CN113768419A - Method and device for determining sweeping direction of sweeper and sweeper - Google Patents
Method and device for determining sweeping direction of sweeper and sweeper Download PDFInfo
- Publication number
- CN113768419A CN113768419A CN202111095032.0A CN202111095032A CN113768419A CN 113768419 A CN113768419 A CN 113768419A CN 202111095032 A CN202111095032 A CN 202111095032A CN 113768419 A CN113768419 A CN 113768419A
- Authority
- CN
- China
- Prior art keywords
- sweeper
- point cloud
- cloud data
- plane
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241001417527 Pempheridae Species 0.000 title claims abstract description 159
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000010408 sweeping Methods 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 40
- 238000000605 extraction Methods 0.000 claims description 8
- 238000007621 cluster analysis Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000010237 hybrid technique Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a method and a device for determining a sweeping direction of a sweeper and the sweeper. The method comprises the following steps: acquiring point cloud data in a target range through a three-dimensional space sensor, wherein the point cloud data comprises a plurality of distance information between a sweeper and an obstacle; extracting a plane within the target range based on the point cloud data; and taking a target plane meeting preset conditions in the plane as a wall surface, and determining the normal direction of the wall surface as the main cleaning direction of the sweeper. According to the method, the point cloud data of the surrounding environment of the sweeper is acquired through the three-dimensional space sensor, the point cloud data is utilized to construct and extract a plurality of planes in the three-dimensional space, the wall surface is identified from the planes in the three-dimensional space, and then the normal direction of the wall surface is taken as the main sweeping direction of the sweeper, so that the technical problem that the wall surface is not accurately identified and the main sweeping direction of the sweeper is inaccurate to find is solved.
Description
Technical Field
The application relates to the technical field of sweeping robots, in particular to a method and a device for determining a sweeping direction of a sweeper and the sweeper.
Background
In the process of cleaning a room, the sweeper needs to determine a main cleaning direction according to the layout of the room, the sweeper moves back and forth in the main cleaning direction, and finally a path similar to a bow shape is taken, so that the whole room is covered and cleaned.
At present, in the related art, the problem of the main cleaning direction of the cleaning robot is usually referred to the wall direction. However, in the scheme of applying the inertial navigation and visual sweeper, since the wall surface is generally white, the visual sweeper can hardly extract the characteristic point information of the white wall surface, so that the wall finding scheme of the visual sweeper is similar to the inertial navigation, that is, the sweeper records the back-and-forth collision point, and then determines the linear direction obtained by fitting the collision point as the wall surface direction, so as to find the main sweeping direction, which is long in time consumption and low in efficiency. In addition, the collision can influence positioning sensors such as odometers and accelerometers, so that the positioning precision is influenced, and the accuracy of finding the wall is reduced. If there are obstacles beside the wall, and the direction of the obstacles is disordered or inconsistent with the direction of the wall (such as a sofa with a slant), it is difficult to really find the direction of the wall. In a sweeper applying a single-line laser radar, straight lines in collected point clouds are extracted, and the straight line containing the most laser points is selected as the direction of a wall. The efficiency and the accuracy of the method are higher than those of the inertial navigation scheme, but the interference of obstacles cannot be solved, the main sweeping direction of the sweeper cannot be accurately confirmed, and the sweeping efficiency of the sweeper is greatly influenced.
Aiming at the problem that the main sweeping direction of the sweeper is not accurately searched, an effective solution is not provided at present.
Disclosure of Invention
The application provides a method and a device for determining a sweeping direction of a sweeper and the sweeper, so that interference can be eliminated quickly, and a main sweeping direction of the sweeper can be found accurately.
According to an aspect of the embodiments of the present application, there is provided a sweeper, including:
the system comprises a three-dimensional space sensor, a data acquisition module and a data processing module, wherein the three-dimensional space sensor is used for acquiring point cloud data in a space target range where a sweeper is located, and the point cloud data comprises a plurality of pieces of distance information between the sweeper and an obstacle;
the controller is used for extracting planes in a target range based on the point cloud data, taking the target plane meeting preset conditions in the planes as a wall surface and determining the normal direction of the wall surface as the main cleaning direction of the sweeper;
a cleaning main body for cleaning in a main cleaning direction.
According to another aspect of the embodiments of the present application, there is provided a method for determining a sweeping direction of a sweeper, comprising:
acquiring point cloud data in a target range through a three-dimensional space sensor, wherein the point cloud data comprises a plurality of distance information between a sweeper and an obstacle;
extracting a plane within the target range based on the point cloud data;
and taking a target plane meeting preset conditions in the plane as a wall surface, and determining the normal direction of the wall surface as the main cleaning direction of the sweeper.
Optionally, the point cloud data comprises a single frame of point cloud data collected in a preset angle range, and the target range comprises the preset angle range; wherein,
extracting a plane within the target range based on the single frame point cloud data includes:
and extracting a plane with an included angle smaller than or equal to a preset threshold value with the height direction from the single-frame point cloud data, wherein the height direction is a direction perpendicular to the movement plane of the sweeper.
