CN113031635A - Attitude adjusting method and device, cleaning robot and storage medium - Google Patents

Attitude adjusting method and device, cleaning robot and storage medium Download PDF

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Publication number
CN113031635A
CN113031635A CN202110220348.1A CN202110220348A CN113031635A CN 113031635 A CN113031635 A CN 113031635A CN 202110220348 A CN202110220348 A CN 202110220348A CN 113031635 A CN113031635 A CN 113031635A
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China
Prior art keywords
current
robot
target point
adjustment
coordinate system
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CN202110220348.1A
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Chinese (zh)
Inventor
卜大鹏
柯俊
徐恩科
霍峰
秦宝星
程昊天
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Shanghai Gaussian Automation Technology Development Co Ltd
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Shanghai Gaussian Automation Technology Development Co Ltd
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Priority to CN202110220348.1A priority Critical patent/CN113031635A/en
Publication of CN113031635A publication Critical patent/CN113031635A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Abstract

The invention discloses a posture adjustment method, a posture adjustment device, a cleaning robot and a storage medium, wherein the posture adjustment method comprises the following steps: when the current posture adjustment condition is met, the mobile robot body reaches a preset mark point; determining a target point by recognizing the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point; executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with an attitude adjustment reference line; and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line. When the posture adjustment condition is met, the robot moves to reach a preset mark point, a target point is determined, a posture adjustment reference line is constructed, then forward posture adjustment and backward posture adjustment are respectively executed until a front wheel axle center coordinate system is aligned with the posture adjustment reference line, the posture adjustment of the robot is realized, carried garbage can be dumped into the target point, the dumping efficiency is improved, and the cost is reduced.

Description

Attitude adjusting method and device, cleaning robot and storage medium
Technical Field
The embodiment of the invention relates to an attitude adjusting technology, in particular to an attitude adjusting method, an attitude adjusting device, a cleaning robot and a storage medium.
Background
With the continuous increase of labor cost and the continuous development of control, planning and identification methods of the drivable equipment, the degree of automatic production by replacing manpower with the drivable equipment is higher and higher.
In the prior art, a drivable device for cleaning is often presented in the form of a cleaning robot, and for the situation with high cleaning requirements, the cleaning robot needs to be equipped with a function of automatically dumping garbage, and at present, a chassis configured by the cleaning robot mainly comprises an ackermann chassis and a differential chassis, and an articulated chassis is rarely configured.
The cleaning robot with the hinged chassis has an immature automatic garbage dumping function. In the conventional operation, after the cleaning robot is generally required to navigate to a target point (such as a garbage station), the cleaning robot and the garbage station are adjusted by manual intervention to perform auxiliary dumping.
Therefore, there is a need for an attitude adjustment method that improves the dumping efficiency of an articulated robot without human intervention and reduces the cost.
Disclosure of Invention
The invention provides a posture adjustment method and device, a cleaning robot and a storage medium, so that the posture of the cleaning robot can be adjusted, further, after the posture adjustment is finished, the cleaning robot can dump garbage carried by the cleaning robot into a target point, the problem that the posture of an articulated cleaning robot is difficult to adjust when the articulated cleaning robot is used for a garbage station is solved, the articulated cleaning robot has the capability of automatically dumping the garbage, the working performance of the articulated cleaning robot is improved, the labor is saved, and the cost is reduced.
In a first aspect, an embodiment of the present invention provides an attitude adjustment method, including:
when the current posture adjustment condition is met, the mobile robot body reaches a preset mark point;
determining a target point by identifying the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point;
executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjustment reference line;
and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line.
Further, the posture adjustment condition comprises an opening trigger;
when the current posture adjustment condition is monitored, the moving to reach the preset mark point comprises the following steps:
after receiving a starting trigger, determining that the current posture adjustment condition is met;
controlling the robot body to move in a posture meeting the set moving condition until reaching a preset mark point;
and setting a moving condition that a first distance between the center coordinate system of the rear wheel shaft of the robot and the preset mark point is smaller than a second distance between the center coordinate system of the front wheel shaft of the robot and the preset mark point.
In this embodiment, the robot moves to the preset mark point in a posture satisfying the set movement condition, so that after the robot reaches the preset mark point, a first distance between the rear wheel axle and the target point is smaller than a second distance between the front wheel axle and the target point.
Further, moving to reach the preset mark point comprises:
determining a moving path according to the current position information and the first position information of the preset mark point;
and moving to reach a preset mark point based on the moving path.
The embodiment can achieve the purpose that the preset mark point is reached by the shortest moving path, and the posture adjustment efficiency is improved.
Further, before determining the moving path according to the current position information and the first position information of the preset mark point, the method further includes:
acquiring current environment information;
determining the current location information and the first location information based on the current environment information.
The embodiment can determine the current position information and the first position information according to the current environment information, and facilitates the determination of the moving path.
Further, the two-dimensional code information includes first two-dimensional code information and second two-dimensional code information respectively disposed at both sides of the target point,
correspondingly, the method comprises the steps of identifying the set two-dimensional code information to determine a target point, and constructing a posture adjustment reference line based on the target point and a preset mark point, wherein the method comprises the following steps:
determining the position information of the first two-dimensional code and the position information of the second two-dimensional code according to the first two-dimensional code information and the second two-dimensional code information;
determining the midpoint of the first two-dimensional code and the second two-dimensional code according to the position information of the first two-dimensional code and the position information of the second two-dimensional code, and determining the midpoint as the target point;
and determining a straight line where the connecting line of the preset marking point and the target point is positioned as the attitude adjustment reference line.
According to the embodiment, the middle points of the two-dimensional codes are determined according to the position information of the two-dimensional codes, the middle points are determined as the target points, and the straight lines where the connecting lines of the target points and the preset mark points are located are determined as the attitude adjustment reference lines, so that the attitude adjustment reference lines are determined, and subsequent forward attitude adjustment and backward attitude adjustment are facilitated.
