CN113156447A - Door position determination method, sweeper and computer readable storage medium - Google Patents
Door position determination method, sweeper and computer readable storage medium Download PDFInfo
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- 238000010408 sweeping Methods 0.000 abstract description 4
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The application discloses a door position determining method, a sweeper and a computer readable storage medium, wherein the method comprises the following steps: the method comprises the steps that depth information of door leaves of an environment where a sweeper is located is obtained, wherein the depth information comprises position information of the door leaves, and at least one door leaf exists; acquiring position information of the outline of the room corresponding to the door leaf of the door; and determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf of the door. The problem of have the inaccurate technique of door position when adopting the voronoi diagram to confirm the door position is solved, the accuracy of door position in the quick-witted execution environment of sweeping the floor has been improved.
Description
Technical Field
The present application relates to the field of floor sweeping machines, and in particular, to a method for determining a door position, a floor sweeping machine, and a computer-readable storage medium.
Background
When the sweeper performs path planning, each room needs to be divided so as to reasonably plan a cleaning path. When the sweeper performs room division, the position of each door needs to be determined first.
In the prior art, the position of a door is usually determined by using a voronoi diagram map segmentation method, but when furniture similar to a door gap exists in an indoor environment (such as a bed and a sofa), a sweeper can misjudge the furniture as the position of the door, and the accuracy of the determined position of the door is reduced.
Disclosure of Invention
The embodiment of the application provides a door position determining method, a sweeper and a computer readable storage medium, and aims to solve the problem of improving the accuracy of the door position in an execution environment of the sweeper.
To achieve the above object, in one aspect, the present application provides a method for determining a door position, including:
the method comprises the steps that depth information of door leaves of an environment where a sweeper is located is obtained, wherein the depth information comprises position information of the door leaves, and at least one door leaf exists;
acquiring position information of the outline of the room corresponding to the door leaf of the door;
and determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf of the door.
Optionally, the contour is composed of a plurality of line segments, and the step of determining the position of the door according to the position information of the contour of the room and the depth information of the door leaf includes:
determining a characteristic line segment of each door page according to the depth information of each door page;
determining a target line segment corresponding to the characteristic line segment from the contour, wherein the target line segment is a line segment which is formed by a plurality of line segments and has an intersection point with the characteristic line segment;
calculating an included angle between the characteristic line segment and the target line segment;
and obtaining the position of the door according to the characteristic line segment, the included angle and the position information of the outline of the room.
Optionally, the step of obtaining the position of the door according to the characteristic line segment, the included angle, and the position information of the outline of the room includes:
calculating a complementary angle or a supplementary angle of the included angle;
determining the top point of the characteristic line segment, wherein the top point is the intersection point of the characteristic line segment and the line segment of the contour;
rotating the characteristic line segment by taking the vertex as a rotation center according to the complementary angle or the complementary angle;
when the characteristic line segment rotates to the complementary angle or the complementary angle, the other end point of the characteristic line segment is detected to be overlapped with the line segment of the outline, and the current position of the characteristic line segment is determined to be the position of the door.
Optionally, after the step of determining that the current position of the feature line segment is the position of the door, the method includes:
the position of the door is marked in the outline of the room.
Optionally, before the step of obtaining the position information of the outline of the room corresponding to the door leaf, the method includes:
and clustering the depth information of at least two door leaves to obtain the depth information of each door leaf.
Optionally, the step of clustering the depth information of at least two door pages to obtain the depth information of each door page includes:
acquiring a distance value between any two pieces of depth information;
clustering the depth information of which the distance value is smaller than a preset distance value;
and obtaining the depth information of each door page according to the clustering result.
Optionally, before the step of obtaining the depth information of the door page of the environment where the sweeper is located, the method includes:
identifying the door leaf present in the environment.
Optionally, the step of identifying the door leaf present in the environment comprises:
extracting feature information of objects existing in the environment;
and when the characteristic information is the characteristic information of the door leaf, determining that the object is the door leaf.
In addition, in order to achieve the above object, another aspect of the present application further provides a sweeper, which includes a processor, a memory, and a door position determining program stored on the memory and operable on the processor, wherein the door position determining program, when executed by the processor, implements the steps of the door position determining method according to any one of the above methods.