Optionally, the point cloud data includes multiple frames of point cloud data collected during rotation of the sweeper, and the target range includes a rotation range of the sweeper; wherein,
extracting a plane within a target range based on the multi-frame point cloud data comprises:
recording pose information when each frame of point cloud data is collected by the sweeper, wherein the pose information comprises position information and angle information of the sweeper;
determining pose change information of the sweeper when acquiring the point cloud data of each two adjacent frames by using the pose information, wherein the pose change information comprises position change information and angle change information;
removing duplication of each two adjacent frames of point cloud data and splicing the point cloud data based on the pose change information;
and extracting a plane with an included angle with the height direction smaller than or equal to a preset threshold value from the spliced point cloud data.
Optionally, determining pose change information of the sweeper comprises:
and matching the characteristic points in the point cloud data of each two adjacent frames to obtain the pose change information of the sweeper in each two adjacent frames.
Optionally, determining pose change information of the sweeper comprises:
acquiring pose information of each frame of point cloud data acquired by the sweeper by using an auxiliary sensor;
determining pose change information of the sweeper corresponding to any two frames of adjacent point cloud data by using the pose information; wherein,
the auxiliary sensor comprises at least one of an accelerometer, a gyroscope and an odometer, and is synchronized with the time when the three-dimensional space sensor collects data.
Optionally, determining pose change information of the sweeper comprises:
and taking the weighted sum of the pose change information determined by the point cloud data and the pose change information determined by the auxiliary sensor as the final pose change information of the sweeper.
Optionally, the taking a target plane satisfying a preset condition in the plane as a wall surface includes:
determining the number of point clouds matched with each plane;
and determining the target plane with the maximum number of the matched point clouds as the wall surface of the space where the sweeper is located.
Optionally, determining the main sweeping direction of the sweeper further comprises:
extracting a plane vertical to the movement plane of the sweeper from each sub-point cloud data;
determining a normal to each plane;
performing cluster analysis on the normals of all planes of all frames, wherein the normals have the same direction or have errors within a preset error angle range and belong to the same cluster;
determining the cluster with the largest number of normals as a target cluster;
and determining the direction of the normal of the target cluster as the main cleaning direction of the sweeper.
According to another aspect of the embodiments of the present application, there is provided a device for determining a sweeping direction of a sweeper, including:
the system comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring point cloud data in a target range through a three-dimensional space sensor, and the point cloud data comprises a plurality of pieces of distance information between a sweeper and an obstacle;
the plane extraction module is used for extracting a plane in a target range based on the point cloud data;
and the main cleaning direction determining module is used for taking the target plane meeting the preset conditions in the plane as a wall surface and determining the normal direction of the wall surface as the main cleaning direction of the sweeper.
According to another aspect of the embodiments of the present application, there is provided an electronic device, including a memory, a processor, a communication interface, and a communication bus, where the memory stores a computer program executable on the processor, and the memory and the processor communicate with each other through the communication bus and the communication interface, and the processor implements the steps of the method when executing the computer program.
According to another aspect of embodiments of the present application, there is also provided a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the above-mentioned method.
Compared with the related art, the technical scheme provided by the embodiment of the application has the following advantages:
according to the technical scheme, point cloud data in a target range are obtained through a three-dimensional space sensor, wherein the point cloud data comprise a plurality of distance information between a sweeper and an obstacle; extracting a plane within the target range based on the point cloud data; and taking a target plane meeting preset conditions in the plane as a wall surface, and determining the normal direction of the wall surface as the main cleaning direction of the sweeper. According to the method, the point cloud data of the surrounding environment of the sweeper is acquired through the three-dimensional space sensor, the point cloud data is utilized to construct and extract a plurality of planes in the three-dimensional space, the wall surface is identified from the planes in the three-dimensional space, and then the normal direction of the wall surface is taken as the main sweeping direction of the sweeper, so that the technical problem that the wall surface is not accurately identified and the main sweeping direction of the sweeper is inaccurate to find is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without any creative effort.
Fig. 1 is a block diagram of an alternative system for determining a sweeping direction of a sweeper according to an embodiment of the present disclosure;
fig. 2 is a flowchart of an alternative method for determining a sweeping direction of a sweeper according to an embodiment of the present disclosure;
fig. 3 is a flowchart of an alternative method for stitching a plurality of sub-point clouds and extracting a plane according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of an alternative method for determining a primary direction of operation through cluster analysis according to an embodiment of the present application;
fig. 5 is a block diagram of an alternative apparatus for determining a sweeping direction of a sweeper according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an alternative electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application provides a sweeper can get rid of fast and disturb, and the accuracy finds main direction of cleaning, and as shown in figure 1, this sweeper includes:
the three-dimensional space sensor 101 is used for acquiring point cloud data in a space target range where the sweeper is located, wherein the point cloud data comprises a plurality of distance information between the sweeper and an obstacle;
the controller 103 is used for extracting a plane in a target range based on the point cloud data, taking the target plane meeting preset conditions in the plane as a wall surface and determining the normal direction of the wall surface as the main cleaning direction of the sweeper;
a cleaning main body 105 for cleaning in the main cleaning direction.