Further, the performing forward attitude adjustment away from the target point until the robot rear axle center coordinate system is aligned with the attitude adjustment reference line includes:
acquiring a first moving speed corresponding to the mobile robot body far away from the target point;
acquiring a current first machine steering angle, and a current first distance deviation and a current first angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line, wherein the current first steering angle is an included angle of the robot front wheel axle center coordinate system relative to the robot rear wheel axle center coordinate system;
determining a current first parameter value of the set attitude adjustment parameter by combining a given parameter value determination formula according to the first moving speed, the current first distance deviation and the current first angle deviation;
updating the current first machine steering angle according to the current first parameter value and a given angle adjustment formula to obtain a new current first machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current first machine steering angle is obtained, stopping forward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current first machine steering angle, the current first distance deviation and the current first angle deviation.
According to the embodiment, the current first machine steering angle is updated according to the parameter value determination formula and the angle adjustment formula, and further forward attitude adjustment is realized.
Further, the performing backward attitude adjustment close to the target point until the robot front wheel axle center coordinate system is aligned with the attitude adjustment reference line includes:
acquiring a second moving speed corresponding to the mobile robot body approaching the target point;
obtaining a current second machine steering angle, and a current second distance deviation and a current second angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line,
determining a current second parameter value of the set attitude adjustment parameter according to the second moving speed, the current second distance deviation and the current second angle deviation and by combining a given parameter value determination formula;
updating the current second machine steering angle according to the current second parameter value and a given angle adjustment formula to obtain a new current second machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current second machine steering angle is obtained, stopping backward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current second machine steering angle, the current second distance deviation and the current second angle deviation. According to the embodiment, the current second machine steering angle is updated according to the parameter value determination formula and the angle adjustment formula, and backward attitude adjustment is further realized.
In a second aspect, an embodiment of the present invention further provides an attitude adjusting apparatus, including:
the mobile module is used for monitoring that the mobile robot body reaches a preset mark point when the current posture adjustment condition is met;
the construction module is used for determining a target point by identifying the set two-dimensional code information and constructing a posture adjustment reference line based on the target point and a preset mark point;
the forward attitude adjusting module is used for executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjusting reference line;
and the backward posture adjusting module is used for executing backward posture adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the posture adjusting reference line.
Further, the posture adjustment condition comprises an opening trigger;
the moving module is specifically configured to:
after receiving a starting trigger, determining that the current posture adjustment condition is met;
controlling the robot body to move in a posture meeting the set moving condition until reaching a preset mark point;
and setting a moving condition that a first distance between the center coordinate system of the rear wheel shaft of the robot and the preset mark point is smaller than a second distance between the center coordinate system of the front wheel shaft of the robot and the preset mark point.
Further, the moving module is further specifically configured to:
determining a moving path according to the current position information and the first position information of the preset mark point;
and moving to reach a preset mark point based on the moving path.
Further, the apparatus further comprises:
the acquisition module is used for acquiring current environment information;
an execution module to determine the current location information and the first location information based on the current environment information.
Further, the two-dimension code information comprises first two-dimension code information and second two-dimension code information which are respectively arranged on two sides of the target point;
a building block, specifically configured to:
determining the position information of the first two-dimensional code and the position information of the second two-dimensional code according to the first two-dimensional code information and the second two-dimensional code information;
determining the midpoint of the first two-dimensional code and the second two-dimensional code according to the position information of the first two-dimensional code and the position information of the second two-dimensional code, and determining the midpoint as the target point;
and determining a straight line where the connecting line of the preset marking point and the target point is positioned as the attitude adjustment reference line.
Further, the forward attitude adjustment module is specifically configured to:
acquiring a first moving speed corresponding to the mobile robot body far away from the target point;
acquiring a current first machine steering angle, and a current first distance deviation and a current first angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line, wherein the current first steering angle is an included angle of the robot front wheel axle center coordinate system relative to the robot rear wheel axle center coordinate system;
determining a current first parameter value of the set attitude adjustment parameter by combining a given parameter value determination formula according to the first moving speed, the current first distance deviation and the current first angle deviation;
updating the current first machine steering angle according to the current first parameter value and a given angle adjustment formula to obtain a new current first machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current first machine steering angle is obtained, stopping forward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current first machine steering angle, the current first distance deviation and the current first angle deviation.
Further, the backward posture adjusting module is specifically configured to:
acquiring a second moving speed corresponding to the mobile robot body approaching the target point;
obtaining a current second machine steering angle, and a current second distance deviation and a current second angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line,
determining a current second parameter value of the set attitude adjustment parameter according to the second moving speed, the current second distance deviation and the current second angle deviation and by combining a given parameter value determination formula;
updating the current second machine steering angle according to the current second parameter value and a given angle adjustment formula to obtain a new current second machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current second machine steering angle is obtained, stopping backward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current second machine steering angle, the current second distance deviation and the current second angle deviation. In a third aspect, an embodiment of the present invention further provides a cleaning robot, including:
one or more controllers;
storage means for storing one or more programs;
an input device for monitoring an attitude adjustment condition;
the image acquisition device is used for identifying the set two-dimensional code information to determine a target point;
the articulated chassis is used for determining a central coordinate system of a front wheel shaft of the robot and a central coordinate system of a rear wheel shaft of the robot;
when executed by the one or more processors, cause the one or more controllers to implement the pose adjustment method as described in the first aspect.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the pose adjustment method as set forth in the first aspect.
