CN112998606A - Cooperative sweeping method and device for intelligent equipment and cleaning machine and computer equipment - Google Patents
Cooperative sweeping method and device for intelligent equipment and cleaning machine and computer equipment Download PDFInfo
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- CN112998606A CN112998606A CN202110226744.5A CN202110226744A CN112998606A CN 112998606 A CN112998606 A CN 112998606A CN 202110226744 A CN202110226744 A CN 202110226744A CN 112998606 A CN112998606 A CN 112998606A
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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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention relates to the technical field of cleaning robots, and discloses a cooperative sweeping method of intelligent equipment and a cleaning machine, which comprises the following steps: the intelligent equipment scans the room to generate a three-dimensional map; generating a two-dimensional map and a simplified three-dimensional map; generating a planned path according to the two-dimensional map; the cleaning machine performs relocation on the basis of the simplified three-dimensional map to obtain a two-dimensional position of the cleaning machine, and performs cleaning on the basis of the two-dimensional map and a planned path; obtaining a local three-dimensional map, splicing the local three-dimensional map into the three-dimensional map to obtain a new three-dimensional map, intercepting X, Y surfaces in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planning path according to the new two-dimensional map. The cooperative sweeping method, the cooperative sweeping device and the computer equipment of the intelligent equipment and the cleaning machine solve the technical problem that a map can be perfected and swept according to the perfected map after multiple times of sweeping in the prior art.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a method and a device for cooperatively cleaning intelligent equipment and a cleaning machine and computer equipment.
Background
In the current market of cleaning machines, robots capable of storing, loading and positioning maps are mainly visual cleaning machines and laser cleaning machines, wherein the visual cleaning machines build the maps while cleaning, and the maps can be generated and stored after cleaning; although the laser cleaning machine can scan and build a map by using a laser radar, the laser cleaning machine also needs to firstly carry out once cleaning and map building and then obtain a map, the cleaning machine needs to carry out cleaning operation for many times to perfect the map, and intelligent cleaning is carried out according to the map.
Disclosure of Invention
The invention mainly aims to provide a method and a device for cooperatively cleaning intelligent equipment and a cleaning machine and computer equipment, and aims to solve the technical problems that a map can be perfected and cleaned according to the perfected map after multiple times of cleaning in the prior art.
The invention provides a cooperative sweeping method of intelligent equipment and a cleaning machine, which comprises the following steps:
the intelligent equipment scans the room to generate a three-dimensional map;
intercepting X, Y surfaces in a three-dimensional map to generate a two-dimensional map, and carrying out preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map;
cleaning and planning according to the two-dimensional map to generate a planned path;
and transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to a cleaning machine, wherein the simplified three-dimensional map is used for repositioning in the cleaning machine so as to obtain a two-dimensional position of the cleaning machine, and then the cleaning machine cleans based on the two-dimensional map and the planned path.
Further, after the step of transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to the cleaning machine, the simplified three-dimensional map being used for repositioning in the cleaning machine to obtain the two-dimensional position of the cleaning machine, so that the cleaning machine performs sweeping based on the two-dimensional map and the planned path, the method further includes:
and acquiring a local three-dimensional map, splicing the local three-dimensional map into the three-dimensional map generated by scanning to obtain a new three-dimensional map, intercepting X, Y surfaces in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map.
Further, the step of generating the three-dimensional map by scanning the room by the intelligent device includes:
performing feature extraction and object recognition in the process of generating the three-dimensional map, and adding the extracted features and the recognized objects as attributes into corresponding three-dimensional points; wherein, the three-dimensional map comprises a plurality of three-dimensional points.
Further, the step of performing preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map includes:
acquiring three-dimensional points with attributes in a three-dimensional map;
and reserving the three-dimensional points with special attributes in the three-dimensional map based on the three-dimensional points with attributes, and deleting the rest three-dimensional points to form the simplified three-dimensional map, wherein the three-dimensional points with special attributes are the three-dimensional points of the object which cannot move.
Further, the step of obtaining the local three-dimensional map, splicing the local three-dimensional map to the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map includes:
receiving a two-dimensional map of an occluded area shot by a cleaning machine and cleaning machine stopping information, and generating a local three-dimensional map corresponding to the occluded area according to the two-dimensional map of the occluded area; wherein the two-dimensional map of the occluded area is a two-dimensional map of the occluded area taken when the cleaning machine is operated to a position in the two-dimensional map where the distance from the occluded area is shortest;
splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
judging whether the local three-dimensional map is a passable area or not, and if not, controlling the cleaning machine to continue cleaning according to the current planned path;
if yes, X, Y faces in the new three-dimensional map are intercepted to generate a new two-dimensional map;
cleaning and planning are carried out according to the new two-dimensional map, and a new planned path is generated;
and transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine obtains the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine stays and cleans based on the new two-dimensional map and the new planned path.
