CN114903373B - Method for cleaning robot to return to base station and cleaning system - Google Patents

Method for cleaning robot to return to base station and cleaning system Download PDF

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CN114903373B
CN114903373B CN202110172184.XA CN202110172184A CN114903373B CN 114903373 B CN114903373 B CN 114903373B CN 202110172184 A CN202110172184 A CN 202110172184A CN 114903373 B CN114903373 B CN 114903373B
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base station
cleaning robot
value
accommodating cavity
array
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CN114903373A (en
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丁阳
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Ningbo Fotile Kitchen Ware Co Ltd
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Ningbo Fotile Kitchen Ware Co Ltd
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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
    • 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
    • A47L11/28—Floor-scrubbing 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
    • 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Abstract

The invention relates to a method for cleaning a robot to return to a base station and a cleaning system, wherein the base station comprises an accommodating cavity with an opening at the front side, and the cleaning system is characterized in that: set up laser radar on cleaning robot, set up the identification label on holding chamber back side wall, cleaning robot returns the basic station through following step: moving to the vicinity of a base station through navigation; step two, identifying the position of the base station, if the identification fails, executing step three, and if the identification succeeds, executing step five; step three, identifying the position of the base station once after the cleaning robot rotates for a certain angle, and if the identification is successful, executing step five; if not, entering the step four; step four, generating k candidate position points, moving the k candidate position points in sequence and then identifying the k candidate position points; calculating a central axis of an accommodating cavity on the base station; and step six, moving the cleaning robot to a central axis of the accommodating cavity on the base station. Compared with the prior art, the cleaning robot can be accurately guided to return to the U-shaped base station in a larger range.

Description

Method for cleaning robot to return to base station and cleaning system
Technical Field
The invention relates to a method for cleaning a robot to return to a base station and a cleaning system.
Background
The cleaning robot typically uses infrared, laser, etc. sensors to locate the base station during its return to the base station for charging and/or cleaning the mop. Most of base stations of common cleaning robot systems on the market are open, the cleaning robot can return only by being positioned to the base station, and the cleaning robot can return even if the return process is not directly opposite to the base station port. But to U type basic station, basic station oral area both sides are equipped with the baffle promptly, and inside forms cleaning machines people's the chamber that holds, and this type of U type basic station has increased the degree of difficulty for cleaning machines people receives the signal that the basic station sent because sheltering from of both sides baffle. The original small base station is only provided with one infrared transmitting device, the position of the base station is aligned through the infrared signal range of the reduced infrared transmitting device, for the base station with a large size or the U-shaped base stations with baffles on two sides, the infrared signal of the infrared transmitting device can be shielded by side baffles, if the infrared transmitting device is placed on two sides, a large-range neutral position can occur in the middle area, and the cleaning robot cannot return to the base station.
For identifying the base station by a laser mode, the common practice at present is to acquire light intensity data through a laser radar, and distinguish a strong light reflection region and a light absorption region on the base station by using a threshold value, so as to realize the positioning of the base station. However, when the position and the angle of the laser radar and the base station are different, the light intensity data obtained by scanning the base station are also different, that is, the threshold values for distinguishing the strong light reflecting area and the light absorbing area on the base station are also different, so that multiple sets of threshold values are required to be obtained through multiple tests to match different positions and angles, and the test results are also different in environments with different light and shade degrees, so that the method has an obvious problem of being incapable of self-adapting.
Disclosure of Invention
The first technical problem to be solved by the present invention is to provide a method for returning a cleaning robot to a base station, which can accurately guide the cleaning robot to return to a U-shaped base station in a wide range, in view of the above prior art.
The second technical problem to be solved by the invention is to provide a cleaning system which can accurately guide the cleaning robot to return to the U-shaped base station in a larger range.