When the situation that the current posture adjustment condition is met is monitored, the mobile robot body reaches a preset mark point; determining a target point by identifying the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point; executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjustment reference line; and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line. According to the technical scheme, when the gesture adjustment condition is met, the robot body can move to the preset mark point firstly, then the target point is determined according to the preset two-dimensional code, the gesture adjustment reference line is constructed based on the target point and the preset mark point, the robot body further executes forward gesture adjustment far away from the target point and backward gesture adjustment close to the target point respectively until a central coordinate system of a front wheel shaft of the robot is aligned with the gesture adjustment reference line, gesture adjustment of the cleaning robot is achieved, further after the gesture adjustment is completed, the cleaning robot can dump garbage carried by the cleaning robot into the target point, the dumping efficiency of the hinged cleaning robot is improved, and the cost is reduced.
Drawings
Fig. 1 is a flowchart of an attitude adjustment method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a robot body moving to a preset mark point in an attitude adjustment method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating that a robot gradually moves away from a target point during a forward pose adjustment process in a pose adjustment method according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating that a robot gradually approaches a target point in a process of performing backward posture adjustment in a posture adjustment method according to an embodiment of the present invention;
FIG. 5 is a flow chart of another method for adjusting an attitude according to an embodiment of the present invention;
fig. 6 is a structural diagram of an attitude adjusting apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating interaction between a computer-readable storage medium and a controller according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
The articulated chassis comprises a transmission system, a running system, a steering system and a braking system, and can receive the power of the engine to move and normally run the cleaning robot. The transmission system can comprise a clutch, a manual transmission, a universal transmission device, a drive axle and the like, and can transmit the power of the engine to the driving wheels; the running system can comprise a frame, a suspension, an axle, wheels and the like, wherein the wheels can be arranged on two sides of the axle through bearings, the axle can be connected with the frame through the suspension, and the frame can be an assembly body of the cleaning robot; the steering system can comprise an operating mechanism, a steering gear and a steering transmission mechanism, and can ensure that the cleaning robot runs in a preset direction; the brake system may include a service brake system and a parking brake system, both of which may include brakes and a brake actuator, which may slow down, stop and ensure a reliable parking of the cleaning robot. The cleaning robot equipped with the articulated chassis may be equipped with a loading frame above the rear wheel shaft for loading garbage or goods, etc.
The front wheel shaft and the rear wheel shaft of the hinged chassis can move in any angle state, the angle between the front wheel shaft and the rear wheel shaft is adjusted, and the moving direction of the robot can be adjusted.
In the prior art, the posture adjustment technology of the cleaning robot with the hinged chassis is not mature enough, and the posture adjustment of the cleaning robot with the hinged chassis can be realized through the following embodiments.
Fig. 1 is a flowchart of an attitude adjustment method according to an embodiment of the present invention, where the embodiment is applicable to a situation where an attitude adjustment of a cleaning robot with an articulated chassis is required, and the method may be performed by an attitude adjustment device in the cleaning robot, and specifically includes the following steps:
and 110, when the current posture adjustment condition is monitored, the mobile robot body reaches a preset mark point.
The gesture adjustment condition may include that the robot receives a start trigger, and the start trigger may include a start trigger triggered by an operator through a touch screen, a key or a remote control. If the robot includes a touchable display, the open trigger may include a touch screen trigger; if the robot includes a touch-tone control module, then the open trigger may include a touch-tone trigger; if the robot includes a bluetooth receiver and the operator holds a remote control that matches the bluetooth receiver, the turn-on trigger may include a remote control trigger.
Of course, if the robot is a cleaning robot or any robot capable of carrying articles, whether the robot meets the starting triggering condition or not is determined by monitoring the loading weight of the robot, and then whether the robot meets the posture adjustment condition or not is determined. And if the loading weight of the robot is greater than or equal to the loading threshold value, determining that the robot meets the starting triggering condition, and otherwise, determining that the robot does not meet the starting triggering condition.
The preset mark point may be a point a first distance directly in front of the target point, and the first distance may be determined according to the historical attitude adjustment. And if the current target point is the new target point, determining a first distance according to a preset distance. The historical attitude adjustment data and the preset distance can be stored in a memory of the robot, and if the robot needs to be used, the robot controller can call the historical attitude adjustment data and the preset distance.
Specifically, after receiving the start trigger, the robot determines that the posture adjustment condition is satisfied, and the robot body can move to reach the preset mark point.
Fig. 2 is a schematic diagram illustrating that a robot body moves to a preset mark point in an attitude adjustment method according to an embodiment of the present invention, as shown in fig. 2, the robot may move from a direction 1 or a direction 2 to the preset mark point, and a first distance between a center coordinate system of a rear wheel axle of the robot and the preset mark point is smaller than a second distance between the center coordinate system of a front wheel axle of the robot and the preset mark point in a process of moving to the preset mark point and when the robot moves to the preset mark point.
In the embodiment of the invention, in the process that the robot moves to the preset mark point, the first distance between the center coordinate system of the rear wheel shaft of the robot and the preset mark point is smaller than the second distance between the center coordinate system of the front wheel shaft of the robot and the preset mark point, so that after the robot reaches the preset mark point, the rear wheel shaft of the robot is close to the target point, and the front wheel shaft of the robot is far away from the target point, thereby facilitating the dumping of garbage above the rear wheel shaft of the robot.
Of course, in practical applications, if the loading frame of the robot is located above the front wheel axle of the robot, the robot can directly drive forward to the target point to dump the loading frame loaded with the garbage.
It should be noted that the attitude adjustment method described in the embodiment of the present invention can be applied to any drivable device equipped with an articulated chassis, and performs attitude adjustment on the drivable device to enable a rear axle to approach a target point, thereby achieving applications such as garbage dumping or cargo unloading.
And 120, determining a target point by recognizing the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point.