The three-dimensional space sensor is a device capable of detecting, in real time, values of an object in six degrees of freedom with respect to a fixed object, that is, a position value in X, Y, Z coordinates, and a rotation value around X, Y, Z axis, in this embodiment, the fixed object is a sweeper (the time when the sweeper collects point cloud data of a surrounding environment through the three-dimensional space sensor is stationary with respect to the surrounding environment), and the detected object is the surrounding environment, especially an obstacle in a target range in the advancing direction of the sweeper. The point cloud data acquired by the three-dimensional space sensor is three-dimensional data, the controller needs to extract a plurality of planes in the three-dimensional space based on the three-dimensional data, identify a wall surface from the planes, determine the normal direction of the wall surface as the main cleaning direction of the sweeper, and finally clean the sweeper along the main cleaning direction. According to the technical scheme, the interference can be rapidly eliminated, and the main sweeping direction of the sweeper can be accurately found.
The present application provides a method of determining a main sweeping direction of a sweeper, which may be performed by the controller, as shown in fig. 2, may include the steps of:
step S202, point cloud data in a target range are obtained through a three-dimensional space sensor, wherein the point cloud data comprise a plurality of distance information between the sweeper and an obstacle.
In the embodiment of the application, the point cloud data acquired by the three-dimensional space sensor is three-dimensional data, that is, the point cloud data includes a position value on X, Y, Z coordinates, the sweeper can be used as an origin of a three-dimensional coordinate axis, the three-dimensional data (point cloud data) acquired by the three-dimensional space sensor is represented in a three-dimensional space by three-dimensional coordinates one by one, so that distance information from each obstacle to the sweeper, that is, depth information, can be calculated according to the three-dimensional coordinates of each obstacle, and the point cloud data can further include color information, reflection intensity information and the like.
There are two main methods for calculating the distance information between the sweeper and the obstacle, the first is very simple: the laser source emits a pulse, the pulse is reflected by the obstacle and then transmitted back to the sensor, the sensor records the flight time of the pulse, and the distance between the terminal and the obstacle is calculated according to the speed of light and the flight time. Another approach is to emit a modulated light source and detect the phase change of the reflected light. The phase change can be measured by a hybrid technique. Emitting a modulated laser source is easier than emitting short pulses and the hybrid technique is easier to implement than a time-to-digital converter. In addition, LEDs may be used as modulated light sources instead of lasers. Therefore, sensor systems based on modulated light sources are suitable for low cost sensors. The three-dimensional space sensor can be implemented based on magnetic field, ultrasonic wave, structured light, camera array detection technology and the like. The structured light detection technique is that a receiver projects a target object by using a laser light source, detects the deformation of the reflected target object, and calculates a depth map based on the geometric shape. The camera array detection technique is to capture multiple images of the same target using multiple cameras placed at different locations and compute a depth map from the geometry. When the camera array is used, a plurality of camera units need to be arranged at different positions of the sweeper, so that images of the same target captured at different positions can be acquired.
In the embodiment of the application, the three-dimensional data acquired by the three-dimensional space sensor can be stored in a point cloud form. The point cloud data may be data collected within a preset angle range in the direction of movement of the sweeper, the preset angle range including the preset angle range. The point cloud data can also be data acquired in the process of one rotation of the sweeper, and the preset range comprises the range of one rotation of the sweeper. That is, when searching for the main sweeping direction of the sweeper in the embodiment of the application, the sweeper can be controlled to move forward first, and the depth information of the surrounding environment in the forward movement process is collected in real time to be stored by point cloud data. The sweeper can also be controlled to rotate for a circle in situ, and the depth information of the environment around the sweeper is acquired through the three-dimensional space sensor in the process from the beginning of rotation to the end of rotation, so that point cloud data are stored.
And step S204, extracting a plane in the target range based on the point cloud data.
The point cloud data carries three-dimensional coordinate information of the obstacle, so that a plane extracted based on the point cloud data is a plane in a three-dimensional space, and the distance of the point cloud located on the same plane in the direction perpendicular to the plane is 0.
In one embodiment, the point cloud data comprises a single frame of point cloud data collected at a preset angular range, and the target range comprises the preset angular range; wherein,
extracting a plane within the target range based on the single frame point cloud data includes:
and extracting a plane with an included angle smaller than or equal to a preset threshold value with the height direction from the single-frame point cloud data, wherein the height direction is a direction perpendicular to the movement plane of the sweeper.
In the embodiment of the application, the movement plane of the sweeper, namely the horizontal plane, is vertical to the horizontal plane, namely the height direction. And under the condition that only a single-frame point cloud exists, directly extracting a plane in the height direction from the single-frame point cloud data as a plane to be selected, and in order to reduce misjudgment, extracting all planes with an included angle with the height direction smaller than or equal to a preset threshold value as the plane to be selected.
If the included angles between the extracted plane and the height direction are both larger than the preset threshold value, plane extraction fails, point cloud data needs to be collected again, and the plane needs to be extracted again.
