementations of some embodiments, the traversal unit 303 of the location scoring device 300 applied when the sweeper is repositioned is further configured to: based on the map precision, performing one-time traversal on the grid map to obtain a one-time traversal grid map; and performing secondary traversal on the primary traversal grid map based on the preset pose degree to obtain a secondary traversal grid map, and determining the secondary traversal grid map as the traversed grid map.
In some optional implementations of some embodiments, the determining unit 304 applied to the position scoring apparatus 300 when the sweeper is repositioned is further configured to: removing the laser meeting the preset condition in the preset number of frames of laser to obtain a calculable laser set; calculating and determining the score of each laser beam in the calculable laser set to obtain a laser score set; and summing the laser score sets, and determining a summation result as the score of the position of the sweeper under the preset number of frames of laser.
In some optional implementations of some embodiments, the calculating to determine the score of each laser in the set of calculable lasers includes: calculating and determining the score of at least one laser hit point of the laser to obtain a laser hit point score set; and summing the laser hit point score sets, and determining a summation result as the score of the laser.
In some optional implementations of some embodiments, the calculating determining a score for at least one laser hit point of the laser comprises: calculating and determining the position coordinates of the laser hitting point on the traversed grid map; calculating and determining the position coordinates of the target feasible region of the laser hitting point in the direction of the corresponding laser; when the hit rate of the laser hit point in the grid is higher than a preset hit threshold, judging whether the hit rate of the laser hit point in the grid where the target feasible region is located is lower than the preset hit threshold; when the hit rate of the grid where the target feasible region is located is lower than the tertiary hit threshold, calculating the difference between the hit position and the center position of the grid where the laser hit center point is located; based on the difference, a score for the laser hit point is calculated.
In some optional implementations of some embodiments, the traversal unit 303 applied when repositioning the sweeper is further configured to: and transmitting the score of the position of the sweeper to target equipment with a display function, and controlling the target equipment to display the score.
It will be understood that the units described in the apparatus 300 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations, features and advantages described above with respect to the method are also applicable to the apparatus 300 and the units included therein, and are not described herein again.
Referring now to FIG. 4, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1) 400 suitable for use in implementing some embodiments of the present disclosure is shown. The server shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM 402, and the RAM403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, 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, tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 4 may represent one device or may represent multiple devices, as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams 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 illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 409, or from the storage device 408, or from the ROM 402. The computer program, when executed by the processing apparatus 401, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination 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 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, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. 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, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, 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 network.
The computer readable medium may be embodied in the apparatus described above; or may exist separately without being assembled 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: controlling a sweeper to emit a preset number of frames of laser to perform environment detection to obtain an environment detection result; generating a grid map based on the environment detection result; traversing the grid map based on the map precision and the preset pose degree of the grid map to obtain the traversed grid map; and determining the score of the position of the sweeper based on the traversed grid map.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of 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 latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart 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 software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes a detection unit, a generation unit, a traversal unit, and a determination unit. The names of the units do not limit the units themselves under certain conditions, for example, the detection unit may also be described as a "unit for controlling the sweeper to emit a preset number of frames of laser to perform environment detection, so as to obtain an environment detection result".
The functions described herein above 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: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology 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-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (7)
1. A position scoring method applied to relocation of a sweeper comprises the following steps:
controlling the sweeper to emit a preset number of frames of laser to carry out environment detection to obtain an environment detection result;
generating a grid map based on the environment detection result;
traversing the grid map based on the map precision and the preset pose degree of the grid map to obtain the traversed grid map;
determining the score of the position of the sweeper based on the traversed grid map; the method comprises the following steps:
removing the laser meeting the preset condition in the preset number of frames of laser to obtain a calculable laser set;
calculating and determining the score of each laser beam in the calculable laser set to obtain a laser score set;
summing the laser score set, and determining a summation result as the score of the position of the sweeper under the preset number of frames of laser;
the calculating determines a score for each laser in the set of calculable lasers, including:
calculating and determining the score of at least one laser hit point of the laser to obtain a laser hit point score set;
summing the laser hit point score sets, and determining a summation result as the score of the laser;
the calculating determines a score for at least one laser hit point of the laser, including:
calculating and determining the position coordinates of the laser hitting point on the traversed grid map;
calculating and determining the position coordinates of the target feasible region of the laser hitting point in the direction of the corresponding laser;
when the hit rate of the laser hit point in the grid is higher than a preset hit threshold, judging and determining whether the hit rate of the laser hit point in the grid where the target feasible region is located is lower than the preset hit threshold;
when the hit rate of the grid where the target feasible region is located is lower than the preset hit threshold, calculating the difference between the hit position and the center position of the grid where the laser hit center point is located;
based on the difference, a score for the laser hit point is calculated.
2. The method of claim 1, wherein the controlling the sweeper to emit a preset number of frames of laser for environment detection to obtain an environment detection result comprises:
detecting the change of the distance between the sweeper and the ground, and determining the change difference of the distance;
and when the change difference value exceeds a preset threshold value, controlling the sweeper to emit a preset number of frames of laser to carry out environment detection, and obtaining an environment detection result.
3. The method of claim 1, wherein traversing the grid map based on the map accuracy and the preset pose degree of the grid map to obtain a traversed grid map comprises:
based on the map precision, performing one-time traversal on the grid map to obtain a one-time traversal grid map;
and performing secondary traversal on the primary traversal grid map based on the preset pose degree to obtain a secondary traversal grid map, and determining the secondary traversal grid map as the traversed grid map.
4. The method according to one of claims 1-3, wherein the method further comprises:
and transmitting the score of the position of the sweeper to target equipment with a display function, and controlling the target equipment to display the score.
5. A position scoring device applied to relocation of a sweeper comprises:
the detection unit is used for controlling the sweeper to emit a preset number of frames of laser to carry out environment detection so as to obtain an environment detection result;
a generating unit configured to generate a grid map based on the environment detection result;
the traversal unit is used for traversing the grid map based on the map precision and the preset pose degree of the grid map to obtain the traversed grid map;
the determining unit is configured to determine, based on the traversed grid map, a score of a location where the sweeper is located, and specifically includes: removing the laser meeting the preset condition in the preset number of frames of laser to obtain a calculable laser set; calculating and determining the score of each laser beam in the calculable laser set to obtain a laser score set; summing the laser score sets, and determining a summation result as the score of the position of the sweeper under the preset number of frames of laser;
the calculating determines a score for each laser in the set of calculable lasers, including: calculating and determining the score of at least one laser hit point of the laser to obtain a laser hit point score set; summing the laser hit point score sets, and determining a summation result as the score of the laser;
the calculating determines a score for at least one laser hit point of the laser, including: calculating and determining the position coordinates of the laser hitting point on the traversed grid map; calculating and determining the position coordinates of the target feasible region of the laser hitting point in the direction of the corresponding laser; when the hit rate of the laser hit point in the grid is higher than a preset hit threshold, judging and determining whether the hit rate of the laser hit point in the grid where the target feasible region is located is lower than the preset hit threshold; when the hit rate of the grid where the target feasible region is located is lower than the preset hit threshold, calculating the difference between the hit position and the center position of the grid where the laser hit center point is located; based on the difference, a score for the laser hit point is calculated.
6. 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 1-4.
7. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-4.
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