The cleaning robot may be equipped with an image acquisition device, the image acquisition device may include a camera, and the image acquisition device may acquire the two-dimensional code information set on the target point. Two-dimensional codes can be preset at symmetrical positions on two sides of the target point, and the two-dimensional code information can comprise position information of the two-dimensional codes.
If the target point is a garbage station, a first two-dimensional code and a second two-dimensional code can be respectively arranged on the left side and the right side of the garbage station, and after the image acquisition device acquires the first two-dimensional code information and the second two-dimensional code information, the position information of the midpoint of the garbage station, namely the center position information, can be determined according to the position information of the first two-dimensional code information and the second two-dimensional code information.
The posture adjustment reference line can be used for adjusting the posture of the robot, so that the rear wheel shaft of the robot is aligned with the garbage station, the robot can pour garbage into the garbage station conveniently, manual operation in the garbage pouring process is reduced, and cost is further reduced.
Specifically, after the center position information of the target point is determined according to the two-dimensional code information, a straight line where a connection line between the center position of the target point and the preset mark point is located can be determined as the attitude adjustment reference line.
And step 130, executing forward attitude adjustment far away from the target point until the central coordinate system of the rear wheel shaft of the robot is aligned with the attitude adjustment reference line.
The front attitude adjustment may include attitude adjustment of the robot in forward driving, and in the front attitude adjustment process, the front wheel axle may gradually get away from the attitude adjustment reference line, and the rear wheel axle may gradually get close to the attitude adjustment reference line.
Fig. 3 is a schematic diagram of the robot gradually departing from a target point in a process of performing forward attitude adjustment in an attitude adjustment method according to an embodiment of the present invention, and as shown in fig. 3, an included angle between a front wheel axle center coordinate system of the robot and an attitude adjustment reference line, that is, a steering angle of the robot gradually increases, and an included angle between a rear wheel axle center coordinate system of the robot and the attitude adjustment reference line gradually decreases.
When the included angle between the center coordinate system of the rear wheel shaft of the robot and the attitude adjustment reference line tends to 0 degree, the center coordinate system of the rear wheel shaft of the robot can be determined to be aligned with the attitude adjustment reference line.
In addition, in the process of executing the forward attitude adjustment by the robot, the connecting point of the front wheel shaft and the rear wheel shaft can be always positioned on the attitude adjustment reference line, so that the center coordinate system of the rear wheel shaft of the robot is aligned with the attitude adjustment reference line after the forward adjustment is finished.
In the embodiment of the invention, after the robot reaches the preset target point, the robot can drive forwards to the left or to the right to realize forward attitude adjustment, and in the forward driving process, if the central coordinate system of the rear wheel shaft of the robot is aligned with the attitude adjustment reference line, the forward attitude adjustment is finished, so that the attitude adjustment of the rear wheel shaft is realized.
And 140, performing backward posture adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the posture adjustment reference line.
The backward posture adjustment can comprise posture adjustment of backward driving of the robot, and in the backward posture adjustment process, the front wheel shaft and the rear wheel shaft can be gradually close to the posture adjustment reference line.
Fig. 4 is a schematic diagram of the robot gradually approaching the target point during the process of performing the backward attitude adjustment in the attitude adjustment method according to the first embodiment of the present invention, and as shown in fig. 4, an included angle between a front wheel axle center coordinate system of the robot and an attitude adjustment reference line, that is, a machine steering angle gradually decreases, and an included angle between a rear wheel axle center coordinate system of the robot and the attitude adjustment reference line also gradually decreases.
When the included angle between the center coordinate system of the rear wheel shaft of the robot and the attitude adjustment reference line tends to 0 degree and the included angle between the center coordinate system of the front wheel shaft of the robot and the attitude adjustment reference line also tends to 0 degree, it can be determined that the center coordinate system of the rear wheel shaft of the robot and the center coordinate system of the front wheel shaft of the robot are both aligned with the attitude adjustment reference line.
In addition, in the process of performing the backward attitude adjustment by the robot, the connection point of the front wheel axle and the rear wheel axle can be always positioned on the attitude adjustment reference line, so that the center coordinate system of the rear wheel axle of the robot is aligned with the attitude adjustment reference line after the backward adjustment is finished.
In the embodiment of the invention, after the robot forward adjustment is finished, the backward adjustment direction can be determined according to the forward adjustment direction, if the forward adjustment is left driving, the backward adjustment can be right driving, if the forward adjustment is right driving, the backward adjustment can be left driving, so that the backward attitude adjustment is realized, and in the backward driving process, if the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line, the backward attitude adjustment is finished, so that the attitude adjustment of the front wheel shaft is realized, and further the attitude adjustment of the robot is realized.
According to the attitude adjusting method provided by the embodiment of the invention, when the current attitude adjusting condition is monitored, the mobile robot body reaches the preset mark point; determining a target point by identifying the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point; executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjustment reference line; and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line. According to the technical scheme, when the gesture adjustment condition is met, the robot body can move to the preset mark point firstly, then the target point is determined according to the preset two-dimensional code, the gesture adjustment reference line is constructed based on the target point and the preset mark point, the robot body further executes forward gesture adjustment far away from the target point and backward gesture adjustment close to the target point respectively until a central coordinate system of a front wheel shaft of the robot is aligned with the gesture adjustment reference line, gesture adjustment of the cleaning robot is achieved, further after the gesture adjustment is completed, the cleaning robot can dump garbage carried by the cleaning robot into the target point, the dumping efficiency of the hinged cleaning robot is improved, and the cost is reduced.
Fig. 5 is a flowchart of another posture adjustment method according to an embodiment of the present invention, which is embodied on the basis of the above embodiment. In this embodiment, the method may further include:
step 510, obtaining current environment information.
The current environment information may include information of a current environment in which the robot is located, further may include location information of an article in the environment, and of course may include location information of a trash point in the environment. The current environment information may also include position information of the robot body.