In addition, in order to achieve the above object, another aspect of the present application further provides a computer-readable storage medium, on which a door position determination program is stored, and when the door position determination program is executed by a processor, the steps of the door position determination method as described in any one of the above are implemented.
In this implementation, the sweeper acquires the depth information of the door leaf of the environment, the depth information includes the position information of the door leaf, and then acquires the position information of the outline of the room corresponding to the door leaf, and finally the position of the door is acquired according to the depth information of the door leaf and the position information of the outline, so that the phenomenon that the position of the determined door is inaccurate due to the interference of other furniture when the sweeper determines the position of the door through the voronoi diagram is avoided, and the accuracy of the determined position information is improved.
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Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flowchart illustrating an embodiment of a door position determining method according to the present application;
FIG. 3 is a coordinate diagram of the depth information and the contour of the room in the same plane coordinate system;
FIG. 4 is a flowchart illustrating an embodiment of a door position determining method according to the present application;
fig. 5 is a flowchart illustrating another embodiment of a door position determining method according to the present application.
The implementation, functional features and advantages of the objectives of the present application 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 present application and are not intended to limit the present application.
The main solution of the embodiment of the application is as follows: acquiring depth information of a door leaf of an environment where a sweeper is located, wherein the depth information comprises position information of the door leaf; acquiring position information of the outline of the room corresponding to the door leaf of the door; and determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf of the door.
In the prior art, the position of a door is usually determined by using a voronoi diagram map segmentation method, but when furniture similar to a door gap exists in an indoor environment (such as a bed and a sofa), a sweeper can misjudge the furniture as the position of the door, and the accuracy of the determined position of the door is reduced.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, a remote controller, an audio circuit, a WiFi module, a detector, and the like. Of course, the terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer and a temperature sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer-readable storage medium, may include therein an operating system, a network communication module, a user interface module, and a door position determination program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the door position determination program stored in the memory 1005, and perform the following operations:
acquiring depth information of a door leaf of an environment where a sweeper is located, wherein the depth information comprises position information of the door leaf;
acquiring position information of the outline of the room corresponding to the door leaf of the door;
and determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf of the door.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating an embodiment of a door position determining method according to the present application.
While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than that shown or described herein.
The method for determining the position of the door comprises the following steps:
step S10, acquiring depth information of a door page of an environment where the sweeper is located, wherein the depth information comprises position information of the door page;
the depth information is a plurality of points of the sweeper, which are used for acquiring the distance between the door leaf and the sweeper in the environment. The sweeper can acquire the depth information of the door leaf existing in the environment by adopting a time of flight (TOF) technology.
The environment is the environment in which the sweeper needs to perform cleaning tasks. It can be understood that, in the prior art, the sweeper is divided into different room types (for example, a kitchen, a living room, a bathroom and a bedroom according to the functions of the room) by setting the sweeper to be divided into the areas where the sweeper needs to perform the cleaning task, so that the sweeper can perform the cleaning task to different degrees. Therefore, the rooms in the environment where the sweeper is located need to be marked in advance by the sweeper, so that different rooms can be cleaned at different cleaning strengths during cleaning. Therefore, the door positions of different rooms need to be identified and marked in the cleaning map, so that when the sweeper is located at the door positions of different rooms in the cleaning task process, the current cleaning mode is rapidly switched according to the type of the room where the sweeper is located.
The door leaf in the environment where the sweeper is located can be a door leaf with the same texture, and different types of door leaves can be identified according to different room types. The floor sweeper walks along the environment by controlling the driving wheels, and the depth information of the door page of the room in the environment is recorded. It can be understood that the floor sweeping machine records the depth information of the door pages in the environment, and obtains the depth information of all the door pages in the environment by acquiring the depth information of the door pages at different positions in different positions. When the sweeper acquires the depth information of each frame of door page through TOF, the position of the door page can be determined through the depth information, when the depth information is stored, the depth information of each frame of three-dimensional coordinates acquired through the TOF is converted into the depth information of two-dimensional coordinates, and the acquired depth information of all the door pages is stored in the same coordinate plane according to the two-dimensional coordinates. Thus, the depth information of all the doors in the environment can be displayed in the same plane. The specific conversion method for converting the depth information of the three-dimensional coordinates into the depth information of the two-dimensional coordinates may be conversion according to a conversion matrix.