In another embodiment, the point cloud data comprises a plurality of frames of point cloud data collected during rotation of the sweeper, and the target range comprises a rotation range of the sweeper. The multi-frame point cloud data comprises a plurality of pieces of sub-point cloud information which are acquired at different positions, different angles and different time, the sub-point cloud information can be spliced and integrated into a large panoramic point cloud information, and then the panoramic point cloud information is utilized to extract a plane, as shown in fig. 3, the extraction of the plane in a target range based on the multi-frame point cloud data comprises the following steps:
step S302, recording pose information when the sweeper collects each frame of point cloud data, wherein the pose information comprises position information and angle information of the sweeper;
step S304, determining pose change information of the sweeper when two adjacent frames of point cloud data are acquired by using the pose information, wherein the pose change information comprises position change information and angle change information;
s306, removing duplication of each two adjacent frames of point cloud data and splicing the point cloud data based on pose change information;
and step S308, extracting a plane with an included angle with the height direction smaller than or equal to a preset threshold value from the spliced point cloud data.
The pose information includes a position and a pose, and can be determined from position information and angle information included in the point cloud data. Two adjacent frames of point cloud data are acquired by rotating the three-dimensional space sensor by a certain angle, even acquired by the three-dimensional space sensor after the sweeper moves for a certain distance. For the feature points in the two adjacent frames of point cloud data, two sets of pose information of the feature points can be obtained, the two sets of pose information are compared to obtain pose change information generated before and after the sweeper collects the two adjacent frames of point cloud data, so that repeated point clouds in the two adjacent frames of point cloud data can be subjected to duplication removal according to the pose change information, the remaining point clouds are used as bridges to splice the sub point clouds, and integrated panoramic point cloud information is obtained. And finally, extracting a plane with an included angle with the height direction smaller than or equal to a preset threshold value from the panoramic point cloud information.
Optionally, the application provides three methods for determining pose change information of a sweeper, including:
firstly, matching feature points in the point cloud data of every two adjacent frames to obtain pose change information of the sweeper in every two adjacent frames. The pose change information of the sweeper is determined only according to the point cloud data of the adjacent frames, and the pose change information of the sweeper is obtained through matching the feature points of the adjacent frames and mapping the pose change of the feature points.
Secondly, acquiring pose information of each frame of point cloud data acquired by the sweeper by using an auxiliary sensor; and determining pose change information of the sweeper corresponding to any two frames of adjacent point cloud data by using the pose information, wherein the auxiliary sensor comprises at least one of an accelerometer, a gyroscope and a mileometer, and the time for acquiring data by the auxiliary sensor and the three-dimensional space sensor is synchronous. Namely, the pose change information of the sweeper is determined only by using the auxiliary sensor.
And thirdly, taking the weighted sum of the pose change information determined by the point cloud data and the pose change information determined by the auxiliary sensor as the final pose change information of the sweeper. The first type and the second type are fused, and the error is reduced to the maximum extent by adopting a mode of combining point cloud data and an auxiliary sensor.
And step S206, taking the target plane meeting the preset conditions in the plane as a wall surface, and determining the normal direction of the wall surface as the main cleaning direction of the sweeper.
Optionally, the taking a target plane satisfying a preset condition in the plane as a wall surface includes:
determining the number of point clouds matched with each plane;
and determining the target plane with the maximum number of the matched point clouds as the wall surface of the space where the sweeper is located.
In the embodiment of the application, the wall surface can be identified from the extracted multiple planes, namely, the target plane meeting the preset condition is used as the wall surface, and then the normal direction of the wall surface is determined as the main cleaning direction of the sweeper. The preset conditions can be set according to the difference between the wall surface and other planes, for example, after data are collected through the three-dimensional space sensor, the plane with the largest number of point clouds on the same plane is the wall surface, because the area of the wall surface is larger than that of obstacles such as a table, a chair, a stool, a water dispenser, a computer, a carton, a washing machine and the like, when the three-dimensional space sensor collects the data, more point clouds can be obtained on the wall surface, and therefore the wall surface can be identified through the number of the point clouds.
In the embodiment of the application, the plane can be screened according to the number of the point clouds matched with the plane, and then the wall surface is determined according to the included angle between the plane to be selected and the height direction, namely: extracting a plane with the number of the matched point clouds larger than a point cloud number threshold value as a plane to be selected; and taking a plane with an included angle with the height direction smaller than or equal to a preset threshold value in the plane to be selected as a wall surface.
In the embodiment of the application, the roof plane parallel to the movement plane of the sweeper can be determined from the extracted planes, the planes intersecting and perpendicular to the roof plane can be found from the rest planes, the found planes comprise the wall surface and the plane of the house beam, and finally the planes with more point clouds are selected to obtain the wall surface. This provides a thinking when the plane discernment of sweeping the floor machine motion is comparatively difficult, has more obstacles on the plane of sweeping the floor machine motion, and the discernment is got up comparatively difficultly, then can discern the roof plane earlier, because the roof plane is mostly only provided with lighting device, comparatively flat, spacious, the discernment is simpler.