Specifically, the current environment information may include current environment information called from a map module built in the robot, or may include current environment information acquired by the image acquisition device. In practical application, the position of the outdoor garbage point may not change within a period of time, so that when the outdoor current environment information is acquired, the current environment information in the map module can be called, at least one called first environment feature is compared with at least one called second environment feature at the same position acquired by the image acquisition device, and if the first environment feature and the second environment feature are both consistent, the current environment information in the map module is continuously called to serve as the acquired current environment information; and if the preset number of first environmental characteristics and the preset number of second environmental characteristics are not consistent, the image acquisition device acquires current environmental information and determines the current environmental information as the current environmental information. The preset number may be determined according to the accuracy of the current environment information that needs to be acquired. In addition, the position of the indoor article may be changed frequently, so that when the indoor current environment information is acquired, the current environment information can be directly acquired according to the image acquisition device.
It should be noted that before the current environment information is acquired, the robot may be powered on to start operation.
In the embodiment of the invention, after the robot is started, the image acquisition device of the robot can be started firstly, or the current environment information can be called from the map module according to the current position firstly, so that the current environment information of the robot is acquired.
And step 520, determining the current position information and the first position information of the preset mark point based on the current environment information.
Specifically, the current environment information may include current position information of the robot and first position information of the preset marking point. After the current environment information is acquired, the current position information and the first position information of the preset mark point may be extracted from the current environment information.
And step 530, after receiving the starting trigger, determining that the posture adjustment condition is met currently.
The specific conditions for the start triggering and the posture adjustment have been described in detail in the first embodiment, and are not described herein again.
Step 540, controlling the robot body to move in a posture meeting the set moving condition until reaching a preset mark point; and setting a moving condition that a first distance between the center coordinate system of the rear wheel shaft of the robot and the preset mark point is smaller than a second distance between the center coordinate system of the front wheel shaft of the robot and the preset mark point.
Specifically, when the robot moves in a posture that a first distance between the center coordinate system of the rear wheel shaft of the robot and the preset mark point is smaller than a second distance between the center coordinate system of the front wheel shaft of the robot and the preset mark point, the rear wheel shaft of the robot can be always close to the target point, and after the robot moves to the preset mark point, the rear wheel shaft of the robot is also close to the target point, so that the robot can pour garbage based on the loading frame loaded with garbage.
In one embodiment, moving to a predetermined marker point comprises:
determining a moving path according to the current position information and the first position information of the preset mark point; and moving to reach a preset mark point based on the moving path.
Specifically, the current position information may include front axle position information, rear axle position information, and position information of a connection point of the front and rear axles.
In the embodiment of the invention, the connecting line between the connecting point of the front wheel shaft and the rear wheel shaft and the preset mark point can be determined as the moving path, and the robot can move on the moving path to move from the current position to the preset mark point. In addition, when the two points are connected in a straight line, the distance is shortest, so that the moving path is the shortest moving path between the connecting point of the front wheel shaft and the rear wheel shaft and the preset mark point, and the moving efficiency can be further improved.
And step 550, determining the position information of the first two-dimensional code and the position information of the second two-dimensional code according to the first two-dimensional code information and the second two-dimensional code information.
The first two-dimensional code and the second two-dimensional code may be disposed on the left and right sides of the target point, and used for determining the center position of the target point, and the two-dimensional code information may include position information of the two-dimensional code.
In practical application, the two-dimensional codes arranged on the left side and the right side of the target point can be replaced by reflectors, infrared devices or signal generating devices arranged on the left side and the right side of the target point, and the central position of the target point can be determined according to the reflection phenomenon of the reflectors; and infrared signals or other signals can be respectively received to determine the central position of the target point.
In the embodiment of the present invention, after the first two-dimensional code information and the second two-dimensional code information are obtained, the position information of the first two-dimensional code and the position information of the second two-dimensional code can be obtained by analyzing from the first two-dimensional code information and the second two-dimensional code information, respectively.
And step 560, determining a midpoint of the first two-dimensional code and the second two-dimensional code according to the position information of the first two-dimensional code and the position information of the second two-dimensional code, and determining the midpoint as the target point.
The midpoint of the first two-dimensional code and the midpoint of the second two-dimensional code may be a midpoint of the target point. If the target point is a garbage point, the midpoint of the first two-dimensional code and the midpoint of the second two-dimensional code can be the midpoint of the garbage point.
Specifically, the first two-dimensional code and the second two-dimensional code can be placed in a coordinate system, a first coordinate of the first two-dimensional code and a second coordinate of the second two-dimensional code are determined, coordinates of a midpoint of the first two-dimensional code and the midpoint of the second two-dimensional code are determined according to the first coordinate and the second coordinate, and then the midpoint coordinate can be determined as coordinates of a target point, so that the target point is determined.
In the embodiment of the present invention, the first two-dimensional code and the second two-dimensional code may also be connected to determine a midpoint thereof, so as to determine a target point.
And 570, determining a straight line where the connecting line of the preset marking point and the target point is located as the attitude adjustment reference line.
The attitude adjustment reference line can provide reference for subsequent forward attitude adjustment and backward attitude adjustment, and the forward attitude adjustment and the backward attitude adjustment can be carried out on the basis of the attitude adjustment reference line.
Specifically, the first position information of the preset mark point and a straight line where a connecting line of midpoints of the first two-dimensional code and the second two-dimensional code is located may be determined as the attitude adjustment reference line.
It should be noted that the attitude adjustment reference line is not a physical connection line, and may be stored in the storage device of the robot as a virtual connection line.
And 580, executing forward attitude adjustment far away from the target point until the central coordinate system of the rear wheel shaft of the robot is aligned with the attitude adjustment reference line.