Step S20, acquiring position information of the outline of the room corresponding to the door page of the door;
the profile is profile information of a wall surface where a room exists in a cleaning area of the sweeper, and can be constructed by a laser radar scanner installed in the advancing direction of the sweeper. When the floor sweeper constructs the outline of a room, the room outlines acquired at different positions are spliced according to the positions of the room outlines to form the outlines of all rooms in the cleaning area of the floor sweeper. The sweeper obtains the laser radar points of each room through the laser radar scanner, the laser radar points are multiple, and each laser radar point contains three-dimensional coordinate information. Similarly, the three-dimensional coordinate information of the outline of the room is converted into the two-dimensional coordinate information of the plane, and the conversion method can be specifically obtained according to a matrix conversion method. And then connecting each laser radar point in a two-dimensional coordinate according to the position information of each laser radar point to form the outline of the room, and displaying the outlines of all rooms in the same plane.
After the position information of the outline of the room is displayed on the same plane, it can be understood that the two-dimensional coordinates of the depth information of the sweeper are the same as the two-dimensional coordinates according to the outline of the room, so that the obtained depth information of the door leaf of the door can be combined with the outline of the room, and a plane coordinate system formed by combining the depth information and the outline of the room is shown in fig. 3.
Before the step of obtaining the position information of the outline of the room corresponding to the door leaf, the method comprises the following steps:
step S01, clustering the depth information of at least two door pages to obtain the depth information of each door page.
The depth information acquired in step S10 is depth information of a plurality of door pages, and in this embodiment, the acquired depth information of the door pages is clustered, so as to determine the depth information of each door page.
The step of clustering the depth information of at least two door leaves to obtain the depth information of each door leaf comprises the following steps:
step S011, obtaining a distance value between any two pieces of depth information;
step S012, clustering the depth information of which the distance value is smaller than a preset distance value;
and S013, obtaining the depth information of each door page according to the clustering result.
The distance value is the distance between two pieces of depth information in the established two-dimensional coordinate, the depth information which is smaller than the preset distance is determined to be clustered, and then the depth information which does not belong to the same door page is excluded, so that the depth information of each door page is obtained.
The preset distance may be determined according to a ratio between a segment length of the contour of the room constructed in the constructed planar coordinate system and a segment length of the actual contour of the room. For example, when the ratio is large, the preset distance may be set to be 3cm, and when the ratio is small, the preset distance may be set to be 5cm, so as to achieve that a proper amount of depth information belonging to the same door is obtained for clustering, thereby improving the accuracy of clustering, and further improving the accuracy of obtaining the depth information of each door.
In this application, obtain the depth information of each door page or leaf after clustering the door, divide the depth information of each door page or leaf, extract the depth information of each door page or leaf more accurately.
Referring to fig. 3, fig. 3 is a graph of depth information and an outline of a room combined in the same plane coordinate system. After the depth information of the door leaf is determined, because the door leaf has a connection relation with the corresponding room outline in practice, the outline of the room corresponding to the door leaf can be obtained according to the outline around the depth information after the depth information of the door leaf is obtained, and then the position information of the outline is determined according to the established two-dimensional coordinate system.
And step S30, determining the position of the door according to the position information of the outline of the room and the depth information of the door page.
The position information of door page or leaf is confirmed through the position information of the profile of confirming the room and the depth information through door page or leaf in this embodiment, and then according to the position information of profile and the position information of door page or leaf with door page or leaf and profile at the coplanar, and then obtain the vacancy part of the profile of the room that door page or leaf corresponds, through the vacancy part of the depth information rotation, translation to profile with door page or leaf, confirm the position of door.
In this implementation, the sweeper acquires the depth information of the door leaf of the environment, the depth information includes the position information of the door leaf, and then acquires the position information of the outline of the room corresponding to the door leaf, and finally the position of the door is acquired according to the depth information of the door leaf and the position information of the outline, so that the phenomenon that the position of the determined door is inaccurate due to the interference of other furniture when the sweeper determines the position of the door through the voronoi diagram is avoided, and the accuracy of the determined position information is improved.
Further, referring to fig. 4, a method for determining a door position according to another embodiment of the present application is provided.
The second embodiment of the door position determining method differs from the first embodiment of the door position determining method in that the contour is composed of a plurality of line segments, and the step of determining the position of the door based on the position information of the contour of the room and the depth information of the door page includes:
step S31, determining a characteristic line segment of each door page according to the depth information of each door page;
step S32, determining a target line segment corresponding to the characteristic line segment from the contour, wherein the target line segment is a line segment which is formed by a plurality of line segments and has an intersection point with the characteristic line segment;
step S33, calculating the included angle between the characteristic line segment and the target line segment;
and step S34, obtaining the position of the door according to the characteristic line segment, the included angle and the position information of the outline of the room.
It is understood that the outline of the room in the plane formed by the door leaf and the outline of the room is formed by connecting and combining a plurality of line segments representing the wall surface. The characteristic line segment is a line segment connecting the door leaves with the most depth information in a plane composed of the door leaves and the outline of the room.
And determining a line segment which is positioned in the outline of the room and is intersected with the characteristic line segment as a target line segment, calculating the included angle between the characteristic line segment and the target line segment, and further obtaining the position information of the door according to the characteristic line segment, the calculated included angle and the position information of the outline of the room. The position of the door is obtained through the acquired depth information of the door leaf of the door and the position information of the outline of the room, and the accuracy of determining the position of the door is improved.
The step of obtaining the position of the door according to the characteristic line segment, the included angle and the position information of the outline of the room comprises the following steps:
step S341, calculating a complementary angle or a supplementary angle of the included angle;
step S342, determining a vertex of the feature line segment, where the vertex is an intersection of the feature line segment and the line segment of the contour;
step S343, rotate the said characteristic line segment according to the said complementary angle or supplementary angle with the said vertex as the centre of rotation;
step S344, when the characteristic line segment rotates to the complementary angle or complementary angle, detecting that the other end point of the characteristic line segment coincides with the line segment of the contour, and determining that the current position of the characteristic line segment is the position of the door.
It can be understood that the door can be installed in real life in a way that the plane where the door is located is perpendicular to the wall surface of a room, and the included angle between the door and the installed wall surface is 90 degrees when the door is in a closed state; the plane where the characteristic line segment is located can be installed parallel to the wall surface of a room, the included angle between the door and the installed wall surface is 180 degrees when the door is in a closed state, so that a complementary angle (the included angle is 90 degrees) or a complementary angle (the included angle is 180 degrees) of the included angle between the characteristic line segment and a target line segment needs to be calculated in the application, a section of an intersection point of the characteristic line segment and the target line segment is determined as a vertex of the characteristic line segment, the vertex is taken as a rotation center of the characteristic line segment to rotate, the characteristic line segment is controlled to rotate to the complementary angle or the complementary angle along a clockwise direction or an anticlockwise direction, the other end point of the characteristic line segment is coincided with the line segment of the outline when the characteristic line segment rotates to the complementary angle or the complementary angle, the current position of the characteristic line segment is determined as the position of the door, and the characteristic line segment is coincided with the vacant part of the outline of the room by controlling the characteristic line segment according to the rotation mode of the complementary angle or the complementary angle, the position of the door can be accurately determined.
After the step of determining the current position of the characteristic line segment as the position of the door, the method comprises the following steps:
step S345, the position of the door is marked in the outline of the room.
In the application, after the position of the line segment rotated to the complementary angle or the complementary angle is determined as the position of the door, the position of the door is marked in the outline of the room, so that the outline of the room forms a closed line to visually display the position of the door in a plane.
Further, in order to improve the accuracy of door determination in the application, the area of the room can be calculated according to the length and the width of the room outline after the outline of the room forms a closed line, and then the area is compared with the pre-stored room area, and when the comparison is successful, the position of the door is determined to be accurate.
Further, referring to fig. 5, another embodiment of the door position determining method of the present application is provided.
The difference between the third embodiment of the door position determining method and the first and second embodiments of the door position determining method is that the step of obtaining the depth information of the door page of the environment where the sweeper is located includes:
step S02, identifying the door page present in the environment.
In this embodiment, in order to improve the accuracy of obtaining the depth information of the door leaf, the door leaf existing in the environment where the sweeper is located needs to be identified. The specific identification method may be identification by AI.
Said step of identifying said door leaf present in said environment comprising:
step S021, extracting characteristic information of an object existing in the environment;
step S022, when the characteristic information is the characteristic information of the door leaf, determining that the object is the door leaf.
The characteristic information is information of characteristic with sign in the object, such as a handle of a door, the height of a tea table and the like. The sweeper extracts characteristic information of all objects existing in the environment, wherein the objects comprise door leaves, televisions, sofas, tea tables and the like.
The sweeper identifies the characteristic information of the extracted object through AI, and when the door page exists in the current environment according to the characteristic information, the depth information of the door page is acquired through TOF, so that the accuracy of the acquired depth information is improved.
In addition, in order to achieve the above object, another aspect of the present application further provides a sweeper, which includes a processor, a memory, and a door position determining program stored on the memory and operable on the processor, wherein the door position determining program, when executed by the processor, implements the steps of the door position determining method according to any one of the above methods.
In addition, in order to achieve the above object, another aspect of the present application further provides a computer-readable storage medium, on which a door position determination program is stored, and when the door position determination program is executed by a processor, the steps of the door position determination method as described in any one of the above are implemented.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A method for determining a door position, the method comprising:
the method comprises the steps that depth information of door leaves of an environment where a sweeper is located is obtained, wherein the depth information comprises position information of the door leaves, and at least one door leaf exists;
acquiring position information of the outline of the room corresponding to the door leaf of the door;
and determining the position of the door according to the position information of the outline of the room and the depth information of the door leaf of the door.
2. The door position determining method as claimed in claim 1, wherein the contour is composed of a plurality of line segments, and the step of determining the position of the door based on the position information of the contour of the room and the depth information of the door page comprises:
determining a characteristic line segment of each door page according to the depth information of each door page;
determining a target line segment corresponding to the characteristic line segment from the contour, wherein the target line segment is a line segment which is formed by a plurality of line segments and has an intersection point with the characteristic line segment;
calculating an included angle between the characteristic line segment and the target line segment;
and obtaining the position of the door according to the characteristic line segment, the included angle and the position information of the outline of the room.
3. The method for determining the door position according to claim 2, wherein the step of obtaining the door position according to the feature line segment, the included angle, and the position information of the contour of the room comprises:
calculating a complementary angle or a supplementary angle of the included angle;
determining the top point of the characteristic line segment, wherein the top point is the intersection point of the characteristic line segment and the line segment of the contour;
rotating the characteristic line segment by taking the vertex as a rotation center according to the complementary angle or the complementary angle;
when the characteristic line segment rotates to the complementary angle or the complementary angle, the other end point of the characteristic line segment is detected to be overlapped with the line segment of the outline, and the current position of the characteristic line segment is determined to be the position of the door.
4. The door position determining method according to claim 3, wherein the step of determining that the current position of the characteristic line segment is the door position comprises:
the position of the door is marked in the outline of the room.
5. The door position determining method according to claim 1, wherein the step of obtaining the position information of the outline of the room corresponding to the door page is preceded by:
and clustering the depth information of at least two door leaves to obtain the depth information of each door leaf.
6. The method for determining a door position as claimed in claim 5, wherein the step of clustering the depth information of at least two door pages to obtain the depth information of each door page comprises:
acquiring a distance value between any two pieces of depth information;
clustering the depth information of which the distance value is smaller than a preset distance value;
and obtaining the depth information of each door page according to the clustering result.
7. The door position determining method according to claim 1, wherein the step of obtaining the depth information of the door page of the environment where the sweeper is located is preceded by:
identifying the door leaf present in the environment.
8. The method for determining a door location as claimed in claim 6, wherein said step of identifying said door pages present in said environment comprises:
extracting feature information of objects existing in the environment;
and when the characteristic information is the characteristic information of the door leaf, determining that the object is the door leaf.
9. A sweeper, characterized in that the sweeper comprises a processor, a memory and a door position determination program stored on the memory and executable on the processor, the door position determination program when executed by the processor implementing the steps of the door position determination method according to any one of claims 1-8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a door position determination program, which when executed by a processor implements the steps of the door position determination method according to any one of claims 1 to 8.
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