CN113558530B - Sweeping method, storage medium and sweeper - Google Patents
Sweeping method, storage medium and sweeper Download PDFInfo
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- CN113558530B CN113558530B CN202110871980.2A CN202110871980A CN113558530B CN 113558530 B CN113558530 B CN 113558530B CN 202110871980 A CN202110871980 A CN 202110871980A CN 113558530 B CN113558530 B CN 113558530B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses a sweeping method, a storage medium and a sweeper, wherein the sweeping method comprises the following steps: acquiring laser data; selecting a starting laser spot from laser data, and exploring the laser spot to the periphery by taking the starting laser spot as a center; counting the number of laser points which are in accordance with preset conditions around the starting laser point; judging whether the barrier corresponding to the laser data is a wall or not according to the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data; when the barrier that laser data corresponds is the wall, control sweeper cleans, can judge real wall through the continuous condition of laser spot in the laser frame, effectively solves the problem of looking for the wall mistake among the prior art, improves the accuracy of looking for the wall greatly.
Description
Technical Field
The invention belongs to the technical field of sweeper application, and particularly relates to a sweeping method, a storage medium and a sweeper.
Background
The sweeping motion of the sweeping robot can be divided into two types of motion along a wall and an arc in a large aspect. In a broad sense, along a wall may be a solid wall, i.e. moving along a real obstacle; meanwhile, the robot floor can also be a virtual wall, namely a walking boundary of the floor sweeping robot set according to the virtual barrier. In an initial state, the sweeping robot receives a user instruction to carry out overall sweeping, firstly, wall-following sweeping is required (if the wall-following sweeping is in the 4*4 state, virtual wall sweeping is required), and real-time drawing construction is carried out in the wall-following process. After the cleaning along the wall is finished, the path planner is called according to the path along the wall track to carry out the path planning of the arch cleaning, so the cleaning along the wall is an important link.
When the sweeping robot starts to sweep along the wall in a static state, a process of finding the wall is needed firstly. That is, the robot needs to determine where the wall is true so that cleaning along the wall can be done accurately. However, most current strategies are basically to scan surrounding obstacles by lidar and select the closest hitting target, which is the starting position along the wall. This strategy is problematic with many obstacles, as if the robot starting position is close to a common obstacle (such as a table leg, etc.) rather than along a wall obstacle, it will cause the robot to move around the common obstacle, but the last given along-the-wall boundary is not a true along-the-wall boundary, it will cause a path planning failure.
There is a need for a sweeping method, storage medium and sweeper.
Disclosure of Invention
The invention aims to solve the technical problem of how to judge the real wall by analyzing the continuous condition of the laser point in the laser frame and improve the accuracy of finding the wall.
In view of the above problems, the present invention provides a sweeping method, a storage medium, and a sweeper.
In a first aspect, the present invention provides a sweeping method, including the steps of:
acquiring laser data;
selecting a starting laser spot from laser data, and exploring the laser spot to the periphery by taking the starting laser spot as a center;
counting the number of laser points which are in accordance with preset conditions around the starting laser point;
judging whether the barrier corresponding to the laser data is a wall or not according to the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data;
and when the obstacle corresponding to the laser data is a wall, controlling the sweeper to sweep.
According to an embodiment of the present invention, preferably, the selecting a starting laser spot from the laser data includes:
and taking the laser point closest to the sweeper in the laser data as a starting laser point.
According to an embodiment of the present invention, preferably, the counting the number of laser points around the starting laser point, which meet a preset condition, includes:
judging whether each explored laser point meets a preset condition or not;
when the searched laser point meets the preset condition, recording the laser point;
stopping exploring when the explored laser point does not meet the preset condition;
connecting all laser points which do not meet preset conditions to obtain a boundary line;
and counting laser points which meet preset conditions and are within the boundary line as laser points which meet the preset conditions and are arranged around the starting laser point to obtain the number of the laser points which meet the preset conditions and are arranged around the starting laser point.
According to an embodiment of the present invention, preferably, the preset requirement is:
each distance between the current laser point and each adjacent laser point is smaller than a preset distance, or
The laser points with the distance between the laser points adjacent to the current laser point being greater than the preset distance exist in the laser points adjacent to the current laser point, and the laser points with the distance between the laser points adjacent to the laser points with the distance being greater than the preset distance and the current laser point being less than the preset distance exist in the laser points adjacent to the laser points with the distance being greater than the preset distance.