Further, the step of obtaining the local three-dimensional map, splicing the local three-dimensional map to the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map includes:
receiving trapped information of the cleaning machine, and scanning the trapped part of the cleaning machine to generate a local three-dimensional map corresponding to the trapped part; the trapped information of the cleaning machine is the information that the cleaning machine is located at the same position within set time;
adding a trapped attribute to all three-dimensional points in the local three-dimensional map;
splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map;
cleaning and planning are carried out according to the new two-dimensional map, and a new planned path and a current escaping path are generated;
and transmitting the new two-dimensional map, the current escaping path and the new planned path to the cleaning machine, so that the cleaning machine obtains the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine is trapped and cleans based on the new two-dimensional map and the current escaping path, and when the two-dimensional position of the cleaning machine exists in the new planned path, controlling the cleaning machine to call the new planned path to clean.
Further, after the steps of obtaining the local three-dimensional map, splicing the local three-dimensional map to the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map, the method further includes:
controlling the cleaning machine to stay in place, and scanning the changed part in the room to generate a partial three-dimensional map;
splicing part of the three-dimensional map to a corresponding part of a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map;
cleaning and planning are carried out according to the new two-dimensional map, and a new planned path is generated;
and transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine obtains the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine stays and cleans based on the new two-dimensional map and the new planned path.
The invention also provides a cooperative sweeping device of the intelligent equipment and the cleaning machine, which comprises:
the scanning module is used for scanning the room by the intelligent equipment to generate a three-dimensional map;
the processing module is used for intercepting X, Y surfaces in the three-dimensional map to generate a two-dimensional map, and carrying out preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map;
the path module is used for cleaning and planning according to the two-dimensional map and generating a planned path;
and the transmission module is used for transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to the cleaning machine, and the simplified three-dimensional map is used for repositioning in the cleaning machine so as to obtain the two-dimensional position of the cleaning machine and then enable the cleaning machine to carry out sweeping based on the two-dimensional map and the planned path.
The invention also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The invention has the beneficial effects that: according to the method for cooperatively cleaning by using the intelligent equipment such as the mobile phone, the intelligent equipment can be used for environment scanning and map generation, the map is obtained in advance through the method, planning is carried out in advance, the cleaner is repositioned and then cleaning is started based on the three-dimensional map, and the cleaner cannot collide and damage furniture (such as the condition of initial use and the like) due to no map; the intelligent devices can be mobile phones with two eyes, three eyes and the like, are popular, have the condition of obtaining three-dimensional information, and can easily obtain the three-dimensional information of the environment by utilizing the intelligent devices. The three-dimensional information generated by the mobile phone is dense and rich, has strong calculation power and perfect cloud processing, can sense and learn the environment in advance, and provides a proper cleaning strategy.
Drawings
Fig. 1 is a schematic flow chart of a method according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Fig. 3 is a schematic diagram of an internal structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the present invention provides a cooperative sweeping method of an intelligent device and a cleaning machine, comprising:
s1, scanning the room by the intelligent equipment to generate a three-dimensional map;
s2, intercepting X, Y faces in the three-dimensional map to generate a two-dimensional map, and carrying out preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map;
s3, cleaning and planning according to the two-dimensional map to generate a planned path;
and S4, transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to the cleaning machine, wherein the simplified three-dimensional map is used for repositioning in the cleaning machine so as to obtain the two-dimensional position of the cleaning machine, and then the cleaning machine cleans based on the two-dimensional map and the planned path.
As described in the step S1, the smart devices may be two-eye or three-eye mobile phones, which are already popular, and all of them have conditions for obtaining three-dimensional information, and the three-dimensional information of the environment can be obtained easily by using these devices.
The three-dimensional/two-dimensional mapping can be carried out by using intelligent equipment such as a mobile phone and the like, so that high mapping precision and rich three-dimensional information can be obtained, and the effect is far better than that obtained by using hardware equipment of a cleaning machine. When a relocation of the cleaning machine occurs, the relocation requires: enough three-dimensional points, and there can be a match between the aligned three-dimensional points. The hardware level and physical height of the cleaning machine limit the number of three-dimensional points obtained, and even complete three-dimensional points cannot be obtained sometimes. Or a plurality of points have two-dimensional information in the relocation process, after the matching, no third-dimensional information can be further matched, the relocation cannot be completed, and the problems can be overcome by using intelligent equipment for shooting.
As described in step S2, a two-dimensional map is generated by capturing X, Y faces of the three-dimensional map for planning the cleaning path of the cleaning machine. The three-dimensional map is simplified, the three-dimensional information of a symbolic object in the environment is reserved, the three-dimensional information of an area with insufficient characteristics (such as the three-dimensional information of a ceiling lamp, a fan, a desk on the ground, a television lamp symbolic object and an object which cannot move generally) is removed, and the map is simplified, so that the useful information can be reserved, and the data can be kept to be low in storage consumption.