Through steps S202 to S206, the point cloud data of the surrounding environment of the sweeper is collected through the three-dimensional space sensor, the point cloud data is used for extracting a plurality of planes, the wall surface is identified from the planes, and then the normal direction of the wall surface is used as the main sweeping direction of the sweeper, so that the technical problem that the wall surface is inaccurate to identify, and further the main sweeping direction of the sweeper is inaccurate to find is solved.
In another embodiment of the present application, a scheme for determining a main direction of operation by cluster analysis is also provided. For the condition that the point cloud data contains a plurality of sub-point cloud information acquired at different positions, different angles and different time, the sub-point clouds are not spliced, a corresponding plane is directly extracted according to each sub-point cloud data, the normal direction of the plane is further obtained, then all the obtained normal directions are subjected to clustering analysis to obtain one direction, so that the direction can be coincided with the normal directions as much as possible, or the sum of direction errors is minimum, the direction can be confirmed as the main cleaning direction, as shown in fig. 4, and the method for determining the main operation direction through clustering analysis comprises the following steps:
s402, extracting a plane vertical to a motion plane of the sweeper from each sub-point cloud data;
step S404, determining the normal of each plane;
step S406, performing cluster analysis on the normals of all planes of all frames, wherein the normals have the same direction or have errors within a preset error angle range and belong to the same cluster;
step S408, determining the cluster with the maximum number of normals as a target cluster;
and step S410, determining the direction of the normal of the target cluster as the main cleaning direction of the sweeper.
By adopting the method, the point cloud data does not need to be spliced, a plane is directly extracted from each frame of point cloud data, then the normals of all planes are obtained, all normals are clustered, the normals in the same direction or the direction error within the preset error angle range are clustered into the same cluster, and finally the cluster with the most normals is selected, and the normal direction of the cluster is taken as the main cleaning direction of the sweeper. Because the area of the wall surface is the largest, the data occupation ratio is the largest when the depth information is acquired, the number of the wall surfaces in all the planes extracted by the point cloud data is more than that of other planes, and after the normals of all the planes are clustered, the normals of the wall surfaces are the largest, so that the method can also identify the wall surfaces and further find out the accurate main cleaning direction.
In the embodiment of the application, the main sweeping direction of the sweeper is determined, and the sweeper can be controlled to sweep the whole area to be swept in a covering manner according to the shape of a Chinese character 'gong'.
According to another aspect of the embodiments of the present application, as shown in fig. 5, there is provided an apparatus for determining a sweeping direction of a sweeper, including:
the data acquisition module 501 is configured to acquire point cloud data in a target range through a three-dimensional space sensor, where the point cloud data includes a plurality of distance information between a sweeper and an obstacle;
a plane extraction module 503, configured to extract a plane within the target range based on the point cloud data;
and a main cleaning direction determining module 505, configured to use a target plane meeting a preset condition in the plane as a wall surface, and determine a normal direction of the wall surface as a main cleaning direction of the sweeper.
It should be noted that the data obtaining module 501 in this embodiment may be configured to execute step S202 in this embodiment, the plane extracting module 503 in this embodiment may be configured to execute step S204 in this embodiment, and the main cleaning direction determining module 505 in this embodiment may be configured to execute step S206 in this embodiment.
Optionally, the point cloud data comprises a single frame of point cloud data collected in a preset angle range, and the target range comprises the preset angle range; the plane extraction module is specifically configured to:
and extracting a plane with an included angle smaller than or equal to a preset threshold value with the height direction from the single-frame point cloud data, wherein the height direction is a direction perpendicular to the movement plane of the sweeper.
Optionally, the point cloud data includes multiple frames of point cloud data collected during rotation of the sweeper, and the target range includes a rotation range of the sweeper; the plane extraction module is further configured to:
recording pose information when each frame of point cloud data is collected by the sweeper, wherein the pose information comprises position information and angle information of the sweeper;
determining pose change information of the sweeper when acquiring the point cloud data of each two adjacent frames by using the pose information, wherein the pose change information comprises position change information and angle change information;
removing duplication of each two adjacent frames of point cloud data and splicing the point cloud data based on the pose change information;
and extracting a plane with an included angle with the height direction smaller than or equal to a preset threshold value from the spliced point cloud data.
Optionally, the plane extraction module further includes a pose change operation unit, specifically configured to:
and matching the characteristic points in the point cloud data of each two adjacent frames to obtain the pose change information of the sweeper in each two adjacent frames.
Optionally, the pose change operation unit is further configured to:
acquiring pose information of each frame of point cloud data acquired by the sweeper by using an auxiliary sensor;
determining pose change information of the sweeper corresponding to any two frames of adjacent point cloud data by using the pose information; wherein,
the auxiliary sensor comprises at least one of an accelerometer, a gyroscope and an odometer, and is synchronized with the time when the three-dimensional space sensor collects data.
Optionally, the pose change operation unit is further configured to:
and taking the weighted sum of the pose change information determined by the point cloud data and the pose change information determined by the auxiliary data as the final pose change information of the sweeper.