In one embodiment, step 580 may specifically include:
acquiring a first moving speed corresponding to the mobile robot body far away from the target point; acquiring a current first machine steering angle, and a current first distance deviation and a current first angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line, wherein the current first steering angle is an included angle of the robot front wheel axle center coordinate system relative to the robot rear wheel axle center coordinate system; determining a current first parameter value of the set attitude adjustment parameter by combining a given parameter value determination formula according to the first moving speed, the current first distance deviation and the current first angle deviation; updating the current first machine steering angle according to the current first parameter value and a given angle adjustment formula to obtain a new current first machine steering angle; if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current first machine steering angle is obtained, stopping forward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current first machine steering angle, the current first distance deviation and the current first angle deviation.
Wherein, the parameter value determination formula may be: w ═ v × (p)y×ye+pθ×sin(θe) W is the current first parameter value, pyAnd pθIs a preset parameter, v is a first moving speed, yeIs a first distance deviation, thetaeIs the second angular deviation.
The angle adjustment formula may be a steering-angle + w/frequency, wherein cur-steering-angle is the current first machine steering angle, steering-angle is the adjusted first machine steering angle, and frequency is the control frequency.
In the embodiment of the invention, in the forward attitude adjustment process, the current first machine steering angle can be updated continuously based on the parameter value determination formula and the angle adjustment formula, and a new current first machine steering angle is obtained until the central coordinate system of the rear wheel shaft of the robot is aligned with the attitude adjustment reference line, namely the included angle between the central coordinate system of the rear wheel shaft of the robot and the attitude adjustment reference line tends to 0 degree.
And 590, performing backward posture adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the posture adjustment reference line.
In one embodiment, step 590 may specifically include:
acquiring a second moving speed corresponding to the mobile robot body approaching the target point; acquiring a current second machine steering angle, and a current second distance deviation and a current second angle deviation between a robot rear axle center coordinate system and the attitude adjustment reference line, and determining a formula according to the second moving speed, the current second distance deviation and the current second angle deviation by combining given parameter values to determine a current second parameter value of the set attitude adjustment parameter; updating the current second machine steering angle according to the current second parameter value and a given angle adjustment formula to obtain a new current second machine steering angle; if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current second machine steering angle is obtained, stopping backward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current second machine steering angle, the current second distance deviation and the current second angle deviation.
Wherein the parameter determination formula and the angle adjustment formula are as described above.
Specifically, in the backward attitude adjustment process, the current second machine steering angle may be updated continuously based on the parameter value determination formula and the angle adjustment formula, and a new current second machine steering angle is obtained until the center coordinate system of the front wheel axle of the robot is aligned with the attitude adjustment reference line, that is, the included angle between the center coordinate system of the front wheel axle of the robot and the attitude adjustment reference line tends to 0 degree.
According to the posture adjustment method provided by the embodiment two of the invention, when the current posture adjustment condition is monitored, the mobile robot body reaches the preset mark point; determining a target point by identifying the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point; executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjustment reference line; and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line. According to the technical scheme, when the gesture adjustment condition is met, the robot body can move to the preset mark point firstly, then the target point is determined according to the preset two-dimensional code, the gesture adjustment reference line is constructed based on the target point and the preset mark point, the robot body further executes forward gesture adjustment far away from the target point and backward gesture adjustment close to the target point respectively until a central coordinate system of a front wheel shaft of the robot is aligned with the gesture adjustment reference line, gesture adjustment of the cleaning robot is achieved, further after the gesture adjustment is completed, the cleaning robot can dump garbage carried by the cleaning robot into the target point, the dumping efficiency of the hinged cleaning robot is improved, and the cost is reduced.
In addition, in the embodiment of the present invention, the current position information and the first position information of the preset mark point may be determined based on the current environment information. The position information of the two-dimensional code can be determined according to the two-dimensional code information arranged on the two sides of the target point, the midpoint of the target point is further determined, the attitude adjustment reference line is determined based on the midpoint of the target point and the straight line where the connecting line of the preset mark point is located, the attitude adjustment reference line is determined, and the robot can perform forward attitude adjustment and backward attitude adjustment according to the attitude adjustment reference line more conveniently.
Fig. 6 is a structural diagram of an attitude adjustment apparatus according to an embodiment of the present invention, which may be applied to improve the attitude adjustment efficiency of a robot when the attitude of the robot equipped with an articulated chassis needs to be adjusted. The apparatus may be implemented in software and/or hardware and is typically integrated into a drivable device, such as a cleaning robot.
As shown in fig. 6, the apparatus includes:
the moving module 610 is used for monitoring that the mobile robot body reaches a preset mark point when the gesture adjusting condition is currently met;
the construction module 620 is configured to determine a target point by recognizing the set two-dimensional code information, and construct a posture adjustment reference line based on the target point and a preset mark point;
a forward attitude adjustment module 630, configured to perform forward attitude adjustment away from the target point until the robot rear axle center coordinate system is aligned with the attitude adjustment reference line;
and the backward posture adjusting module 640 is configured to perform backward posture adjustment close to the target point until the robot front wheel axle center coordinate system is aligned with the posture adjustment reference line.
According to the posture adjusting device provided by the embodiment, when the posture adjusting condition is monitored to be met currently, the mobile robot body reaches the preset mark point; determining a target point by identifying the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point; executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjustment reference line; and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line. According to the technical scheme, when the gesture adjustment condition is met, the robot body can move to the preset mark point firstly, then the target point is determined according to the preset two-dimensional code, the gesture adjustment reference line is constructed based on the target point and the preset mark point, the robot body further executes forward gesture adjustment far away from the target point and backward gesture adjustment close to the target point respectively until a central coordinate system of a front wheel shaft of the robot is aligned with the gesture adjustment reference line, gesture adjustment of the cleaning robot is achieved, further after the gesture adjustment is completed, the cleaning robot can dump garbage carried by the cleaning robot into the target point, the dumping efficiency of the hinged cleaning robot is improved, and the cost is reduced.