According to an embodiment of the present invention, preferably, the preset distance is a diameter of the sweeper.
According to the embodiment of the present invention, preferably, the determining whether the obstacle corresponding to the laser data is a wall according to the ratio between the number of the laser points meeting the preset condition and the total number of the laser points in the laser data includes:
judging whether the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is larger than or equal to a preset threshold value:
when the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is larger than or equal to a preset threshold value, judging that the barrier corresponding to the laser data is a wall;
and when the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is smaller than a preset threshold value, judging that the barrier corresponding to the laser data is not a wall.
According to an embodiment of the present invention, preferably, the controlling the sweeper to perform sweeping includes:
and controlling the sweeper to reach the initial laser point position to carry out sweeping along the wall.
According to an embodiment of the present invention, preferably, the method further comprises:
and when the obstacle corresponding to the laser data is not a wall, controlling the sweeper to move, and executing the step of acquiring the laser data again until the wall is found.
In a second aspect, the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the above-described cleaning method.
In a third aspect, the present invention provides a sweeper, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the steps of the sweeping method.
Compared with the prior art, one or more embodiments in the scheme can have the following advantages or beneficial effects:
by applying the cleaning method, laser data are acquired; selecting a starting laser spot from laser data, and exploring the laser spot to the periphery by taking the starting laser spot as a center; counting the number of laser points which are in accordance with preset conditions around the starting laser point; judging whether the barrier corresponding to the laser data is a wall or not according to the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data; when the barrier corresponding to the laser data is a wall, the sweeper is controlled to clean, the real wall can be judged according to the continuous condition of the laser spot in the laser frame, the problem of wall finding errors in the prior art is effectively solved, and the accuracy of wall finding is greatly improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart illustrating a cleaning method according to an embodiment of the present invention;
FIG. 2 is a flow chart showing a second purging method according to an embodiment of the present invention;
fig. 3 shows a schematic view of a laser between a sweeper and an obstacle according to a third embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides a cleaning method.
Referring to fig. 1, the cleaning method of the present embodiment includes:
s1, acquiring laser data;
s2, selecting a starting laser point from laser data, and exploring the laser point to the periphery by taking the starting laser point as a center;
s3, counting the number of laser points which are in accordance with preset conditions around the starting laser point;
s4, judging whether the obstacle corresponding to the laser data is a wall according to the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data:
if yes, executing step S5;
if not, executing the step S6;
s5, controlling the sweeper to sweep;
and S6, controlling the sweeper to move, and returning to the step S1 until the wall is found.
In this embodiment, in step S3, the preset requirement is:
each distance between the current laser point and each adjacent laser point is smaller than a preset distance, or
The laser points with the distance between the laser points adjacent to the current laser point being greater than the preset distance exist in the laser points adjacent to the current laser point, and the laser points with the distance between the laser points adjacent to the laser points with the distance being greater than the preset distance and the current laser point being less than the preset distance exist in the laser points adjacent to the laser points with the distance being greater than the preset distance.
In this embodiment, the preset distance is the diameter of the sweeper.
The cleaning method of the embodiment acquires laser data; selecting a starting laser spot from laser data, and exploring the laser spot to the periphery by taking the starting laser spot as a center; counting the number of laser points which are in accordance with preset conditions around the starting laser point; judging whether the barrier corresponding to the laser data is a wall or not according to the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data; when the barrier corresponding to the laser data is a wall, the sweeper is controlled to clean, the continuous condition of the laser points in the laser frame can be obtained through the number of the laser points meeting the preset requirement, so that the real wall is judged, the problem of wall finding errors in the prior art is effectively solved, and the accuracy of wall finding is greatly improved.
Example two
In order to solve the above technical problems in the prior art, an embodiment of the present invention provides a cleaning method based on the first embodiment, wherein the method in the first embodiment of the present invention improves steps S2, S3, S4, and S5.