Optionally, the main cleaning direction determining module further includes a wall surface identifying unit, specifically configured to:
determining the number of point clouds matched with each plane;
and determining the target plane with the maximum number of the matched point clouds as the wall surface of the space where the sweeper is located.
Optionally, the main sweeping direction determining module is further configured to:
extracting a plane vertical to the movement plane of the sweeper from each sub-point cloud data;
determining a normal to each plane;
performing cluster analysis on the normals of all planes of all frames, wherein the normals have the same direction or have errors within a preset error angle range and belong to the same cluster;
determining the cluster with the largest number of normals as a target cluster;
and determining the direction of the normal of the target cluster as the main cleaning direction of the sweeper.
According to another aspect of the embodiments of the present application, there is provided an electronic device, as shown in fig. 6, including a memory 601, a processor 603, a communication interface 605 and a communication bus 607, where a computer program operable on the processor 603 is stored in the memory 601, the memory 601 and the processor 603 communicate with each other through the communication interface 605 and the communication bus 607, and the steps of the method are implemented when the processor 603 executes the computer program.
The memory and the processor in the electronic equipment are communicated with the communication interface through a communication bus. The communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
There is also provided, in accordance with yet another aspect of an embodiment of the present application, a computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps of any of the embodiments described above.
Optionally, in an embodiment of the present application, a computer readable medium is configured to store program code for the processor to perform the following steps:
acquiring point cloud data in a target range through a three-dimensional space sensor, wherein the point cloud data comprises a plurality of distance information between a sweeper and an obstacle;
extracting a plane within the target range based on the point cloud data;
and taking a target plane meeting preset conditions in the plane as a wall surface, and determining the normal direction of the wall surface as the main cleaning direction of the sweeper.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
When the embodiments of the present application are specifically implemented, reference may be made to the above embodiments, and corresponding technical effects are achieved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The sweeper, its characterized in that includes:
the system comprises a three-dimensional space sensor, a data acquisition module and a data processing module, wherein the three-dimensional space sensor is used for acquiring point cloud data in a space target range where a sweeper is located, and the point cloud data comprises a plurality of pieces of distance information between the sweeper and an obstacle;
the controller is used for extracting planes in the target range based on the point cloud data, taking a target plane meeting preset conditions in the planes as a wall surface and determining the normal direction of the wall surface as the main cleaning direction of the sweeper;
a cleaning main body for sweeping in the main sweeping direction.
2. The method for determining the sweeping direction of the sweeper is characterized by comprising the following steps:
acquiring point cloud data in a target range through a three-dimensional space sensor, wherein the point cloud data comprises a plurality of distance information between a sweeper and an obstacle;
extracting a plane within the target range based on the point cloud data;
and taking the target plane meeting the preset conditions in the planes as a wall surface, and determining the normal direction of the wall surface as the main cleaning direction of the sweeper.
3. The method of claim 2,
the point cloud data comprises single-frame point cloud data collected in a preset angle range, and the target range comprises the preset angle range; wherein,
extracting a plane within the target range based on the single frame point cloud data comprises:
and extracting a plane with an included angle smaller than or equal to a preset threshold value with the height direction from the single-frame point cloud data, wherein the height direction is a direction perpendicular to the movement plane of the sweeper.
4. The method of claim 2,
the point cloud data comprises multi-frame point cloud data collected in the rotation process of the sweeper, and the target range comprises the rotation range of the sweeper; wherein,
extracting a plane within the target range based on the multi-frame point cloud data comprises:
recording pose information of the sweeper when each frame of point cloud data is collected, wherein the pose information comprises position information and angle information of the sweeper;
determining pose change information of the sweeper when the two adjacent frames of point cloud data are acquired by using the pose information, wherein the pose change information comprises position change information and angle change information;
removing duplication of each two adjacent frames of point cloud data and splicing the point cloud data based on the pose change information;
and extracting a plane with an included angle with the height direction smaller than or equal to a preset threshold value from the spliced point cloud data.
5. The method of claim 4, wherein determining the pose change information of the sweeper comprises:
and matching the characteristic points in the point cloud data of each two adjacent frames to obtain the pose change information of the sweeper in each two adjacent frames.
6. The method of claim 4, wherein determining the pose change information of the sweeper comprises:
acquiring pose information of each frame of point cloud data acquired by the sweeper by using an auxiliary sensor;
determining pose change information of the sweeper corresponding to any two frames of adjacent point cloud data by using the pose information; wherein,
the auxiliary sensor includes at least one of an accelerometer, a gyroscope, and an odometer, the auxiliary sensor being synchronized with the time at which the three-dimensional spatial sensor collects data.
7. The method of claim 6, wherein determining the pose change information of the sweeper comprises:
and taking the weighted sum of the pose change information determined by the point cloud data and the pose change information determined by the auxiliary sensor as the final pose change information of the sweeper.
8. The method according to any one of claims 2 to 7, wherein the step of using the target plane satisfying the preset condition as the wall surface comprises the following steps:
determining the number of point clouds matched with each plane;
and determining the target plane with the maximum number of the matched point clouds as a wall surface of the space where the sweeper is located.