As described in step S3, the intelligent device performs cleaning planning according to the two-dimensional map and obtains the cleaning planning by using the existing cattle farming method or a planning method, and the a (idea: a Star) algorithm is a very common path finding and graph traversal algorithm. It has better performance and accuracy.
As described in step S4, the three-dimensional map, the two-dimensional map, and the planned route are transmitted to the cleaning machine via the network (the wide area network is forwarded via the cloud server/local area network via the gateway or the route), so that the cleaning machine can operate according to the route and the two-dimensional map, and there is a basis for the basic three-dimensional map when the three-dimensional map is subsequently supplemented or updated. After the cleaning machine receives the transmitted two-dimensional map (the two-dimensional map comprises a corresponding planned path), the cleaning machine relocates according to the simplified three-dimensional map to obtain a two-dimensional position of the cleaning machine, the cleaning machine can quickly find the position of the cleaning machine in the two-dimensional map through the two-dimensional position, and at the moment, the cleaning machine can automatically start to clean along the path after finding the position of the cleaning machine in the two-dimensional map; it may also be controlled by a smart device so that the cleaning machine starts sweeping along the path after receiving an instruction to start sweeping.
It can be understood that the simplified three-dimensional map retains three-dimensional object information in the environment, so that the cleaning machine can more accurately identify and understand the surrounding environment, and the cleaning machine is helpful for executing various intelligent behaviors, including more accurately matching the surrounding environment to more accurately realize the relocation of the cleaning machine and the like. For example, the cleaning machine obtains environmental pictures through a camera, laser and other devices, the pictures are accurately matched with the simplified three-dimensional map of the intelligent device end, and accurate relocation is further performed.
The method comprises the steps that a mobile phone with a binocular or a three-purpose function or other intelligent equipment is used, indoor three-dimensional information is generated by scanning an indoor environment, and a two-dimensional plane is intercepted according to the three-dimensional information to generate a two-dimensional cleaning map; meanwhile, data screening and residue removing are carried out on the three-dimensional map, three-dimensional information of a landmark object in the environment is reserved, and three-dimensional information of an part with insufficient characteristics (such as three-dimensional information of objects which are reserved on a ceiling, a fan, a desk on the ground, a television lamp landmark and usually cannot move) is removed; sending the two-dimensional map and the three-dimensional information to a cleaner end through a network (a wide area network forwards through a cloud server/a local area network through a gateway or a route); the cleaning machine performs relocation by using the generated map and the three-dimensional information, and starts to clean according to the path; by the mode, the cleaning machine can directly use the existing map to plan and clean firstly, and the three-dimensional information generated by the mobile phone is dense and rich (the camera can obtain more pixel points), so that the three-dimensional information is much more abundant than that obtained by the cleaning machine per se even though the three-dimensional information is simplified, and a better repositioning effect can be obtained. Meanwhile, the binocular or trinocular mobile phone or other intelligent equipment has strong computing power and perfect cloud processing, can sense and learn the environment in advance, and provides a proper cleaning strategy.
In one embodiment, the step of transmitting the two-dimensional map, the planned path, and the simplified three-dimensional map to a cleaning machine, the simplified three-dimensional map being used for repositioning in the cleaning machine to obtain a two-dimensional position of the cleaning machine, and the step of causing the cleaning machine to perform sweeping based on the two-dimensional map and the planned path, further comprises:
s5, obtaining a local three-dimensional map, splicing the local three-dimensional map into the three-dimensional map generated by scanning to obtain a new three-dimensional map, intercepting X, Y surfaces of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planning path according to the new two-dimensional map.
As described in step S5, the smart device may further obtain a local three-dimensional map in the room, splice the local three-dimensional map into a current three-dimensional map (each splice is based on a three-dimensional map spliced last time), further intercept the X and Y planes to generate a two-dimensional map, and plan a new path, and the cleaning machine may clean according to the new planned path, so as to avoid collision or entering into a predicament, and after cleaning by one operation of the cleaning machine, the smart device may also obtain a complete three-dimensional map.
In one embodiment, the step of generating the three-dimensional map by scanning the room by the intelligent device includes:
performing feature extraction and object recognition in the process of generating the three-dimensional map, and adding the extracted features and the recognized objects as attributes into corresponding three-dimensional points; wherein, the three-dimensional map comprises a plurality of three-dimensional points.
As described above, the feature extraction is performed by using techniques Fast (features from accessed Segment test), orb (organized Fast and accessed brief), brief (binary route Independent elements) and SIFT (Scale-innovative feature transform), and the object recognition is performed by using the pattern recognition and deep learning in the prior art; the objects generally recognized are home appliances in a room, wherein the positions of parts of furniture are fixed positions and cannot change along with daily life, and the parts of the home appliances are symbolic objects (such as ceiling lamps, fans, ground tables and television lamps). The extracted features and the identified objects are added to corresponding three-dimensional points as attributes (if one object has 1000 three-dimensional points, each point is added with the attributes) for subsequent deletion according to attribute labeling, and objects with marks in a scanning environment can be reserved.