Referring to fig. 2, the method of the present embodiment includes the following steps:
s1, acquiring laser data;
s21, taking a laser point which is closest to the sweeper in the laser data as an initial laser point, and exploring the laser point to the periphery by taking the initial laser point as a center;
s31, judging whether each searched laser point meets a preset condition:
if yes, go to step S32;
if not, executing step S33;
s32, recording the laser spot;
s33, stopping searching;
s34, connecting all laser points which do not meet preset conditions to obtain a boundary line;
s35, counting laser points which meet preset conditions and are within the boundary line as laser points which meet the preset conditions and are around the starting laser point to obtain the number of the laser points which meet the preset conditions and are around the starting laser point;
s41, judging whether the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is greater than or equal to a preset threshold value:
if yes, judging that the barrier corresponding to the laser data is a wall, and executing a step S51;
if not, judging that the barrier corresponding to the laser data is not a wall, and executing the step S6;
s51, controlling the sweeper to reach the initial laser point position to carry out sweeping along the wall;
and S6, controlling the sweeper to move, and returning to the step S1 until the wall is found.
In this embodiment, in step S41, the preset threshold may be 50%.
EXAMPLE III
In order to solve the technical problems in the prior art, the embodiment of the invention provides a sweeping method applied to a sweeping robot based on the second embodiment.
The cleaning method of the embodiment adopts a scheme of extracting characteristics from laser data to avoid wall finding errors, and comprises the following steps of:
firstly, acquiring laser data by a sweeping robot before movement;
secondly, processing the laser data as follows:
(1) Traversing all the laser point data, and finding out the laser point closest to the sweeping robot;
(2) Searching a laser point to the periphery by taking the nearest laser point as a center, if the Euclidean distance between the current laser point and the adjacent laser point is smaller than the diameter of the sweeper, considering the laser point to be available, recording the laser point, and continuously searching the next laser point;
(3) If the Euclidean distance between the current laser point and the adjacent laser point exceeds the diameter of the sweeper, the position of the current laser point is saved, the Euclidean distance between the next adjacent laser point of the laser point adjacent to the current laser point and the saved laser point and the Euclidean distance between the laser point adjacent to the current laser point and the next adjacent laser point are continuously judged, if the two Euclidean distances are simultaneously larger than the diameter of the sweeper, traversal is stopped, the third step is executed, and if not, traversal is continuously executed.
Step three, judging the number of the recorded laser points after the traversal is stopped, if the number exceeds half of the total number of the laser points, directly taking the laser point closest to the sweeping robot at present as a wall-following starting point, executing the step four, if the number of the recorded laser points is less than half of the total number of the laser points, controlling the sweeping robot to adjust the position, searching the next laser point closest to the sweeping robot, and returning to the step two;
and fourthly, starting to clean along the wall from the floor sweeping robot to the starting point of the along the wall.
In this embodiment, referring to fig. 3, a point a is a current laser point in the second step (3), a point B is a next adjacent laser point of a laser point adjacent to the current laser point in the second step (3), a point C is a laser point adjacent to the current laser point in the second step (3), and when the length of the line segment AC and the length of the line segment AB are both greater than the diameter of the sweeper, traversal is stopped; when the length of the line segment AC is larger than the diameter of the sweeper and the length of the line segment AB is smaller than the diameter of the sweeper, traversing is continued; when the length of the line segment AC is smaller than the diameter of the sweeper and the length of the line segment AB is larger than the diameter of the sweeper, stopping traversing; and when the length of the line segment AC and the length of the line segment AB are both smaller than the diameter of the sweeper, the traversal is continued.
In this embodiment, if the euclidean distance between the current laser point and the adjacent laser point exceeds the diameter of the sweeper, the position of the current laser point is saved, and the euclidean distance between the next adjacent laser point of the laser point adjacent to the current laser point and the saved laser point and the euclidean distance between the laser point adjacent to the current laser point and the next adjacent laser point are continuously determined.
Example four
In order to solve the above technical problems in the prior art, an embodiment of the present invention further provides a storage medium.
A storage medium of the present embodiment, on which a computer program is stored, which when executed by a processor, implements the steps of the cleaning method in the above embodiments:
s1, acquiring laser data;
s2, selecting a starting laser point from laser data, and exploring the laser point to the periphery by taking the starting laser point as a center;
s3, counting the number of laser points which are in accordance with preset conditions around the starting laser point;
s4, judging whether the barrier corresponding to the laser data is a wall according to the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data:
if yes, executing step S5;
if not, executing the step S6;
and S5, controlling the sweeper to sweep.
And S6, controlling the sweeper to move, and returning to the step S1 until the wall is found.
The storage medium of this embodiment stores thereon a computer program that, when executed by a processor, further implements the steps of the cleaning method in the above embodiment:
s1, acquiring laser data;
s21, taking a laser point which is closest to the sweeper in the laser data as an initial laser point, and searching the laser point to the periphery by taking the initial laser point as a center;
s31, judging whether each searched laser point meets a preset condition:
if yes, go to step S32;
if not, executing step S33;
s32, recording the laser spot;
s33, stopping searching;
s34, connecting all laser points which do not meet preset conditions to obtain a boundary line;
s35, counting laser points which meet preset conditions and are within the boundary line as laser points which meet the preset conditions and are around the starting laser point to obtain the number of the laser points which meet the preset conditions and are around the starting laser point;
s41, judging whether the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is greater than or equal to a preset threshold value:
if yes, judging that the barrier corresponding to the laser data is a wall, and executing a step S5;
if not, judging that the barrier corresponding to the laser data is not a wall, and executing the step S6;
s51, controlling the sweeper to reach the initial laser point position to carry out sweeping along the wall;
and S6, controlling the sweeper to move, and returning to the step S1 until the wall is found.
The storage medium of this embodiment has a computer program stored thereon, and when being executed by a processor, the program further realizes the steps of the cleaning method in the above embodiment:
firstly, acquiring laser data by a sweeping robot before movement;
secondly, processing the laser data as follows:
traversing all the laser point data to find the laser point closest to the sweeping robot;
searching a laser point to the periphery by taking the nearest laser point as a center, if the Euclidean distance between the current laser point and the adjacent laser point is smaller than the diameter of the sweeper, considering the laser point to be available, recording the laser point, and continuously searching the next laser point;
if the Euclidean distance between the current laser point and the adjacent laser point exceeds the diameter of the sweeper, the position of the current laser point is saved, the Euclidean distance between the next adjacent laser point of the laser point adjacent to the current laser point and the saved laser point and the Euclidean distance between the laser point adjacent to the current laser point and the next adjacent laser point are continuously judged, if the two Euclidean distances are simultaneously larger than the diameter of the sweeper, traversal is stopped, the third step is executed, and if not, traversal is continuously executed.
Step three, judging the number of the recorded laser points after the traversal is stopped, if the number exceeds half of the total number of the laser points, directly taking the laser point closest to the sweeping robot at present as a wall-following starting point, executing the step four, if the number of the recorded laser points is less than half of the total number of the laser points, controlling the sweeping robot to adjust the position, searching the next laser point closest to the sweeping robot, and returning to the step two;
and fourthly, starting to clean along the wall from the floor sweeping robot to the starting point of the along the wall.
EXAMPLE five
In order to solve the technical problems in the prior art, the embodiment of the invention also provides a controller.
The controller of the present embodiment includes a memory and a processor, the memory stores a computer program, and the computer program implements the steps of the cleaning method when executed by the processor:
s1, acquiring laser data;
s2, selecting a starting laser point from laser data, and exploring the laser point to the periphery by taking the starting laser point as a center;
s3, counting the number of laser points which are in accordance with preset conditions around the starting laser point;
s4, judging whether the barrier corresponding to the laser data is a wall according to the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data:
if yes, executing step S5;
if not, executing the step S6;
and S5, controlling the sweeper to sweep.
And S6, controlling the sweeper to move, and returning to the step S1 until the wall is found.
The controller of the present embodiment includes a memory and a processor, the memory stores a computer program, and the computer program, when executed by the processor, further implements the steps of the cleaning method:
s1, acquiring laser data;
s21, taking a laser point which is closest to the sweeper in the laser data as an initial laser point, and exploring the laser point to the periphery by taking the initial laser point as a center;
s31, judging whether each searched laser point meets a preset condition:
if yes, go to step S32;
if not, executing step S33;
s32, recording the laser spot;
s33, stopping searching;
s34, connecting all laser points which do not meet preset conditions to obtain a boundary line;
s35, counting laser points which are within the boundary line and meet preset conditions and serve as laser points which meet the preset conditions and surround the starting laser point to obtain the number of the laser points which meet the preset conditions and surround the starting laser point;
s41, judging whether the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is greater than or equal to a preset threshold value:
if yes, judging that the barrier corresponding to the laser data is a wall, and executing a step S5;
if not, judging that the barrier corresponding to the laser data is not a wall, and executing the step S6;
s51, controlling the sweeper to reach the initial laser point position to carry out sweeping along the wall;
and S6, controlling the sweeper to move, and returning to the step S1 until the wall is found.
The controller of the present embodiment includes a memory and a processor, the memory stores a computer program, and the computer program, when executed by the processor, further implements the steps of the cleaning method:
firstly, acquiring laser data by a sweeping robot before movement;
secondly, processing the laser data as follows:
traversing all the laser point data, and finding out the laser point closest to the sweeping robot;
searching a laser point to the periphery by taking the nearest laser point as a center, if the Euclidean distance between the current laser point and the adjacent laser point is smaller than the diameter of the sweeper, considering the laser point to be available, recording the laser point, and continuously searching the next laser point;
if the Euclidean distance between the current laser point and the adjacent laser point exceeds the diameter of the sweeper, the position of the current laser point is saved, the Euclidean distance between the next adjacent laser point of the laser point adjacent to the current laser point and the saved laser point and the Euclidean distance between the laser point adjacent to the current laser point and the next adjacent laser point are continuously judged, if the two Euclidean distances are simultaneously larger than the diameter of the sweeper, traversal is stopped, the third step is executed, and if not, traversal is continuously executed.
Step three, judging the number of the recorded laser points after the traversal is stopped, if the number exceeds half of the total number of the laser points, directly taking the laser point closest to the sweeping robot at present as a wall-following starting point, executing the step four, if the number of the recorded laser points is less than half of the total number of the laser points, controlling the sweeping robot to adjust the position, searching the next laser point closest to the sweeping robot, and returning to the step two;
and fourthly, starting to clean along the wall when the floor sweeping robot reaches the starting point of the along the wall.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A sweeping method, comprising the steps of:
acquiring laser data;
selecting a starting laser spot from laser data, and exploring the laser spot to the periphery by taking the starting laser spot as a center;
counting the number of laser points which are in accordance with preset conditions around the starting laser point;
judging whether the barrier corresponding to the laser data is a wall or not according to the ratio of the number of the laser points meeting preset conditions to the total number of the laser points in the laser data, wherein the preset conditions are as follows: laser points with the distance between the laser points adjacent to the current laser point being greater than a preset distance exist in the laser points adjacent to the current laser point, and laser points with the distance between the laser points adjacent to the laser points with the distance being greater than the preset distance and the current laser point being less than the preset distance exist in the laser points adjacent to the laser points with the distance being greater than the preset distance;
and when the obstacle corresponding to the laser data is a wall, controlling the sweeper to sweep.
2. The method of claim 1, wherein said selecting a starting laser spot from the laser data comprises:
and taking the laser point which is closest to the sweeper in the laser data as a starting laser point.
3. The method of claim 1, wherein the counting the number of laser points around the starting laser point that meet a preset condition comprises:
judging whether each explored laser point meets a preset condition or not;
when the searched laser point meets the preset condition, recording the laser point;
stopping exploring when the explored laser point does not accord with the preset condition;
connecting all laser points which do not meet preset conditions to obtain a boundary line;
and counting laser points which meet preset conditions and are within the boundary line as laser points which meet the preset conditions and are arranged around the starting laser point to obtain the number of the laser points which meet the preset conditions and are arranged around the starting laser point.
4. The method of claim 1,
the preset distance is the diameter of the sweeper.
5. The method of claim 1, wherein the determining whether the obstacle corresponding to the laser data is a wall according to the ratio between the number of the laser points meeting the preset condition and the total number of the laser points in the laser data comprises:
judging whether the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is larger than or equal to a preset threshold value:
when the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is larger than or equal to a preset threshold value, judging that the barrier corresponding to the laser data is a wall;
and when the ratio of the number of the laser points meeting the preset condition to the total number of the laser points in the laser data is smaller than a preset threshold value, judging that the barrier corresponding to the laser data is not a wall.
6. The method of claim 1, wherein controlling the sweeper to sweep comprises:
and controlling the sweeper to reach the initial laser point position to carry out sweeping along the wall.
7. The method of claim 1, further comprising:
and when the obstacle corresponding to the laser data is not a wall, controlling the sweeper to move, and executing the step of acquiring the laser data again until the wall is found.
8. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
9. A sweeper comprising a memory and a processor, wherein the memory has stored thereon a computer program which, when executed by the processor, carries out the steps of the method as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110871980.2A CN113558530B (en) | 2021-07-30 | 2021-07-30 | Sweeping method, storage medium and sweeper |
Applications Claiming Priority (1)
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