9. The method of claim 4, wherein determining the primary sweeping direction of the sweeper further comprises:
extracting a plane vertical to the movement plane of the sweeper from each sub-point cloud data;
determining a normal to each plane;
performing cluster analysis on the normals of all planes of all frames, wherein the normals have the same direction or have errors within a preset error angle range and belong to the same cluster;
determining the cluster with the largest number of normals as a target cluster;
and determining the direction of the normal of the target cluster as the main sweeping direction of the sweeper.
10. Confirm the device of sweeper direction of cleaning, its characterized in that includes:
the system comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring point cloud data in a target range through a three-dimensional space sensor, and the point cloud data comprises a plurality of pieces of distance information between a sweeper and an obstacle;
a plane extraction module for extracting a plane within the target range based on the point cloud data;
and the main cleaning direction determining module is used for taking the target plane meeting the preset conditions in the plane as a wall surface and determining the normal direction of the wall surface as the main cleaning direction of the sweeper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111095032.0A CN113768419B (en) | 2021-09-17 | 2021-09-17 | Method and device for determining sweeping direction of sweeper and sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111095032.0A CN113768419B (en) | 2021-09-17 | 2021-09-17 | Method and device for determining sweeping direction of sweeper and sweeper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113768419A true CN113768419A (en) | 2021-12-10 |
| CN113768419B CN113768419B (en) | 2023-06-23 |
Family
ID=78851855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111095032.0A Active CN113768419B (en) | 2021-09-17 | 2021-09-17 | Method and device for determining sweeping direction of sweeper and sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113768419B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114265429A (en) * | 2021-12-14 | 2022-04-01 | 中国兵器科学研究院 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle and medium |
| CN114569011A (en) * | 2022-03-25 | 2022-06-03 | 微思机器人(深圳)有限公司 | Wall-following walking method and device, floor sweeping robot and storage medium |
| CN114777761A (en) * | 2022-04-19 | 2022-07-22 | 安克创新科技股份有限公司 | Cleaning machine and map construction method |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105913489A (en) * | 2016-04-19 | 2016-08-31 | 东北大学 | Indoor three-dimensional scene reconstruction method employing plane characteristics |
| CN108931983A (en) * | 2018-09-07 | 2018-12-04 | 深圳市银星智能科技股份有限公司 | Map constructing method and its robot |
| CN109074084A (en) * | 2017-08-02 | 2018-12-21 | 珊口（深圳）智能科技有限公司 | Control method, device, system and the robot being applicable in of robot |
| CN109509226A (en) * | 2018-11-27 | 2019-03-22 | 广东工业大学 | Three dimensional point cloud method for registering, device, equipment and readable storage medium storing program for executing |
| CN109633665A (en) * | 2018-12-17 | 2019-04-16 | 北京主线科技有限公司 | The sparse laser point cloud joining method of traffic scene |
| CN110515386A (en) * | 2019-09-19 | 2019-11-29 | 小狗电器互联网科技（北京）股份有限公司 | A kind of intelligent robot |
| CN110599543A (en) * | 2019-09-19 | 2019-12-20 | 小狗电器互联网科技（北京）股份有限公司 | Wall position determining method and device, computer equipment and storage medium |
| CN110801180A (en) * | 2018-08-03 | 2020-02-18 | 速感科技（北京）有限公司 | Operation method and device of cleaning robot |
| CN112034837A (en) * | 2020-07-16 | 2020-12-04 | 珊口（深圳）智能科技有限公司 | Method for determining working environment of mobile robot, control system and storage medium |
| CN112438658A (en) * | 2019-08-29 | 2021-03-05 | 华南师范大学 | Cleaning area dividing method for cleaning robot and cleaning robot |
| CN112560648A (en) * | 2020-12-09 | 2021-03-26 | 长安大学 | SLAM method based on RGB-D image |
| CN112710318A (en) * | 2020-12-14 | 2021-04-27 | 深圳市商汤科技有限公司 | Map generation method, route planning method, electronic device, and storage medium |
| CN113012212A (en) * | 2021-04-02 | 2021-06-22 | 西北农林科技大学 | Depth information fusion-based indoor scene three-dimensional point cloud reconstruction method and system |
| WO2021128297A1 (en) * | 2019-12-27 | 2021-07-01 | 深圳市大疆创新科技有限公司 | Method, system and device for constructing three-dimensional point cloud map |
| CN113298946A (en) * | 2020-07-24 | 2021-08-24 | 阿里巴巴集团控股有限公司 | House three-dimensional reconstruction and ground identification method, device, equipment and storage medium |
-
2021
- 2021-09-17 CN CN202111095032.0A patent/CN113768419B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105913489A (en) * | 2016-04-19 | 2016-08-31 | 东北大学 | Indoor three-dimensional scene reconstruction method employing plane characteristics |
| CN109074084A (en) * | 2017-08-02 | 2018-12-21 | 珊口（深圳）智能科技有限公司 | Control method, device, system and the robot being applicable in of robot |