On the basis of the above embodiment, the posture adjustment condition includes an open trigger, and the moving module 610 is specifically configured to: after receiving a starting trigger, determining that the current posture adjustment condition is met; and moving to a preset mark point in a posture that a first distance between the center coordinate system of the rear wheel shaft of the robot and the preset mark point is smaller than a second distance between the center coordinate system of the front wheel shaft of the robot and the preset mark point.
On the basis of the foregoing embodiment, the moving module 610 is further specifically configured to: determining a moving path according to the current position information and the first position information of the preset mark point; and moving to reach a preset mark point based on the moving path.
On the basis of the above embodiment, the apparatus further includes:
an obtaining module 650, configured to obtain current environment information;
an executing module 660, configured to determine the current location information and the first location information based on the current environment information.
On the basis of the foregoing embodiment, the two-dimensional code information includes first two-dimensional code information and second two-dimensional code information that are respectively set on both sides of the target point, and the constructing module 620 is specifically configured to:
determining the position information of the first two-dimensional code and the position information of the second two-dimensional code according to the first two-dimensional code information and the second two-dimensional code information;
determining the midpoint of the first two-dimensional code and the midpoint of the second two-dimensional code according to the position information of the first two-dimensional code and the position information of the second two-dimensional code, and determining the midpoint of the first two-dimensional code and the midpoint of the second two-dimensional code as the target point;
and determining a straight line where the connecting line of the preset marking point and the target point is positioned as the attitude adjustment reference line.
On the basis of the foregoing embodiment, the forward posture adjustment module 630 is specifically configured to:
acquiring a first moving speed corresponding to the mobile robot body far away from the target point;
acquiring a current first machine steering angle, and a current first distance deviation and a current first angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line, wherein the current first steering angle is an included angle of the robot front wheel axle center coordinate system relative to the robot rear wheel axle center coordinate system;
determining a current first parameter value of the set attitude adjustment parameter by combining a given parameter value determination formula according to the first moving speed, the current first distance deviation and the current first angle deviation;
updating the current first machine steering angle according to the current first parameter value and a given angle adjustment formula to obtain a new current first machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current first machine steering angle is obtained, stopping forward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current first machine steering angle, the current first distance deviation and the current first angle deviation.
On the basis of the above embodiment, the backward posture adjusting module 640 is specifically configured to:
acquiring a second moving speed corresponding to the mobile robot body approaching the target point;
obtaining a current second machine steering angle, and a current second distance deviation and a current second angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line,
determining a current second parameter value of the set attitude adjustment parameter according to the second moving speed, the current second distance deviation and the current second angle deviation and by combining a given parameter value determination formula;
updating the current second machine steering angle according to the current second parameter value and a given angle adjustment formula to obtain a new current second machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current second machine steering angle is obtained, stopping backward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current second machine steering angle, the current second distance deviation and the current second angle deviation.
The posture adjusting device provided by the embodiment of the invention can execute the posture adjusting method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
Fig. 7 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention, as shown in fig. 7, the cleaning robot includes a controller 710, a memory 720, an input device 730, an image capturing device 740, and an articulated chassis 750; the number of the controllers 710 of the cleaning robot may be one or more, and one controller 710 is illustrated in fig. 7; the controller 710, the memory 720, the input device 730, the image capturing device 740, and the articulated chassis 750 of the cleaning robot may be connected by a bus or other means, as exemplified by the bus connection in fig. 7.
The memory 720, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the posture adjustment method in the embodiment of the present invention (e.g., the moving module 610, the building module 620, the forward posture adjustment module 630, and the backward posture adjustment module 640 in the posture adjustment apparatus). The controller 710 executes various functional applications and data processing of the cleaning robot by executing software programs, instructions, and modules stored in the memory 720, that is, implements the above-described posture adjustment method.
The memory 720 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 720 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 720 may further include a memory remotely disposed from the controller 710, and these remote memories may be connected to the cleaning robot through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
An input device 730 for monitoring an attitude adjustment condition; the image acquisition device 740 is used for identifying the set two-dimensional code information to determine a target point; and an articulated chassis 750 for determining a robot front wheel axle center coordinate system and a robot rear wheel axle center coordinate system.
The cleaning robot provided by the embodiment of the invention belongs to the same concept as the posture adjusting method provided by the embodiment, the technical details which are not described in detail in the embodiment can be referred to the embodiment, and the embodiment has the same beneficial effects of executing the posture adjusting method.
Fig. 8 is a schematic diagram illustrating interaction between a computer-readable storage medium and a controller according to an embodiment of the present invention. The computer-readable storage medium 81 has stored thereon a computer program 810, the computer program 810 being operable when executed by the controller 82 to perform a method of pose adjustment, the method comprising:
when the current posture adjustment condition is met, the mobile robot body reaches a preset mark point;
determining a target point by identifying the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point;
executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjustment reference line;
and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line.
Optionally, the computer program 810, when executed by the controller 82, may also be used to perform a pose adjustment method provided by any of the embodiments of the present invention.
Computer-readable storage media 81 of embodiments of the present invention may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium 81 may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium 81 include: 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), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. The computer readable storage medium 81 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, and the computer program 810.
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 a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any 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).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. An attitude adjustment method, characterized by comprising:
when the current posture adjustment condition is met, the mobile robot body reaches a preset mark point;
determining a target point by identifying the set two-dimensional code information, and constructing a posture adjustment reference line based on the target point and a preset mark point;
executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjustment reference line;
and performing backward attitude adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the attitude adjustment reference line.
2. The attitude adjustment method according to claim 1, wherein the attitude adjustment condition includes an on trigger;
correspondingly, when the current posture adjustment condition is monitored to be met, the movement to reach the preset mark point comprises the following steps:
after receiving a starting trigger, determining that the current posture adjustment condition is met;
controlling the robot body to move in a posture meeting the set moving condition until reaching a preset mark point;
and setting a moving condition that a first distance between the center coordinate system of the rear wheel shaft of the robot and the preset mark point is smaller than a second distance between the center coordinate system of the front wheel shaft of the robot and the preset mark point.
3. The attitude adjustment method according to claim 1, wherein moving to reach a preset mark point comprises:
determining a moving path according to the current position information and the first position information of the preset mark point;
and moving to reach a preset mark point based on the moving path.
4. The posture adjustment method according to claim 3, before determining the moving path based on the current position information and the first position information of the preset mark point, further comprising:
acquiring current environment information;
determining the current location information and the first location information based on the current environment information.
5. The attitude adjustment method according to claim 1, wherein the two-dimensional code information includes first two-dimensional code information and second two-dimensional code information that are respectively provided on both sides of the target point;
correspondingly, the method comprises the steps of identifying the set two-dimensional code information to determine a target point, and constructing a posture adjustment reference line based on the target point and a preset mark point, wherein the method comprises the following steps:
determining the position information of the first two-dimensional code and the position information of the second two-dimensional code according to the first two-dimensional code information and the second two-dimensional code information;
determining the midpoint of the first two-dimensional code and the second two-dimensional code according to the position information of the first two-dimensional code and the position information of the second two-dimensional code, and determining the midpoint as the target point;
and determining a straight line where the connecting line of the preset marking point and the target point is positioned as the attitude adjustment reference line.
6. The pose adjustment method of claim 1, wherein the performing forward pose adjustment away from the target point until the robot rear axle center coordinate system is aligned with the pose adjustment reference line comprises:
acquiring a first moving speed corresponding to the mobile robot body far away from the target point;
acquiring a current first machine steering angle, and a current first distance deviation and a current first angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line, wherein the current first steering angle is an included angle of the robot front wheel axle center coordinate system relative to the robot rear wheel axle center coordinate system;
determining a current first parameter value of the set attitude adjustment parameter by combining a given parameter value determination formula according to the first moving speed, the current first distance deviation and the current first angle deviation;
updating the current first machine steering angle according to the current first parameter value and a given angle adjustment formula to obtain a new current first machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current first machine steering angle is obtained, stopping forward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current first machine steering angle, the current first distance deviation and the current first angle deviation.
7. The pose adjustment method of claim 1, wherein the performing backward pose adjustment near the target point until the robot front wheel axle center coordinate system is aligned with the pose adjustment reference line comprises:
acquiring a second moving speed corresponding to the mobile robot body approaching the target point;
obtaining a current second machine steering angle, and a current second distance deviation and a current second angle deviation between a robot rear wheel axle center coordinate system and the attitude adjustment reference line,
determining a current second parameter value of the set attitude adjustment parameter according to the second moving speed, the current second distance deviation and the current second angle deviation and by combining a given parameter value determination formula;
updating the current second machine steering angle according to the current second parameter value and a given angle adjustment formula to obtain a new current second machine steering angle;
if the robot rear wheel axle center coordinate system is aligned with the attitude adjustment reference line when the new current second machine steering angle is obtained, stopping backward attitude adjustment; and if not, returning to continue to execute the obtaining operation of the current second machine steering angle, the current second distance deviation and the current second angle deviation.
8. An attitude adjusting apparatus, characterized by comprising:
the mobile module is used for monitoring that the mobile robot body reaches a preset mark point when the current posture adjustment condition is met;
the construction module is used for determining a target point by identifying the set two-dimensional code information and constructing a posture adjustment reference line based on the target point and a preset mark point;
the forward attitude adjusting module is used for executing forward attitude adjustment far away from the target point until a central coordinate system of a rear wheel shaft of the robot is aligned with the attitude adjusting reference line;
and the backward posture adjusting module is used for executing backward posture adjustment close to the target point until the central coordinate system of the front wheel shaft of the robot is aligned with the posture adjusting reference line.
9. A cleaning robot, characterized in that the cleaning robot comprises:
one or more controllers;
a memory for storing one or more programs;
an input device for monitoring an attitude adjustment condition;
the image acquisition device is used for identifying the set two-dimensional code information to determine a target point;
the articulated chassis is used for determining a central coordinate system of a front wheel shaft of the robot and a central coordinate system of a rear wheel shaft of the robot;
when executed by the one or more processors, cause the one or more controllers to implement the pose adjustment method of any one of claims 1-7.
10. A storage medium containing computer-executable instructions for performing the pose adjustment method of any one of claims 1-7 when executed by a computer processor.
CN202110220348.1A 2021-02-26 2021-02-26 Attitude adjusting method and device, cleaning robot and storage medium Pending CN113031635A (en)

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CN114147725B (en) * 2021-12-21 2024-04-02 乐聚(深圳)机器人技术有限公司 Zero point adjustment method, device and equipment for robot and storage medium
CN114587218A (en) * 2021-12-31 2022-06-07 北京石头创新科技有限公司 State judgment method and device for cleaning robot
CN114587218B (en) * 2021-12-31 2023-07-21 北京石头创新科技有限公司 State judging method and device for cleaning robot
CN114511625A (en) * 2022-04-19 2022-05-17 深圳史河机器人科技有限公司 Robot positioning method and device, electronic equipment and storage medium
CN114511625B (en) * 2022-04-19 2022-07-26 深圳史河机器人科技有限公司 Robot positioning method and device, electronic equipment and storage medium
CN115016511A (en) * 2022-08-08 2022-09-06 北京安录国际技术有限公司 Robot control method and system based on artificial intelligence

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