In an embodiment, the step of performing a preset simplification process on the three-dimensional map to obtain a simplified three-dimensional map includes:
s21, acquiring three-dimensional points with attributes in the three-dimensional map;
s22, based on the three-dimensional points with the attributes, reserving the three-dimensional points with the special attributes in the three-dimensional map, and deleting the rest three-dimensional points to form the simplified three-dimensional map, wherein the three-dimensional points with the special attributes are the three-dimensional points of the object which can not move.
As described in the foregoing steps S21-S22, it has been known in the foregoing description that, in the three-dimensional map, the three-dimensional points with attributes are three-dimensional points for identifying the furniture appliances in the room, and the three-dimensional points with special attributes are three-dimensional points of the objects with signs, so that the three-dimensional points with special attributes in the three-dimensional map, that is, the objects with signs in the three-dimensional map, are retained, and the remaining objects without signs are deleted, so as to obtain a simplified three-dimensional map.
The simplified three-dimensional map is used to substitute the visual SLAM repositioning method to obtain the two-dimensional position of the cleaning machine. SLAM is known in English as Simultaneous Localization and Mapping, and in Chinese as instant positioning and map creation, while visual SLAM uses a camera to accomplish the sensing of the environment. When an autonomous mobile robot is in an unknown environment, the autonomous mobile robot estimates the autonomous mobile robot and the surrounding environment through information data acquired by a camera, performs self positioning according to position estimation and sensed data of the camera in the moving process of the robot, and simultaneously continuously builds and updates a map and plans a self path.
In one embodiment, the step of obtaining the local three-dimensional map, splicing the local three-dimensional map to the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map includes:
s51, receiving a two-dimensional image of the blocked area shot by the cleaning machine and the stopping information of the cleaning machine, and generating the local three-dimensional map corresponding to the blocked area according to the two-dimensional image of the blocked area; wherein the two-dimensional map of the occluded area is a two-dimensional map of the occluded area taken when the cleaning machine is operated to a position in the two-dimensional map where the distance from the occluded area is shortest;
s52, splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
s53, judging whether the local three-dimensional map is a passable area or not, and if not, controlling the cleaning machine to continue cleaning according to the current planned path;
s54, if yes, intercepting X, Y surfaces of the new three-dimensional map to generate a new two-dimensional map;
s55, cleaning and planning according to the new two-dimensional map to generate a new planned path;
and S56, transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine can acquire the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position of the cleaning machine when the cleaning machine stays at the new two-dimensional map and clean the cleaning machine based on the new two-dimensional map and the new planned path.
As described in step S51, the three-dimensional map generated by using the mobile phone has a high viewing angle (when a person holds the mobile phone, a short object is equivalent to a top view), and a low object may generate an occluded area due to occlusion (for example, an object such as a stool, where a place that cannot be captured has no depth information, that is, an occluded area is generated); when the cleaning machine moves to the position near the object (the position with the shortest distance to the shielded area), because of different visual angles, the part which can not be shot by the mobile phone can be shot, at the moment, the cleaning machine stops, a two-dimensional image of the shielded area is shot, and the local three-dimensional map is generated. It can be understood that due to the fact that two visual angles of pictures obtained by the intelligent device and the cleaning machine are different, on the three-dimensional map, more comprehensive point cloud splicing can be achieved for the same object.
The local three-dimensional map is generated by triangulation (namely, the point pairs are obtained by matching, and the process of solving the three-dimensional coordinates of the points in a least square mode is used), in the process, the image points obtained by a cleaner end are possibly lack of depth information due to the fact that the camera hardware condition of the cleaner is not high, or the machine shakes and the like, for example, the number of the points which originally have 1000 effective pixel points in one frame of image and can be successfully identified to obtain complete three-dimensional information after image identification is only 100, at the moment, the image can be shot by a mobile phone end to carry out image matching, the point and an adjacent neighborhood are found, and the pixel point or the adjacent neighborhood on the mobile phone is searched to obtain the third-dimensional information.
It can be understood that the method for obtaining/complementing the third-dimensional information of each pixel point in the matching image/point at the cleaner end and the neighborhood information based on the matching image/point at the intelligent device end and the neighborhood information by comparing the image of the cleaner with the image of the intelligent device can also be used in the relocation process of the cleaner, so that the cleaner can better identify the surrounding environment and the position of the cleaner.
As described in step S52, the local three-dimensional map is three-dimensionally spliced to a corresponding portion of the current three-dimensional map (or an updated three-dimensional map if there is an update) of the cleaning machine to form a new three-dimensional map, so that the three-dimensional map of the user can be more improved, the new three-dimensional map replaces the current three-dimensional map of the cleaning machine, and when the subsequent cleaning machine runs to the next blocked area, the cleaning machine can be supplemented based on the new three-dimensional map instead of the original three-dimensional map, which results in incomplete multiple supplemented three-dimensional maps.
Three-dimensional splicing: and calculating a transformation matrix between the two three-dimensional maps by using ICP (inductively coupled plasma), transforming the three-dimensional map to be fused to the coordinate of the fused map by using the transformation matrix, and removing repeated points to obtain the fused three-dimensional map.
As described in the above steps S53-S56, it is determined whether the local three-dimensional map is a passable area, the local three-dimensional map includes three-dimensional information, and whether the passable area is passable is determined according to the three-dimensional information; if the area is an impassable area, the cleaning machine continues to clean along the original path after receiving the local three-dimensional map; if the intelligent equipment is judged to be a passable area, intercepting X and Y of a new three-dimensional map to generate a new two-dimensional map, and because the blocked area is the passable area, the intelligent equipment needs to plan a path again according to the new two-dimensional map and transmits the new planned path, the new two-dimensional map and the three-dimensional map to the cleaning machine through the network, and the cleaning machine can continuously obtain a two-dimensional address (usually expressed as a two-dimensional coordinate) where the cleaning machine is located in the operation process, so that the cleaning machine can obtain the position of the cleaning machine in the new two-dimensional map according to the two-dimensional position when the cleaning machine stays, and clean the cleaning machine according to the new two-dimensional map and the new planned path. The cleaning machine stays for shooting and updates the three-dimensional map when reaching the position near a shielded area every time, so that the cleaning machine can continuously perfect the three-dimensional map in the running process.
In one embodiment, the step of obtaining the local three-dimensional map, splicing the local three-dimensional map to the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map includes:
s501, receiving trapped information of the cleaning machine, and scanning the trapped part of the cleaning machine to generate a local three-dimensional map corresponding to the trapped part; the trapped information of the cleaning machine is the information that the cleaning machine is located at the same position within set time;
s502, adding the trapped attribute to all three-dimensional points in the local three-dimensional map;
s503, splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
s504, intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map;
s505, cleaning and planning are carried out according to the new two-dimensional map, and a new planned path and a current escaping path are generated;
s506, transmitting the new two-dimensional map, the current escaping path and the new planned path to the cleaning machine, enabling the cleaning machine to acquire the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine is trapped and to clean based on the new two-dimensional map and the current escaping path, and controlling the cleaning machine to call the new planned path to clean when the two-dimensional position of the cleaning machine is in the new planned path.
As described in the foregoing steps S501 to S502, if the cleaning machine is located at a position for a long time, it is determined that the cleaning machine is trapped, and when the cleaning machine is trapped, the cleaning machine is in a stopped state and cannot move forward, at this time, the intelligent device is triggered to scan the trapped part of the cleaning machine to generate a local three-dimensional map of the trapped part, and a trapped attribute is added to all three-dimensional points in the local three-dimensional map of the trapped part, so that an inoperable label is placed on the area in the three-dimensional map, and the three-dimensional map can bypass the position when a two-dimensional map is generated and a path is planned.
Of course, "temporary mark" may be made according to the object attribute, for example, for an object that is easy to move, such as a stool, when the cleaning machine moves to the location again, the cleaning machine operates based on the original three-dimensional map, and when the cleaning machine encounters difficulty again, the local map with the temporary mark is directly called out for use.
As described in step S503, the local three-dimensional map of the trapped portion is three-dimensionally spliced to a corresponding portion in the current three-dimensional map of the cleaning machine (or an updated three-dimensional map if there is an update), so as to form a new three-dimensional map, so that the three-dimensional map can be more perfect, and at the same time, an area where the cleaning machine is not operable can be recorded, the new three-dimensional map is used to replace the current three-dimensional map of the cleaning machine, and when a subsequent cleaning machine is in a next trapped location, the cleaning machine can be updated based on the new three-dimensional map instead of being always supplemented based on the most initial map, so that multiple supplemented three-dimensional maps are not complete enough.
As described in step S504 above, the X, Y faces of the new three-dimensional map are captured to generate a new two-dimensional map, which facilitates the re-planning of the path of the cleaning machine so that it will not be trapped again at the current location.
As described in the above steps S505 to S506, since the cleaning machine is currently in the trapped state, the cleaning machine needs to be released from the trapped state, so the intelligent device needs to perform cleaning planning according to the new two-dimensional map, generate a new planned route and a trapped-free route, transmit the new two-dimensional map, the trapped-free route and the new planned route to the cleaning machine through the network, the cleaning machine obtains its position in the new two-dimensional map according to the two-dimensional position of the cleaning machine when being trapped, firstly perform cleaning according to the trapped-free route, so that the cleaning machine is released from the trapped state, when the two-dimensional position of the cleaning machine appears in the new planned route, the cleaning machine is considered to have been released from the trapped state, and then operate according to the new planned route. When the cleaner is trapped next time, the steps S501-S506 are performed again, so that the cleaner can find all the trapped points in the process of continuous sweeping.
In an embodiment, after the steps of obtaining the local three-dimensional map, splicing the local three-dimensional map to the scanned three-dimensional map to obtain a new three-dimensional map, capturing X, Y planes of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map, the method further includes:
s61, controlling the cleaning machine to stay in place, and scanning the changed part in the room to generate a partial three-dimensional map;
s62, splicing part of the three-dimensional map to a corresponding part of the three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
s63, intercepting X, Y faces of the new three-dimensional map to generate a new two-dimensional map;
s64, cleaning and planning according to the new two-dimensional map to generate a new planned path;
and S65, transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine can acquire the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position of the cleaning machine when the cleaning machine stays at the new two-dimensional map and clean the cleaning machine based on the new two-dimensional map and the new planned path.
As described in step S61, when a change occurs in a room, it is usually considered that the change is obvious, such as the movement of a sofa or a tea table, and the change may be found according to the change of an obstacle, the identification of furniture, etc. after the cleaning machine is moved to a certain place, at this time, it is necessary to manually control the cleaning machine to stay in place through an intelligent device, and then scan the changed part in the room to generate a partial three-dimensional map.
As described in step S62, a part of the three-dimensional map is three-dimensionally spliced to a corresponding part of the current three-dimensional map (or an updated three-dimensional map if there is an update) of the cleaning machine to form a new three-dimensional map, so that the three-dimensional map can be updated to the current environmental conditions of the room in time, the new three-dimensional map replaces the current three-dimensional map of the cleaning machine, and when the subsequent environment changes again, the new three-dimensional map can be updated based on the new three-dimensional map instead of being always supplemented based on the most initial map, which results in that each of the plurality of three-dimensional maps changes insufficiently.
As described in the foregoing steps S63-S65, since the environment in the room has changed and the original path is not available, a new two-dimensional map is generated by cutting X, Y a new three-dimensional map, so as to plan the path according to the new environment, and transmit the new two-dimensional map and the new planned path to the cleaning machine through the network, and the cleaning machine can directly find its position in the new two-dimensional map through the two-dimensional address because it continuously knows its two-dimensional position during the movement, and when the cleaning machine receives the new two-dimensional map and the new planned path, it automatically starts to perform cleaning according to the new path.
In one embodiment, the smart device replaces the three-dimensional map, two-dimensional map, and planned path currently stored by the cleaning machine each time a new two-dimensional map and a new planned path are transmitted to the cleaning machine.
As described above, each time the intelligent device replaces the three-dimensional map, the two-dimensional map and the planned route currently stored by the cleaning machine, the intelligent device can update the three-dimensional map based on a new three-dimensional map instead of always supplementing the three-dimensional map based on the most initial map when the subsequent three-dimensional map changes, so that each of the three-dimensional maps is changed and is not complete enough.
The invention also provides a cooperative sweeping device of the intelligent equipment and the cleaning machine, which comprises:
the scanning module 1 is used for scanning a room by intelligent equipment to generate a three-dimensional map;
the processing module 2 is used for intercepting X, Y surfaces in the three-dimensional map to generate a two-dimensional map, and performing preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map;
the path module 3 is used for cleaning and planning according to the two-dimensional map and generating a planned path;
and the transmission module 4 is used for transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to the cleaning machine, and the simplified three-dimensional map is used for repositioning in the cleaning machine so as to obtain the two-dimensional position of the cleaning machine and then enable the cleaning machine to carry out sweeping based on the two-dimensional map and the planned path.
In one embodiment, the transmitting module 4 transmits the two-dimensional map, the planned path and the simplified three-dimensional map to the cleaning machine, and the simplified three-dimensional map is used for repositioning in the cleaning machine to obtain the two-dimensional position of the cleaning machine, so that the cleaning machine performs sweeping based on the two-dimensional map and the planned path, and the method further includes:
and acquiring a local three-dimensional map, splicing the local three-dimensional map into the three-dimensional map generated by scanning to obtain a new three-dimensional map, intercepting X, Y surfaces in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map.
In one embodiment, in the scanning module 1, the step of generating the three-dimensional map by scanning the room with the smart device includes:
performing feature extraction and object recognition in the process of generating the three-dimensional map, and adding the extracted features and the recognized objects as attributes into corresponding three-dimensional points; wherein, the three-dimensional map comprises a plurality of three-dimensional points.
In an embodiment, in the processing module 2, the step of performing preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map includes:
acquiring three-dimensional points with attributes in a three-dimensional map;
and reserving the three-dimensional points with special attributes in the three-dimensional map based on the three-dimensional points with attributes, and deleting the rest three-dimensional points to form the simplified three-dimensional map, wherein the three-dimensional points with special attributes are the three-dimensional points of the object which cannot move.
In an embodiment, the step of obtaining a local three-dimensional map, splicing the local three-dimensional map to the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map in the updating module 5 includes:
the receiving unit is used for receiving a two-dimensional map of the shielded area shot by the cleaning machine and the stay information of the cleaning machine, and generating the local three-dimensional map corresponding to the shielded area according to the two-dimensional map of the shielded area; wherein the two-dimensional map of the occluded area is a two-dimensional map of the occluded area taken when the cleaning machine is operated to a position in the two-dimensional map where the distance from the occluded area is shortest;
the splicing unit is used for splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
the judging unit is used for judging whether the local three-dimensional map is a passable area or not, and if not, controlling the cleaning machine to continue cleaning according to the current planned path;
the intercepting unit is used for intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map when the local three-dimensional map is a passable area;
the planning unit is used for carrying out cleaning planning according to the new two-dimensional map and generating a new planning path;
and the transmission unit is used for transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine can acquire the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine stays and clean the cleaning machine based on the new two-dimensional map and the new planned path.
In an embodiment, the step of obtaining a local three-dimensional map, splicing the local three-dimensional map to the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map in the updating module 5 includes:
the receiving unit is used for receiving the trapped information of the cleaning machine and scanning the trapped part of the cleaning machine to generate a local three-dimensional map corresponding to the trapped part; the trapped information of the cleaning machine is the information that the cleaning machine is located at the same position within set time;
an adding unit, configured to add the trapped attribute to all three-dimensional points in the local three-dimensional map;
the splicing unit is used for splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
the intercepting unit is used for intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map;
the planning unit is used for carrying out cleaning planning according to the new two-dimensional map and generating a new planned path and a current escaping path;
and the transmission unit is used for transmitting the new two-dimensional map, the current escaping path and the new planned path to the cleaning machine, so that the cleaning machine obtains the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine is trapped and cleans based on the new two-dimensional map and the current escaping path, and when the two-dimensional position of the cleaning machine exists in the new planned path, the cleaning machine is controlled to call the new planned path to clean.
In an embodiment, after the steps of obtaining a local three-dimensional map in the updating module 5, splicing the local three-dimensional map into the three-dimensional map generated by scanning to obtain a new three-dimensional map, capturing X, Y planes in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map, the method further includes:
the scanning unit is used for controlling the cleaner to stay in place and scanning the changed part in the room to generate a part of three-dimensional map;
the splicing unit is used for splicing a part of the three-dimensional map to a corresponding part of the three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
the intercepting unit is used for intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map;
the planning unit is used for carrying out cleaning planning according to the new two-dimensional map and generating a new planning path;
and the transmission unit is used for transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine can acquire the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine stays and clean the cleaning machine based on the new two-dimensional map and the new planned path.
Each unit is a cooperative cleaning device for correspondingly executing the intelligent equipment and the cleaning machine.
As shown in fig. 3, the present invention also provides a computer device, which may be a server, and the internal structure of which may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all data required by the process of the cooperative sweeping method of the intelligent device and the cleaning machine. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a cooperative sweeping method of a smart device with a cleaning machine.
Those skilled in the art will appreciate that the architecture shown in fig. 3 is only a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects may be applied.
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the cooperative sweeping method of any one of the intelligent devices and the cleaning machine.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware associated with instructions of a computer program, which may be stored on a non-volatile computer-readable storage medium, and when executed, may include processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A cooperative sweeping method of an intelligent device and a cleaning machine is characterized by comprising the following steps:
the intelligent equipment scans the room to generate a three-dimensional map;
intercepting X, Y surfaces in a three-dimensional map to generate a two-dimensional map, and carrying out preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map;
cleaning and planning according to the two-dimensional map to generate a planned path;
and transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to a cleaning machine, wherein the simplified three-dimensional map is used for repositioning in the cleaning machine so as to obtain a two-dimensional position of the cleaning machine, and then the cleaning machine cleans based on the two-dimensional map and the planned path.
2. The cooperative sweeping method of an intelligent device and a cleaning machine according to claim 1, wherein the step of transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to the cleaning machine, the simplified three-dimensional map being used for repositioning in the cleaning machine to obtain the two-dimensional position of the cleaning machine, and then enabling the cleaning machine to sweep based on the two-dimensional map and the planned path, further comprises:
and acquiring a local three-dimensional map, splicing the local three-dimensional map into the three-dimensional map generated by scanning to obtain a new three-dimensional map, intercepting X, Y surfaces in the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map.
3. The cooperative sweeping method of the intelligent device and the cleaning machine as claimed in claim 1, wherein the step of scanning the room by the intelligent device to generate the three-dimensional map comprises the following steps:
performing feature extraction and object recognition in the process of generating the three-dimensional map, and adding the extracted features and the recognized objects as attributes into corresponding three-dimensional points; wherein, the three-dimensional map comprises a plurality of three-dimensional points.
4. The cooperative sweeping method of the intelligent device and the cleaning machine according to claim 3, wherein the step of performing a preset simplification process on the three-dimensional map to obtain a simplified three-dimensional map comprises:
acquiring three-dimensional points with attributes in a three-dimensional map;
and reserving the three-dimensional points with special attributes in the three-dimensional map based on the three-dimensional points with attributes, and deleting the rest three-dimensional points to form the simplified three-dimensional map, wherein the three-dimensional points with special attributes are the three-dimensional points of the object which cannot move.
5. The cooperative sweeping method of the intelligent device and the cleaning machine according to claim 2, wherein the step of obtaining the local three-dimensional map, splicing the local three-dimensional map into the scanned three-dimensional map to obtain a new three-dimensional map, capturing X, Y faces of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map comprises:
receiving a two-dimensional map of an occluded area shot by a cleaning machine and cleaning machine stopping information, and generating a local three-dimensional map corresponding to the occluded area according to the two-dimensional map of the occluded area; wherein the two-dimensional map of the occluded area is a two-dimensional map of the occluded area taken when the cleaning machine is operated to a position in the two-dimensional map where the distance from the occluded area is shortest;
splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
judging whether the local three-dimensional map is a passable area or not, and if not, controlling the cleaning machine to continue cleaning according to the current planned path;
if yes, X, Y faces in the new three-dimensional map are intercepted to generate a new two-dimensional map;
cleaning and planning are carried out according to the new two-dimensional map, and a new planned path is generated;
and transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine obtains the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine stays and cleans based on the new two-dimensional map and the new planned path.
6. The cooperative sweeping method of the intelligent device and the cleaning machine according to claim 2, wherein the step of obtaining the local three-dimensional map, splicing the local three-dimensional map into the scanned three-dimensional map to obtain a new three-dimensional map, capturing X, Y faces of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map comprises:
receiving trapped information of the cleaning machine, and scanning the trapped part of the cleaning machine to generate a local three-dimensional map corresponding to the trapped part; the trapped information of the cleaning machine is the information that the cleaning machine is located at the same position within set time;
adding a trapped attribute to all three-dimensional points in the local three-dimensional map;
splicing the local three-dimensional map to a corresponding part in a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map;
cleaning and planning are carried out according to the new two-dimensional map, and a new planned path and a current escaping path are generated;
and transmitting the new two-dimensional map, the current escaping path and the new planned path to the cleaning machine, so that the cleaning machine obtains the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine is trapped and cleans based on the new two-dimensional map and the current escaping path, and when the two-dimensional position of the cleaning machine exists in the new planned path, controlling the cleaning machine to call the new planned path to clean.
7. The cooperative sweeping method of an intelligent device and a cleaning machine according to claim 2, wherein after the steps of obtaining the local three-dimensional map, splicing the local three-dimensional map into the scanned three-dimensional map to obtain a new three-dimensional map, capturing X, Y faces of the new three-dimensional map to generate a new two-dimensional map, and regenerating a new planned path according to the new two-dimensional map, the method further comprises:
controlling the cleaning machine to stay in place, and scanning the changed part in the room to generate a partial three-dimensional map;
splicing part of the three-dimensional map to a corresponding part of a three-dimensional map currently used by the cleaning machine to form a new three-dimensional map;
intercepting X, Y faces in the new three-dimensional map to generate a new two-dimensional map;
cleaning and planning are carried out according to the new two-dimensional map, and a new planned path is generated;
and transmitting the new two-dimensional map and the new planned path to the cleaning machine, so that the cleaning machine obtains the position of the cleaning machine in the new two-dimensional map based on the two-dimensional position when the cleaning machine stays and cleans based on the new two-dimensional map and the new planned path.
8. A cooperative sweeping device of an intelligent device and a cleaning machine is characterized by comprising:
the scanning module is used for scanning the room by the intelligent equipment to generate a three-dimensional map;
the processing module is used for intercepting X, Y surfaces in the three-dimensional map to generate a two-dimensional map, and carrying out preset simplification processing on the three-dimensional map to obtain a simplified three-dimensional map;
the path module is used for cleaning and planning according to the two-dimensional map and generating a planned path;
and the transmission module is used for transmitting the two-dimensional map, the planned path and the simplified three-dimensional map to the cleaning machine, and the simplified three-dimensional map is used for repositioning in the cleaning machine so as to obtain the two-dimensional position of the cleaning machine and then enable the cleaning machine to carry out sweeping based on the two-dimensional map and the planned path.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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