The technical scheme adopted by the invention for solving the first technical problem is as follows: a method of returning a cleaning robot to a base station, wherein the base station includes a receiving chamber opened at a front side, characterized in that: set up lidar on cleaning robot, set up the identification label that can be discerned by lidar scanning on holding chamber back lateral wall, cleaning robot returns the basic station through following step:
the cleaning robot moves to the vicinity of a base station through navigation according to the known position of the base station on a built-in environment map;
step two, the cleaning robot identifies the position of the base station by using the laser radar, if the identification fails, the step three is executed, and if the identification succeeds, the step five is executed;
step three, if the cleaning robot does not identify the position of the base station, the cleaning robot starts to rotate, rotates for alpha degrees every time and rotates for c times at most, the position of the base station is identified once after the rotation is completed every time, and if one time of identification is successful, the rotation is stopped and the step five is executed; if the base station is not identified after the c times of rotation, no base station exists nearby, and then the step four is executed;
step four, the cleaning robot generates k candidate position points near the current position or near the known base station position on the environment map, then sequentially moves to the k candidate position points, identifies the base station position once when moving to one of the candidate position points, and stops moving and executes the step five if the identification of a certain time is successful; if all candidate position points finish moving, indicating that no base station exists nearby, and informing the user that the base station returning fails;
step five, the cleaning robot calculates the central axis of the accommodating cavity on the base station according to the distance and angle information between the two end parts of the identification tag and the laser radar and the position of the identification tag on the rear side wall of the accommodating cavity, which are acquired by the laser radar;
adjusting the moving direction of the cleaning robot, and moving the cleaning robot to the central axis of the containing cavity on the base station in the direction vertical to the central axis of the containing cavity on the base station; or taking a position point which is on the central axis of the containing cavity on the base station and has a distance d from the entrance of the containing cavity as a target, and moving the position point to the central axis of the containing cavity on the base station;
step seven, after the cleaning robot reaches the central axis of the containing cavity on the base station, identifying the position of the base station once again, if the identification fails, indicating that the previous identification success may be false identification, entering step three at the moment, and if the identification is successful again, executing step eight;
step eight, adjusting the moving posture of the cleaning robot according to the central axis of the accommodating cavity on the base station, so that the moving direction of the cleaning robot is the same as or parallel to the central axis of the accommodating cavity on the base station, and the advancing direction points to the base station; meanwhile, in the process that the cleaning robot moves towards the accommodating cavity in the base station, the moving posture of the cleaning robot is continuously adjusted, the moving direction of the cleaning robot is always the same as or parallel to the central axis of the accommodating cavity in the base station, and the advancing direction of the cleaning robot points to the base station, so that the cleaning robot enters the accommodating cavity in the base station.
As an improvement, collision sensors are respectively installed on the left front side and the right front side of the cleaning robot, in the step eight, in the process that the cleaning robot moves towards the accommodating cavity on the base station, if the collision sensor on the left front side of the cleaning robot is triggered, the cleaning robot firstly moves backwards for a preset distance and then moves rightwards to the central axis of the accommodating cavity on the base station, if the collision sensor on the right front side of the cleaning robot is triggered, the cleaning robot firstly moves backwards for the preset distance and then moves leftwards to the central axis of the accommodating cavity on the base station, then the moving posture of the cleaning robot is adjusted, the moving direction of the cleaning robot is the same as or parallel to the central axis of the accommodating cavity on the base station, and the advancing direction points to the base station until the cleaning robot enters the accommodating cavity of the base station.
In order to improve the environmental adaptability and ensure that the cleaning robot can accurately identify the position of the base station in a positioning way, as an improvement, the identification label comprises m strong reflecting areas and m-1 light absorbing areas, wherein the widths of the m strong reflecting areas are respectively x 1 、x 2 、…x m And the widths of m-1 light absorption regions are respectively y 1 y 2 ...y m-1 M is a natural number more than or equal to 2, and the strong light reflecting area and the light absorbing area are distributed at intervals; the cleaning robot identifies the location of the base station by:
step 1: the lidar on the cleaning robot scans a circle of surrounding environment and collects detection data received by the lidar, including distance, light intensity value and angle,
let the probe data be data = [ ranges intensities angle _ increment ];
wherein ranges represents the range of the lidar from each obstacle to the lidar by scanning the lidar around a circle, and ranges = [ range = 1 、range 2 、...range n ](ii) a intensities represents the intensity of the laser reflected from the corresponding obstacle, intensities = [ intensities = [ ] 1 、intensities 2 、...intensities n ](ii) a n is the number of laser points reflected by the barrier obtained by scanning for one circle; angle _ increment =2 pi/n;
step 2, carrying out visual image conversion on the light intensity in the detection data to obtain a light intensity visual image, wherein the abscissa in the light intensity visual image is an index value, namely the abscissa corresponds to the first laser point, and the ordinate is a corresponding light intensity value;
step 3, finding out a peak point in the light intensity visualization image, which specifically comprises the following steps:
step 3-1, calculating a first-order difference vector array of the intervals, and marking as I1 i ，I1 i ＝intensity i+1 -intensity i ，i＝1，2，......n；
Step 3-2, for I1 i Performing a sign-taking function operation, i.e. traversing I1 i If the element value is greater than 0, the value is 1, if the element value is less than 0, the value is-1, otherwise, the value is 0, and a new difference vector array is obtained and is marked as I2 i ；
Step 3-3, traversing I2 from tail i If the current element value is 0 and the next element value is greater than or equal to 0, the current element value takes a value of 1; if the current element value is 0 and the next element value is less than 0, the current element value takes the value of-1; if the current element value is not 0, keeping the current element value unchanged;
step 3-4, for I2 i Performing first order difference operation, and recording the obtained result as I3 i I.e. I3 i ＝I2 i+1 -I2 i ，i＝1，2，......n；
Step 3-5, go through I3 i If the current element value is-2, the subscript of the next element is a peak position of the intensities, and the subscripts of all the peak positions are recorded and stored in the array A1;
3-6, screening the array A1 for one time according to the height and the width of m preset wave crests corresponding to a strong light reflecting area in the base station and the distance between two preset adjacent wave crests, namely screening out elements which are the same as the preset wave crest height and width and the distance between two adjacent wave crests in the array A1, recording the screened array as A2, if the number of the elements in the array A2 is less than m, indicating that the base station is not identified at the current position, and otherwise, entering the next step;
and 4, carrying out secondary screening on the peak points in the light intensity visualization image, which specifically comprises the following steps:
step 4-1, for the array A2, the expression is set as shown below
A2＝[a 1 … a j … a l ]
j＝1，2，......l；a j Is an elemental subscript to intensities, thus according to a j Taking the corresponding distance value
Figure GDA0004080387960000043
All index elements in the array A2 are taken as corresponding distances to obtain a distance array D, and then the distance array D has
Figure GDA0004080387960000041
Step 4-2, calculating the real distance between all adjacent wave peaks according to the array A2 and the array D to obtain an array W, wherein the array W has
W＝[w 1 … w j … w l-1 ]
Wherein w j Representing the distance between the corresponding indices of the j-th and j + 1-th peaks, then:
w j ＝d j 2 +d j+1 2 -2×d j ×d j+1 ×cosθ
wherein d is j And d j+1 Respectively representing the distance from the jth peak point and the jth +1 peak point to the laser radar;
θ＝angle_increment×(a j+1 -a j )
4-3, traversing the array W from front to back, taking the current element and m-1 elements behind the current element in each traversal, making the kth traversal, and taking [ W [ ] k ，w k+1 ，...，w k+m-1 ]And the following calculation is performed:
Figure GDA0004080387960000042
wherein C is an error, if the error is larger than a preset value, the current m elements [ w ] are taken k ，w k+1 ，...，w k+m-1 ]Without matching the peak distance with the base station, the current w k Removing; when k takes l-m traversalsAfter the execution is finished, entering the step 4-4;
4-4, if the W1 meets the condition that subscripts of m continuous elements are continuous, calculating whether the sum of the m element values meets a preset total length, and if not, rejecting the current element;
and 4-5, after the step 4-4 is executed, if the length of the W1 is less than 0, the base station is not identified at the current position, otherwise, the positions of the obstacles corresponding to the remaining elements are used as the identified base station positions.
A strong light reflecting film is adhered to the surface of the strong light reflecting area; and a light absorption film is stuck on the surface of the light absorption area.
Preferably, the m =4,4 strong light reflection regions and 3 light absorption regions are arranged in the following order: strong light reflecting region, light absorbing region, and strong light reflecting region.
The method comprises the following steps of 1, 2, preprocessing the detection data, and comprises the following specific steps:
the light intensity value in the detection data is replaced by a light intensity value formed by mirror interference and a light intensity value formed by sunlight interference, and the replacement method comprises the following steps: averaging the credible light intensity values of the left and right neighbors closest to the replaced point to obtain a value as the light intensity value of the replaced point, if the replaced point is the first point, taking the credible light intensity value of the right neighbor closest to the replaced point as the light intensity value of the replaced point, and if the replaced point is the last point, taking the credible value of the left neighbor closest to the replaced point as the light intensity value of the replaced point;
and replacing the light intensity value corresponding to the laser spot distance of 0 by the same method.
The identification label is located and holds the positive intermediate position of chamber back lateral wall, in step five, the axis calculation side that holds the chamber on the basic station is:
Figure GDA0004080387960000051
y is a vertical coordinate of a central axis equation of the accommodating cavity in the base station, x is a horizontal coordinate of the central axis equation of the accommodating cavity in the base station, coordinates of the left end of the identification tag are (x 1, y 1), coordinates of the right end of the identification tag are (x 2, y 2), the distance between the left end of the identification tag and the laser radar is d1, the angle is theta 1, the distance between the right end of the identification tag and the laser radar is d2, and the angle is theta 2;
x1＝d1*cosθ1，y1＝d1*sinθ1；x2＝d2*cosθ2，y2＝d2*sinθ2。
the technical solution adopted by the present invention to solve the second technical problem is as follows: the utility model provides a cleaning system, includes cleaning machines people and basic station, and wherein the basic station includes the chamber that holds of front side open-ended, is provided with laser radar, its characterized in that on the cleaning machines people: and an identification label which can be scanned and identified by a laser radar is arranged on the rear side wall of the accommodating cavity of the base station, and the cleaning robot returns into the accommodating cavity of the base station by the method.
Compared with the prior art, the invention has the advantages that: by adopting the method, the cleaning robot can be accurately guided to return to the U-shaped base station in a larger range.
Drawings
Fig. 1 is a schematic diagram of a positional relationship of a cleaning robot in a process of moving to a U-shaped base station in an embodiment of the present invention.
Fig. 2 is a flowchart of a method for returning a cleaning robot to a base station according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a strong light reflecting area and a light absorbing area in an identification tag in a base station in an embodiment of the invention.
Fig. 4 is a schematic diagram of a light intensity visualization image in an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The embodiment provides a method for returning a cleaning robot to a base station, wherein the base station 1 comprises an accommodating cavity 11 with an open front side, an identification label 12 which can be scanned and identified by a laser radar is arranged at the position right in the middle of the rear side wall of the accommodating cavity, the cleaning robot 2 is provided with the laser radar 21, collision sensors 22 and 23 are respectively arranged on the left front side and the right front side of the cleaning robot, as shown in fig. 1, the cleaning robot returns to the base station through the following steps as shown in fig. 2:
the cleaning robot moves to the vicinity of a base station through navigation according to the known position of the base station on a built-in environment map;
step two, the cleaning robot identifies the position of the base station by using the laser radar, if the identification fails, the step three is executed, and if the identification succeeds, the step five is executed;
step three, if the cleaning robot does not identify the position of the base station, the cleaning robot starts to rotate, the cleaning robot rotates for alpha degrees each time, alpha is preferably 15 degrees, the cleaning robot rotates for c times at most, and c is preferably 24; identifying the position of the base station once after each rotation is finished, and stopping the rotation and executing the step five if one time of identification is successful; if the base station is not identified after the c times of rotation, no base station exists nearby, and then the step four is executed;
step four, the cleaning robot generates k candidate position points near the current position or near the known base station position on the environment map, the k candidate position points can be generated on a circle with the current position as the center of circle, or the known base station position on the environment map as the center of circle, k is preferably 8, then the cleaning robot moves to the k candidate position points in sequence, the base station position is identified once when the cleaning robot moves to one of the candidate position points, and if the identification is successful for a certain time, the cleaning robot stops moving and executes the step five; if all the candidate position points finish moving, indicating that no base station exists nearby, and informing the user that the base station returning fails;
step five, the cleaning robot calculates the central axis of the accommodating cavity on the base station according to the distance and angle information between the two end parts of the identification tag and the laser radar and the position of the identification tag on the rear side wall of the accommodating cavity, which are acquired by the laser radar;
the calculation of the central axis of the accommodating cavity on the base station is as follows:
Figure GDA0004080387960000061
y is a longitudinal coordinate of a central axis equation of the accommodating cavity on the base station, x is a transverse coordinate of the central axis equation of the accommodating cavity on the base station, the left end of the identification tag is (x 1, y 1), the right end of the identification tag is (x 2, y 2), the left end of the identification tag is d1 away from the laser radar, the angle is theta 1, the right end of the identification tag is d2 away from the laser radar, and the angle is theta 2;
x1＝d1*cosθ1，y1＝d1*sinθ1；x2＝d2*cosθ2，y2＝d2*sinθ2；
d1, theta 1, d2 and theta 2 can be directly obtained from detection data obtained by a laser radar;
step six, the cleaning robot adjusts the moving direction and moves to the central axis of the containing cavity on the base station in the direction vertical to the central axis of the containing cavity on the base station; or taking a position point which is on the central axis of the containing cavity on the base station and has a distance d from the inlet of the containing cavity as a target, and moving the position point to the central axis of the containing cavity on the base station; the value of d is more than or equal to the length of the cleaning robot and less than or equal to twice the length of the cleaning robot;
step seven, after the cleaning robot reaches the central axis of the containing cavity on the base station, the position of the base station is identified once again, if the identification fails, the identification is successful and possibly is mistaken identification, the step three is entered at the moment, and if the identification is successful again, the step eight is executed;
step eight, adjusting the moving posture of the cleaning robot according to the central axis of the accommodating cavity on the base station, so that the moving direction of the cleaning robot is the same as or parallel to the central axis of the accommodating cavity on the base station, and the advancing direction of the cleaning robot points to the base station; meanwhile, in the process that the cleaning robot moves to the containing cavity on the base station, the moving posture of the cleaning robot is continuously adjusted, the moving direction of the cleaning robot is always the same as or parallel to the central axis of the containing cavity on the base station, and the advancing direction of the cleaning robot points to the base station, so that the cleaning robot enters the containing cavity of the base station; in addition, in the process that the cleaning robot moves towards the containing cavity on the base station, if the collision sensor on the left front side of the cleaning robot is triggered, the cleaning robot firstly moves backwards for a preset distance, then moves rightwards to the central axis of the containing cavity on the base station, if the collision sensor on the right front side of the cleaning robot is triggered, the cleaning robot firstly moves backwards for a preset distance, then moves leftwards to the central axis of the containing cavity on the base station, then adjusts the moving posture of the cleaning robot, and enables the moving direction of the cleaning robot to be the same as or parallel to the central axis of the containing cavity on the base station and the advancing direction to point to the base station until the cleaning robot enters the containing cavity of the base station.
In this embodiment, the identification tag 12 on the base station includes m strongly reflective regions 2 and m-1 light-absorbing regions 3, the widths of the m strongly reflective regions are x 1 、x 2 、…x m And the widths of m-1 light absorption regions are respectively y 1 y 2 ...y m-1 M is a natural number more than or equal to 2, and the strong light reflecting area and the light absorbing area are distributed at intervals, namely from left to back, the strong light reflecting area, the light absorbing area, \8230, the strong light reflecting area, the light absorbing area and the strong light reflecting area are arranged in sequence, and then the laser radar is arranged on the cleaning robot. Taking m =4 as an example, the arrangement order of the 4 strongly light-reflecting regions 121 and the 3 light-absorbing regions 122 is: a strong light reflection region 121, a light absorption region 122, and a strong light reflection region 121, as shown in fig. 3. A strong reflective film, such as a white reflective film, is adhered to the surface of the strong reflective region 121; the light absorption area 122 is pasted with a light absorption film, such as a black light absorption film, so that the cost is increased relatively. The cleaning robot identifies the location of the base station by:
step 1: the lidar on the cleaning robot scans a circle of surrounding environment and collects detection data received by the lidar, including distance, light intensity value and angle,
let the probe data be data = [ ranges intensities angle _ increment ];
wherein ranges represents the range of the lidar from each obstacle to the lidar by scanning the lidar around a circle, and ranges = [ range = 1 、range 2 、...range n ](ii) a intensiies represents the intensity value of the laser reflected by the corresponding barrier, and intensiies = [ ] 1 、intensities 2 、...intensities n ](ii) a n is the number of laser points reflected by the barrier obtained by scanning for one circle; angle _ increment =2 pi/n;
then, the light intensity value in the detection data is replaced by the light intensity value formed by mirror interference and the light intensity value formed by sunlight interference, and the replacement method comprises the following steps: averaging the credible light intensity values of the left and right neighbors closest to the replaced point to obtain a value as the light intensity value of the replaced point, if the replaced point is the first point, taking the credible light intensity value of the right neighbor closest to the replaced point as the light intensity value of the replaced point, and if the replaced point is the last point, taking the credible value of the left neighbor closest to the replaced point as the light intensity value of the replaced point; the light intensity value formed by the mirror interference is generally 1021, and the light intensity value formed by the sunlight interference is generally 1022; replacing the light intensity value corresponding to the laser spot distance of 0 by the same method;
step 2, performing visual image conversion on the light intensity in the detection data to obtain a light intensity visual image, wherein the abscissa in the light intensity visual image is an index value, namely corresponds to the second laser point, and the ordinate is a corresponding light intensity value, which is shown in fig. 4;
step 3, finding out a peak point in the light intensity visualization image, which specifically comprises the following steps:
step 3-1, calculating a first-order difference vector array of the intervals, and marking as I1 i ，I1 i ＝intensity i+1 -intensity i ，i＝1，2，......n；
Step 3-2, for I1 i Performing a sign-taking function operation, i.e. traversing I1 i If the element value is greater than 0, the value is 1, if the element value is less than 0, the value is-1, otherwise, the value is 0, and a new difference vector array is obtained and recorded as I2 i ；
Step 3-3, traversing I2 from tail i If the current element value is 0 and the next element value is greater than or equal to 0, the current element value takes a value of 1; if the current element value is 0 and the next element value is less than 0, the current element value takes a value of-1; if the current element value is not 0, keeping the current element value unchanged;
step 3-4, for I2 i Performing first order difference operation, and recording the obtained result as I3 i I.e. I3 i ＝I2 i+1 -I2 i ，i＝1，2，......n；
Step 3-5, go through I3 i If the current element value is-2, the subscript of the next element is a peak position of the intensities, and the subscripts of all the peak positions are recorded and stored in the array A1;
3-6, screening the array A1 for one time according to the height and the width of m preset wave crests corresponding to a strong light reflecting area in the identification tag and the distance between two preset adjacent wave crests, namely screening out elements, which are the same as the preset wave crests in the array A1 in height and width and the same as the preset distance between two adjacent wave crests, in the array A1, marking the screened array as A2, if the number of the elements in the array A2 is less than m, indicating that the base station is not identified at the current position, and otherwise, entering the next step;
and 4, carrying out secondary screening on the peak points in the light intensity visualization image, and specifically comprising the following steps:
step 4-1, for the array A2, the expression is set as shown below
A2＝[a 1 … a j … a l ]
j＝1，2，......l；a j Is an elemental subscript to intensities, thus according to a j Taking the corresponding distance value
Figure GDA0004080387960000082
All index elements in the array A2 are taken as corresponding distances to obtain a distance array D, and then the distance array D has
Figure GDA0004080387960000081
Step 4-2, calculating the real distance between all adjacent wave peaks according to the array A2 and the array D to obtain an array W, wherein the array W has
W＝[w 1 … w j … w l-1 ]
Wherein w j Representing the distance between the corresponding indices of the j-th and j + 1-th peaks, then:
w j ＝d j 2 +d j+1 2 -2×d j ×d j+1 ×cosθ
wherein d is j And d j+1 Respectively representing the distances from the jth peak point and the jth +1 th peak point to the laser radar;
θ＝angle_increment×(a j+1 -a j )
4-3, traversing the array W from front to back, taking the current element and m-1 elements behind the current element in each traversal, making the kth traversal, and taking [ W [ ] k ，w k+1 ，…，w k+m-1 ]And the following calculation is performed:
Figure GDA0004080387960000091
wherein C is an error, if the error is larger than a preset value, the current m elements [ w ] are taken k ，w k+1 ，…，w k+m-1 ]Without matching the peak distance with the base station, the current w k Removing; when the k is traversed and executed for l-m times, entering the step 4-4;
4-4, if the W1 meets the condition that subscripts of m continuous elements are continuous, calculating whether the sum of the m element values meets a preset total length, and if not, rejecting the current element;
and 4-5, after the step 4-4 is executed, if the length of W1 is less than 0, the current position does not identify the base station, otherwise, the position of the obstacle corresponding to the remaining elements is used as the identified base station position.
The embodiment also provides a cleaning system, including cleaning machines people and basic station, wherein the basic station includes the chamber that holds of front side opening, is provided with laser radar on the cleaning machines people, sets up the discernment label that can be discerned by laser radar scanning on the chamber rear side wall that holds of basic station, cleaning machines people returns the intracavity that holds of basic station through the method of above-mentioned description.

Claims (7)

1. A method of returning a cleaning robot to a base station, wherein the base station includes a receiving chamber having a front opening, characterized by: the cleaning robot is provided with a laser radar, and an identification label capable of being scanned and identified by the laser radar is arranged on the rear side wall of the accommodating cavity and comprises m strong light reflecting areas and m-1 light absorbing areas; the cleaning robot returns to the base station by:
the cleaning robot moves to the vicinity of a base station through navigation according to the known position of the base station on a built-in environment map;
step two, the cleaning robot identifies the position of the base station by using the laser radar, if the identification fails, the step three is executed, and if the identification succeeds, the step five is executed;
step three, the cleaning robot starts to rotate, rotates for alpha degrees every time and rotates for c times at most, the position of the base station is identified once after the rotation is completed every time, and if the identification of a certain time is successful, the rotation is stopped and the step five is executed; if the base station is not identified after the c times of rotation, no base station exists nearby, and then the step four is executed;
step four, the cleaning robot generates k candidate position points near the current position or near the known base station position on the environment map, then moves to the k candidate position points in sequence, identifies the base station position once when moving to one of the candidate position points, and stops moving and executes step five if the identification is successful for a certain time; if all candidate position points finish moving, indicating that no base station exists nearby, and informing the user that the base station returning fails;
step five, the cleaning robot calculates the central axis of the accommodating cavity on the base station according to the distance and angle information between the two end parts of the identification tag and the laser radar and the position of the identification tag on the rear side wall of the accommodating cavity, which are acquired by the laser radar;
adjusting the moving direction of the cleaning robot, and moving the cleaning robot to the central axis of the containing cavity on the base station in the direction vertical to the central axis of the containing cavity on the base station; or taking a position point which is on the central axis of the containing cavity on the base station and has a distance d from the inlet of the containing cavity as a target, and moving the position point to the central axis of the containing cavity on the base station;
step seven, after the cleaning robot reaches the central axis of the containing cavity on the base station, the position of the base station is identified once again, if the identification fails, the identification is successful and possibly is mistaken identification, the step three is entered at the moment, and if the identification is successful again, the step eight is executed;
step eight, adjusting the moving posture of the cleaning robot according to the central axis of the accommodating cavity on the base station, so that the moving direction of the cleaning robot is the same as or parallel to the central axis of the accommodating cavity on the base station, and the advancing direction of the cleaning robot points to the base station; meanwhile, in the process that the cleaning robot moves towards the accommodating cavity in the base station, the moving posture of the cleaning robot is continuously adjusted, the moving direction of the cleaning robot is always the same as or parallel to the central axis of the accommodating cavity in the base station, and the advancing direction of the cleaning robot points to the base station, so that the cleaning robot enters the accommodating cavity in the base station.
2. The method of claim 1, wherein the method comprises: respectively installing collision sensors on the left front side and the right front side of the cleaning robot, in the step eight, if the collision sensor on the left front side of the cleaning robot is triggered, the cleaning robot firstly retreats for a preset distance and then moves to the right on the central axis of the accommodating cavity on the base station, if the collision sensor on the right front side of the cleaning robot is triggered, the cleaning robot firstly retreats for the preset distance and then moves to the left on the central axis of the accommodating cavity on the base station, and then the moving posture of the cleaning robot is adjusted to enable the moving direction of the cleaning robot to be the same as or parallel to the central axis of the accommodating cavity on the base station and the advancing direction to point to the base station until the cleaning robot enters the accommodating cavity of the base station.
3. The method of claim 1, wherein the method comprises: respectively setting the widths of m strong light reflection areas in the identification label as x 1 、x 2 、…x m And the widths of m-1 light absorption regions are respectively y 1 y 2 …y m-1 M is a natural number more than or equal to 2, and the strong light reflecting area and the light absorbing area are distributed at intervals; the cleaning robot identifies the location of the base station by:
step 1: the lidar on the cleaning robot scans a circle of surrounding environment and collects detection data received by the lidar, including distance, light intensity value and angle,
let probe data be data = [ ranging sintensinstitutentage _ increment ];
wherein ranges represents the range of the lidar from each obstacle to the lidar by scanning the lidar around a circle, and ranges = [ range = 1 、range 2 、…range n ](ii) a intensiies represents the intensity value of the laser reflected by the corresponding barrier, and intensiies = [ ] 1 、intensities 2 、…intensities n ](ii) a n is the number of laser points reflected by the barrier obtained by scanning for one circle; angle _ increment =2 pi/n;
step 2, carrying out visual image conversion on the light intensity in the detection data to obtain a light intensity visual image, wherein the abscissa in the light intensity visual image is an index value, namely the abscissa corresponds to the first laser point, and the ordinate is a corresponding light intensity value;
step 3, finding out a peak point in the light intensity visualization image, which specifically comprises the following steps:
step 3-1, calculating a first-order difference vector array of the ensembles, and recording the first-order difference vector array as I1 i ，I1 i ＝intensity i+1 -intensity i ，i＝1，2，……n；
Step 3-2, for I1 i Performing a sign-taking function operation, i.e. traversing I1 i If the element value is greater than 0, the value is 1, if the element value is less than 0, the value is-1, otherwise, the value is 0, and a new difference vector array is obtained and recorded as I2 i ；
Step 3-3, traversing I2 from tail i If the current element value is 0 and the next element value is greater than or equal to 0, the current element value takes a value of 1; if the current element value is 0 and the next element value is less than 0, the current element value takes a value of-1; if the current element value is not 0, keeping the current element value unchanged;
step 3-4, for I2 i Performing first order difference operation, and recording the obtained result as I3 i I.e. I3 i ＝I2 i+1 -I2 i ，i＝1，2，……n；
Step 3-5, go through I3 i If the current element value is-2, the subscript of the next element is a peak position of the intensities, and the subscripts of all the peak positions are recorded and stored in the array A1;
3-6, screening the array A1 for one time according to the height and the width of m preset wave crests corresponding to a strong light reflecting area in the base station and the distance between two preset adjacent wave crests, namely screening out elements which are the same as the preset wave crest height and width and the distance between two adjacent wave crests in the array A1, recording the screened array as A2, if the number of the elements in the array A2 is less than m, indicating that the base station is not identified at the current position, and otherwise, entering the next step;
and 4, carrying out secondary screening on the peak points in the light intensity visualization image, and specifically comprising the following steps:
step 4-1, for the array A2, the expression is set as follows
A2＝[a 1 … a j … a l ]
j＝1，2，……l；a j Is an element subscript of intermediaries, thus according to a j Taking the corresponding distance value
Figure QLYQS_1
All index elements in the array A2 are taken as corresponding distances to obtain a distance array D, and then the distance array D has
Figure QLYQS_2
Step 4-2, calculating the real distance between all adjacent wave peaks according to the array A2 and the array D to obtain an array W, wherein the array W has
W＝[w 1 … w j … w l-1 ]
Wherein w j Representing the distance between the corresponding indices of the j-th and j + 1-th peaks, then:
w j ＝d j 2 +d j+1 2 -2×d j ×d j+1 ×cosθ
wherein d is j And d j+1 Respectively representing the distances from the jth peak point and the jth +1 th peak point to the laser radar;
θ＝angle_increment×(a j+1 -a j )
4-3, traversing the array W from front to back, taking the current element and m-1 elements behind the current element in each traversal, making the kth traversal, and taking [ W [ ] k ,w k+1 ,…,w k+m-1 ]And the following calculation is performed:
Figure QLYQS_3
wherein C is an error, if the error is larger than a preset value, the current m elements [ w ] are taken k ,w k+1 ,…,w k+m-1 ]Without matching the peak distance with the base station, the current w k Removing; when the k is traversed and executed for l-m times, entering the step 4-4;
4-4, if the W1 meets the condition that subscripts of m continuous elements are continuous, calculating whether the sum of the m element values meets a preset total length, and if not, rejecting the current element;
step 4-5, after the step 4-4 is executed, if the length of W1 is less than 0, the current position does not identify the base station, otherwise, the position of the obstacle corresponding to the remaining elements is used as the identified base station position;
a strong light reflecting film is adhered to the surface of the strong light reflecting area; and a light absorption film is pasted on the surface of the light absorption area.
4. A method of returning a cleaning robot to a base station according to claim 3, wherein: the arrangement sequence of the m =4,4 strong light reflecting regions and the 3 light absorbing regions is as follows: strong light reflecting region, light absorbing region, and strong light reflecting region.
5. A method of returning a cleaning robot to a base station according to claim 3, wherein: the method comprises the following steps of 1, 2, preprocessing the detection data, and comprises the following specific steps:
the light intensity value in the detection data is replaced by a light intensity value formed by mirror interference and a light intensity value formed by sunlight interference, and the replacement method comprises the following steps: averaging the credible light intensity values of the left and right neighbors closest to the replaced point to obtain a value as the light intensity value of the replaced point, if the replaced point is the first point, taking the credible light intensity value of the right neighbor closest to the replaced point as the light intensity value of the replaced point, and if the replaced point is the last point, taking the credible value of the left neighbor closest to the replaced point as the light intensity value of the replaced point;
and replacing the light intensity value corresponding to the laser spot distance of 0 by the same method.
6. The method of claim 1, wherein the method comprises: and the identification tag is positioned in the right middle position of the rear side wall of the accommodating cavity, and in the fifth step, the central axis calculation method of the accommodating cavity on the base station comprises the following steps:
Figure QLYQS_4
y is a longitudinal coordinate of a central axis equation of the accommodating cavity on the base station, x is a transverse coordinate of the central axis equation of the accommodating cavity on the base station, the left end of the identification tag is (x 1, y 1), the right end of the identification tag is (x 2, y 2), the left end of the identification tag is d1 away from the laser radar, the angle is theta 1, the right end of the identification tag is d2 away from the laser radar, and the angle is theta 2;
x1＝d1*cosθ1，y1＝d1*sinθ1；x2＝d2*cosθ2，y2＝d2*sinθ2。
7. the utility model provides a cleaning system, includes cleaning machines people and basic station, and wherein the basic station includes the chamber that holds of front side open-ended, is provided with laser radar, its characterized in that on the cleaning machines people: an identification label which can be scanned and identified by laser radar is arranged on the back side wall of the accommodating cavity of the base station, and the cleaning robot returns to the accommodating cavity of the base station by the method according to claim 1.
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