| CN110801180A (en) * | 2018-08-03 | 2020-02-18 | 速感科技（北京）有限公司 | Operation method and device of cleaning robot |
| CN108931983A (en) * | 2018-09-07 | 2018-12-04 | 深圳市银星智能科技股份有限公司 | Map constructing method and its robot |
| CN109509226A (en) * | 2018-11-27 | 2019-03-22 | 广东工业大学 | Three dimensional point cloud method for registering, device, equipment and readable storage medium storing program for executing |
| CN109633665A (en) * | 2018-12-17 | 2019-04-16 | 北京主线科技有限公司 | The sparse laser point cloud joining method of traffic scene |
| CN112438658A (en) * | 2019-08-29 | 2021-03-05 | 华南师范大学 | Cleaning area dividing method for cleaning robot and cleaning robot |
| CN110599543A (en) * | 2019-09-19 | 2019-12-20 | 小狗电器互联网科技（北京）股份有限公司 | Wall position determining method and device, computer equipment and storage medium |
| CN110515386A (en) * | 2019-09-19 | 2019-11-29 | 小狗电器互联网科技（北京）股份有限公司 | A kind of intelligent robot |
| WO2021128297A1 (en) * | 2019-12-27 | 2021-07-01 | 深圳市大疆创新科技有限公司 | Method, system and device for constructing three-dimensional point cloud map |
| CN112034837A (en) * | 2020-07-16 | 2020-12-04 | 珊口（深圳）智能科技有限公司 | Method for determining working environment of mobile robot, control system and storage medium |
| CN113298946A (en) * | 2020-07-24 | 2021-08-24 | 阿里巴巴集团控股有限公司 | House three-dimensional reconstruction and ground identification method, device, equipment and storage medium |
| CN112560648A (en) * | 2020-12-09 | 2021-03-26 | 长安大学 | SLAM method based on RGB-D image |
| CN112710318A (en) * | 2020-12-14 | 2021-04-27 | 深圳市商汤科技有限公司 | Map generation method, route planning method, electronic device, and storage medium |
| CN113012212A (en) * | 2021-04-02 | 2021-06-22 | 西北农林科技大学 | Depth information fusion-based indoor scene three-dimensional point cloud reconstruction method and system |
Non-Patent Citations (1)
| Title |
|---|
| 陈超等: "基于异质传感器信息融合的移动机器人同步定位与构图", 《科学技术与工程》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114265429A (en) * | 2021-12-14 | 2022-04-01 | 中国兵器科学研究院 | Unmanned aerial vehicle control method and device, unmanned aerial vehicle and medium |
| CN114569011A (en) * | 2022-03-25 | 2022-06-03 | 微思机器人(深圳)有限公司 | Wall-following walking method and device, floor sweeping robot and storage medium |
| CN114569011B (en) * | 2022-03-25 | 2023-09-05 | 微思机器人(深圳)有限公司 | Wall-following walking method and device, sweeping robot and storage medium |
| CN114777761A (en) * | 2022-04-19 | 2022-07-22 | 安克创新科技股份有限公司 | Cleaning machine and map construction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113768419B (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7361682B2 (en) | Multi-resolution, simultaneous localization and mapping based on 3D LIDAR measurements | |
| CN113768419B (en) | Method and device for determining sweeping direction of sweeper and sweeper | |
| JP2501010B2 (en) | Mobile robot guidance device | |
| KR101878827B1 (en) | Obstacle Sensing Apparatus and Method for Multi-Channels Based Mobile Robot, Mobile Robot including the same | |
| CN111881239B (en) | Construction method, construction device, intelligent robot and readable storage medium | |
| CN109059902A (en) | Relative pose determines method, apparatus, equipment and medium | |
| KR20190082291A (en) | Method and system for creating and updating vehicle environment map | |
| CN109362237B (en) | Method and system for detecting intrusion within a monitored volume | |
| CN112513679B (en) | Target identification method and device | |
| JP3596339B2 (en) | Inter-vehicle distance measurement device | |
| CN112130158B (en) | Object distance measuring device and method | |
| CN110471086B (en) | Radar fault detection system and method | |
| JP6649743B2 (en) | Matching evaluation device and matching evaluation method | |
| WO2022217988A1 (en) | Sensor configuration scheme determination method and apparatus, computer device, storage medium, and program | |
| CN112041634A (en) | Mobile robot positioning method, map building method and mobile robot | |
| CN108873014A (en) | Mirror surface detection method and device based on laser radar | |
| CN112051847A (en) | Sweeping robot, control method and device of sweeping robot and readable medium | |
| CN114842106A (en) | Method and apparatus for constructing grid map, self-walking apparatus, and storage medium | |
| CN118463965A (en) | Positioning accuracy evaluation method and device and vehicle | |
| Kim et al. | An active trinocular vision system of sensing indoor navigation environment for mobile robots | |
| CN113768420A (en) | Sweeper and control method and device thereof | |
| CN116129669B (en) | Parking space evaluation method, system, equipment and medium based on laser radar | |
| CN114777761A (en) | Cleaning machine and map construction method | |
| CN112284387A (en) | Positioning method for cleaning device, and storage medium | |
| CN110412613B (en) | Laser-based measurement method, mobile device, computer device, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |