CN115633914A - Sensing device, cleaning robot and obstacle avoidance method of cleaning robot - Google Patents

Abstract

The embodiment of the invention provides a sensing device, a cleaning robot and an obstacle avoidance method of the cleaning robot, which are used for improving the obstacle avoidance capability of the cleaning robot. The sensing device in the embodiment of the invention comprises: the structural light ranging sensor comprises at least one emitter and at least one receiver, the at least one receiver is used for receiving a reflected light signal generated when structural light emitted by the at least one emitter is incident on an obstacle, and ranging information is obtained according to the reflected light signal, the image sensor and the at least one emitter are arranged adjacently, the image sensor is used for obtaining image characteristics of the reflected light signal generated when the structural light emitted by the at least one emitter is incident on the obstacle, and the processor judges whether the ranging information obtained by the structural light ranging sensor is reliable or not according to the image characteristics of the reflected light signal.

Description

Sensing device, cleaning robot and obstacle avoidance method of cleaning robot

Technical Field

The invention relates to the technical field of intelligent household appliances, in particular to a sensing device, a cleaning robot and an obstacle avoidance method of the cleaning robot.

Background

In the prior art, when a cleaning instruction is executed by the cleaning robot, in order to avoid collision, the distance between the cleaning robot and the obstacle can be measured by the distance measuring sensor, and when the distance is smaller than a preset distance threshold value, the cleaning robot is controlled to avoid the obstacle.

However, most of the existing distance measuring sensors are laser distance measuring sensors, and when the light transmitted by the current laser distance measuring sensors encounters an object with high reflectivity, the accuracy of distance measurement is reduced, so that the collision probability of the cleaning robot is increased.

Disclosure of Invention

The embodiment of the invention provides a sensing device, a cleaning robot and an obstacle avoidance method of the cleaning robot, which are used for improving the obstacle avoidance capability of the cleaning robot.

A first aspect of an embodiment of the present application provides a sensing apparatus, including:

the structured light ranging sensor comprises at least one emitter and at least one receiver, and is used for receiving a reflected light signal generated by the fact that structured light emitted by the at least one emitter is incident on an obstacle through the at least one receiver and acquiring ranging information according to the reflected light signal;

the image sensor is arranged adjacent to the at least one emitter and used for acquiring image characteristics of a reflected light signal generated by the fact that the structured light emitted by the at least one emitter is incident on the obstacle.

And the processor is used for judging whether the ranging information acquired by the structured light ranging sensor is reliable or not according to the image characteristics of the reflected light signal.

Preferably, the image characteristics of the reflected light signal include:

at least one of a positional characteristic of the reflected light signal, a shape-size characteristic of the reflected light signal, and a number characteristic of the reflected light signal.

Preferably, if the image feature of the reflected light signal is the position feature of the reflected light signal;

the processor is specifically configured to:

acquiring, by the image sensor, an initial position characteristic and a current position characteristic of a reflected light signal generated by the structured light emitted by the at least one emitter being incident on an obstacle;

judging whether the position relation between the current position characteristic and the initial position characteristic of a reflected light signal generated by the incidence of the structured light emitted by the at least one emitter on an obstacle meets a first preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

Preferably, if the image feature of the reflected light signal is the shape and size feature of the reflected light signal;

the processor is specifically configured to:

acquiring an initial shape and size characteristic and a current shape and size characteristic of a reflected light signal generated by the fact that the structured light emitted by the at least one emitter is incident on an obstacle through the image sensor;

judging whether the matching relation between the current shape and size characteristics and the initial shape and size characteristics of a reflected light signal generated when the structured light emitted by the at least one emitter is incident on an obstacle meets a second preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

Preferably, if the image feature of the reflected light signal is a quantity feature of the reflected light signal;

the processor is specifically configured to:

acquiring, by the image sensor, an initial number and a current number of reflected light signals generated by structured light emitted by the at least one emitter being incident on an obstacle;

determining whether the current number of reflected light signals generated by structured light emitted by the at least one emitter incident on an obstacle is the same as the initial number;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

A second aspect of embodiments of the present application provides a cleaning robot, including the sensing device and at least one obstacle sensor provided in the first aspect of embodiments of the present application;

the cleaning robot is used for starting the at least one obstacle sensor when the ranging information acquired by the structured light ranging sensor in the sensing device is unreliable.

The third aspect of the embodiment of the present application provides an obstacle avoidance method for a cleaning robot, which is applied to the cleaning robot provided by the second aspect of the embodiment of the present application, and the method includes:

acquiring image characteristics of a reflected light signal generated when a structured light distance sensor in a sensing device is incident on an obstacle;

judging whether the ranging information acquired by the structured light ranging sensor is reliable or not according to the image characteristics of the reflected light signal;

and if not, starting at least one obstacle sensor to avoid the obstacle.

Preferably, the image characteristic of the reflected light signal comprises a position characteristic of the reflected light signal; the judging whether the ranging information acquired by the structured light ranging sensor in the sensing device is reliable comprises the following steps:

acquiring initial position characteristics and current position characteristics of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle;

judging whether the position relation between the current position characteristic and the initial position characteristic of a reflected light signal generated by the incidence of the structured light emitted by the at least one emitter on an obstacle meets a first preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

Preferably, the image characteristic of the reflected light signal comprises a shape-size characteristic of the reflected light signal; the judging whether the ranging information acquired by the structured light ranging sensor in the sensing device is reliable comprises the following steps:

acquiring initial shape and size characteristics and current shape and size characteristics of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle;

judging whether the matching relation between the current shape and size characteristics and the initial shape and size characteristics of a reflected light signal generated when the structured light emitted by the at least one emitter is incident on an obstacle meets a second preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

Preferably, the image characteristic of the reflected light signal comprises a quantity characteristic of the reflected light signal; the judging whether the ranging information acquired by the structured light ranging sensor in the sensing device is reliable or not includes:

acquiring an initial quantity and a current quantity of reflected light signals generated by incidence of structured light emitted by at least one emitter on an obstacle;

determining whether the current number of reflected light signals generated by structured light emitted by the at least one emitter being incident on an obstacle is the same as the initial number;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used, when executed by a processor, to implement the obstacle avoidance method for a cleaning robot according to the third aspect of the present application.

According to the technical scheme, the embodiment of the invention has the following advantages:

the sensing device in the embodiment of the application comprises a structured light ranging sensor, an image sensor and a processor, wherein the structured light ranging sensor comprises at least one emitter and at least one receiver, the image sensor is used for acquiring image characteristics of reflected light information generated when structured light emitted by the at least one emitter is incident on an obstacle, and the processor is used for judging the reliability of the ranging information acquired by the structured light ranging sensor according to the image characteristics of the reflected light, so that the reliability of the ranging information acquired by the structured light ranging sensor is improved.

Drawings

FIG. 1 is a schematic diagram of a sensing device according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a position relationship between a structured light range sensor and an image sensor in an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating a distance measurement principle of a structured light distance sensor according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an embodiment of a workflow of a processor in a sensing device according to an embodiment of the present application;

FIG. 5A is a schematic diagram of an initial position feature of a line laser image in an embodiment of the present application;

FIG. 5B is a schematic diagram of a current location feature of a line laser image in an embodiment of the present application;

FIG. 6 is a schematic diagram of another embodiment of the working flow of the processor in the sensing device in the embodiment of the present application;

FIG. 7A is a schematic representation of the initial shape dimension characteristics of a line laser image in an embodiment of the present application;

FIG. 7B is a schematic representation of the current feature size of a line laser image in an embodiment of the present application;

FIG. 8 is a schematic diagram of another embodiment of the working flow of the processor in the sensing device in the embodiment of the present application;

FIG. 9A is a schematic illustration of an initial number of features of a line laser image in an embodiment of the present application;

FIG. 9B is a graphical illustration of a current number of features of a line laser image in an embodiment of the present application;

FIG. 10 is a schematic structural view of a cleaning robot according to an embodiment of the present application;

fig. 11 is a schematic view of an embodiment of an obstacle avoidance method of a cleaning robot in an embodiment of the present application.

Detailed Description

The embodiment of the invention provides a sensing device and a cleaning robot, which are used for determining the reliability of distance measurement information acquired by a structured light distance measurement sensor so as to avoid the problem that the cleaning robot is collided due to unreliable distance measurement information.

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be implemented in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For convenience of understanding, the sensing device of the embodiment of the present application is described below, and referring to fig. 1, the sensing device in the present application includes:

the system comprises a structured light ranging sensor 101, an image sensor 102 and a processor 103, wherein the structured light ranging sensor 101 comprises at least one emitter 1011 and at least one receiver 1012, the image sensor 102 is arranged adjacent to the at least one emitter 1011, and the structured light ranging sensor 101 receives a reflected light signal generated by the structured light emitted by the at least one emitter 1011 and incident on an obstacle through the at least one receiver 1012 and acquires ranging information according to the reflected light signal; the image sensor 102 is configured to obtain an image feature of a reflected light signal generated when the structured light emitted by the at least one emitter 1011 is incident on an obstacle, and the processor 103 is configured to determine whether the ranging information obtained by the structured light ranging sensor is reliable according to the image feature of the reflected light signal.

For convenience of explanation, referring to fig. 2, fig. 2 is a schematic diagram illustrating a positional relationship between a structured light ranging sensor 101 and an image sensor 102 in a sensing device.

The following describes the working principle of the structured light range sensor and the image sensor:

the structured light ranging sensor 101 includes at least one emitter 1011 and at least one receiver 1012, as shown in fig. 3, when the structured light emitted from the emitter 1011 irradiates the obstacles a, B, and C, the reflected light is received by the receiver 1012, and due to the distance between the emitter 1011 and the receiver 1012, the obstacles a, B, and C at different distances will be imaged at the corresponding positions A1, B1, and C1 according to the optical path. The distances of the obstacles A, B and C can be deduced by calculating according to a trigonometric formula.

Meanwhile, the image sensor 102 is disposed adjacent to at least one emitter 1011, so that the fields of view of the image sensor 102 and the emitters 1011 are the same, that is, the image characteristics of the reflected light signal generated when the structured light emitted by the emitters 1011 is incident on an obstacle are constant in the field of view of the image sensor 102 without strong reflection.

Therefore, in the embodiment of the present application, the image sensor 102 may acquire the image characteristics of the reflected light signal generated when the structured light is incident on the obstacle, and determine whether a strong reflection occurs, and if the strong reflection occurs, the characteristics of the reflected light signal may change in the field of view of the image sensor. For example, when the structured light is incident on an obstacle without strong reflection, the reflected light signal it generates on the image sensor is at a first position; when the structured light is incident on an obstacle and is strongly reflected (i.e. the structured light is incident on the obstacle and then reflected by the obstacle to other obstacles), part or all of the signal generated by the structured light on the image sensor is located at the second position.

Further, when strong reflection occurs, the image of the obstacle received by the receiver in the structured light distance sensor changes its position compared with the normal case (i.e., the case of no strong reflection), which results in a large error in the distance measurement of the structured light distance sensor.

Therefore, in the embodiment of the application, the image characteristics of the reflected light signal generated when the structured light is incident on the obstacle can be acquired by the image sensor, the reliability of the ranging information acquired by the structured light ranging sensor can be judged, if the image characteristics of the reflected light signal are changed, the obstacle can be strongly reflected, and if the obstacle is strongly reflected, the position of the reflected light signal received by the receiver in the structured light ranging sensor is changed compared with the normal situation (namely, the situation of no strong reflection), so that a large error is generated in the ranging process of the structured light ranging sensor, and therefore, the reliability of the ranging information acquired by the structured light ranging sensor can be judged by acquiring the image characteristics of the reflected light signal generated when the structured light is incident on the obstacle in the image sensor.

Therefore, the image sensor arranged in the sensing device in the embodiment of the application can avoid the problem that the structured light distance measuring sensor is still used for measuring the distance of the obstacle under the condition that the obstacle has strong reflection, so that misdetection is caused.

Based on the sensing device described in fig. 1, when the structured light ranging sensor includes a plurality of emitters, the sensing device is provided with a plurality of image sensors, and each emitter is provided with one image sensor adjacent to the other. In general, the transmitter and the receiver of the structured light ranging sensor are symmetrically arranged, such as the transmitter and the receiver are arranged side to side or above and below each other.

Preferably, when a plurality of emitters and a plurality of receivers are included, each image sensor is disposed between one emitter and one receiver.

Preferably, in order to keep the fields of view of the image sensor and the emitters the same, a first plane on which the image sensor is mounted is arranged to overlap or be parallel to a second plane on which the adjacent emitter is mounted.

In general, the structured light range sensor is a laser range sensor, and the structured light in the laser may be at least one of a point light source, a line light source, and an area light source.

Correspondingly, the image characteristics of the reflected light signal generally include: the position characteristics of the reflected light signals refer to the positions of the reflected light signals acquired by the image sensor; the shape and size characteristics of the reflected light signals refer to the shape, the figure and the size of the reflected light signals acquired by the image sensor; the quantity characteristic of the reflected light signal refers to how much the quantity of the reflected light signal is acquired by the image sensor.

Based on the sensing device shown in fig. 1 and the image characteristics of the reflected light signal, the following describes the operation of the processor in the sensing device in detail:

referring to fig. 4, if the image characteristic of the reflected light signal is the position characteristic of the reflected light signal, fig. 4 is an embodiment of a workflow of a processor in the sensing device:

401. and acquiring the initial position characteristic and the current position characteristic of a reflected light signal generated by the incidence of the structured light emitted by the at least one emitter on the obstacle through an image sensor.

For convenience of description, the initial position feature and the current position feature of the reflected light signal are explained by taking a line laser as an example. Wherein the initial position characteristic of the reflected light is the position of the incident light on the obstacle, the generated reflected light signal in the image sensor in the case of no strong reflection by the obstacle, and the current position characteristic is the position of the incident light on the obstacle, the generated reflected light in the image sensor in the case of no or strong reflection by the obstacle.

Fig. 5A is a schematic diagram showing an initial position characteristic of a reflected light signal generated when a line laser is incident on an obstacle (no strong reflection), and fig. 5B is a schematic diagram showing a current position characteristic of a reflected light signal generated when a line laser is incident on an obstacle (strong reflection).

In fig. 5A, the position in the image of the reflected light signal generated when the line laser light acquired by the image sensor is incident on the obstacle is the first position, and in fig. 5B, the position in the image of the reflected light signal generated when the line laser light acquired by the image sensor is incident on the obstacle is the second position.

402. Judging whether the position relation between the current position characteristic and the initial position characteristic of a reflected light signal generated by the incident of the structured light emitted by the at least one emitter on an obstacle meets a first preset condition, if so, executing a step 404; if not, go to step 403.

After the processor acquires the initial position feature and the current position feature of the reflected light signal, it determines whether the position relationship between the current position feature and the initial position feature of the reflected light signal satisfies a first preset condition, that is, whether the position relationship between the first position in fig. 5A and the second position in fig. 5B satisfies the first preset condition.

Specifically, when the first position and the second position are determined, the position coordinates of the start point and the end point of the reflected light signal may be determined by using the lower left corner of fig. 5A and fig. 5B as the origin, and then it is determined whether the position relationship between the first position and the second position satisfies the first preset condition according to the position coordinates of the start point and the end point of the reflected light signal in fig. 5A and fig. 5B.

Specifically, the first preset condition in the embodiment of the present application is that the distance between the first position and the second position is not greater than the first threshold, preferably, the first threshold is 50pix, and besides, the first threshold may also be 70pix or 40pix, which is not limited herein.

403. And determining that the ranging information acquired by the structured light ranging sensor is unreliable.

If the coordinate positions of the first position and the second position do not meet the first preset condition, strong reflection may occur after the structured light enters the obstacle, and it is determined that the ranging information acquired by the structured light ranging sensor is unreliable.

Further, if the coordinate positions of the first position and the second position do not satisfy the first preset condition, it may also be that a reflected light signal is distorted due to a fault of an emitter of the structured light ranging sensor, thereby causing unreliable ranging information acquired by the structured light ranging sensor.

404. And determining that the ranging information acquired by the structured light ranging sensor is reliable.

And if the coordinate positions of the first position and the second position meet a first preset condition, determining that the ranging information acquired by the structured light ranging sensor is reliable.

In the embodiment of the application, when the image feature of the reflected light signal is the position feature of the reflected light signal, the judgment process of the reliability of the distance measurement information acquired by the structured light distance measuring sensor is described in detail, so that the stability and the reliability of the sensing device in the embodiment of the application are improved.

Based on the sensing device shown in fig. 1 and the image characteristics of the reflected light signals, the following detailed description is made of the working process of the processor in the sensing device:

referring to fig. 6, if the image characteristic of the reflected light signal is the shape and size characteristic of the reflected light signal, fig. 6 is an embodiment of a workflow of a processor in the sensing device:

601. acquiring an initial shape and size characteristic and a current shape and size characteristic of a reflected light signal generated by the incidence of the structured light emitted by the at least one emitter on an obstacle through an image sensor;

for convenience of description, the initial shape-size characteristic and the current shape-size characteristic of the structured light are explained by taking a line laser as an example. Wherein the initial shape and size characteristics of the reflected light are the shape image and size of the generated reflected light in the image sensor when the incident light is incident on the obstacle, and the current shape and size characteristics are the shape image and size of the generated reflected light in the image sensor when the incident light is incident on the obstacle, and the obstacle has no strong reflection or strong reflection.

Fig. 7A is a schematic diagram showing the initial shape-size characteristics of the reflected light signal generated when the line laser is incident on an obstacle (no strong reflection), and fig. 7B is a schematic diagram showing the current shape-size characteristics of the reflected light signal generated when the line laser is incident on an obstacle (strong reflection).

In fig. 7A, the shape and size of the reflected light signal acquired by the image sensor is a first shape and size, and in fig. 7B, the shape and size of the reflected light signal acquired by the image sensor is a second shape and size.

602. Judging whether the matching relation between the shape and size characteristics of a reflected light signal generated by the incident of the structured light emitted by the at least one emitter on an obstacle and the initial shape and size characteristics meets a second preset condition, if so, executing a step 604, and if not, executing a step 603;

after the processor acquires the initial shape and size features and the current shape and size features of the reflected light signal, it determines whether the current shape and size features and the initial shape and size features of the reflected light signal satisfy a second preset condition, that is, whether the first shape and size in fig. 7A and the second shape and size in fig. 7B satisfy the second preset condition.

Preferably, the second preset condition in the embodiment of the present application is that the similarity between the first shape size and the second shape size is greater than a second threshold, and preferably, the second threshold is 80%, and besides, the second threshold may also be 90%, or 70%, which is not limited herein.

Specifically, when determining whether the first shape size and the second shape size satisfy the second preset condition, the first shape size and the second shape size may be set to overlap, and if the similarity between the first shape size and the second shape size is greater than 80%, the first shape size and the second shape size are determined to satisfy the second preset condition, otherwise, the first shape size and the second shape size are determined not to satisfy the second preset condition.

603. Determining that the ranging information acquired by the structured light ranging sensor is unreliable;

if the first shape size and the second shape size do not meet the second preset condition, it may be that the structured light is reflected after being incident on the obstacle, so that it is determined that the ranging information acquired by the structured light ranging sensor is unreliable.

Further, when the first shape size and the second shape size do not satisfy the second preset condition, it may also be that a reflected light signal is distorted due to an abnormality or a fault of an internal transmitter of the structured light distance measuring sensor, so that the distance measuring information acquired by the structured light distance measuring sensor is unreliable.

604. And determining that the distance measurement information acquired by the structured light distance measurement sensor is reliable.

And if the first shape size and the second shape size meet a second preset condition, determining that the distance measurement information acquired by the structured light distance measuring sensor is reliable.

In the embodiment of the application, when the image characteristics of the reflected light signal are the shape and size characteristics of the reflected light signal, a process of judging whether the distance measurement information acquired by the structured light distance measuring sensor is reliable is described in detail, so that the stability and reliability of the sensing device in the embodiment of the application are improved.

Based on the sensing device shown in fig. 1 and the image characteristics of the reflected light signal, the following describes the operation of the processor in the sensing device in detail:

referring to fig. 8, if the image characteristic of the reflected light signal is a quantity characteristic of the reflected light signal, fig. 8 is an embodiment of a work flow of a processor in the sensing device:

801. acquiring an initial number and a current number of reflected light signals by the image sensor;

for convenience of description, the initial quantity characteristic and the current quantity characteristic of the reflected light signal are described by taking a line laser as an example. Wherein the initial quantity characteristic of the reflected light is the quantity characteristic of the incident light on the obstacle, the generated reflected light is in the image sensor under the condition that the obstacle has no strong reflection, and the current quantity characteristic is the quantity characteristic of the incident light on the obstacle, and the generated reflected light is in the image sensor under the condition that the obstacle has no strong reflection or has strong reflection.

Fig. 9A gives a schematic representation of an initial quantitative characteristic of the reflected light signal and fig. 9B gives a schematic representation of a current quantitative characteristic of the reflected light signal.

In fig. 9A, the number of reflected light signals acquired by the image sensor is a first number, and in fig. 9B, the number of reflected light signals acquired by the image sensor is a second number.

802. Judging whether the current number of reflected light signals generated by the incidence of the structured light emitted by the at least one emitter on the obstacle is the same as the initial number or not, if so, executing a step 804, otherwise, executing a step 803;

after acquiring the initial quantity characteristic and the current quantity characteristic of the reflected light signal, the processor determines whether the current quantity characteristic and the initial quantity characteristic of the reflected light signal are the same, that is, whether the first quantity in fig. 9A is the same as the second quantity in fig. 9B.

Specifically, when the first number and the second number are determined, the first number and the second number of the reflected light signals acquired by the image sensor may be determined through an image recognition technology, and then it is determined whether the first number and the second number are the same.

803. Determining that the ranging information acquired by the structured light ranging sensor is unreliable;

if the first number is different from the second number, it may be that the incident light irradiates on an obstacle to cause reflection, and it is determined that the ranging information acquired by the structured light ranging sensor is unreliable.

Further, if the first number is different from the second number, it may be that the reflected light signal is distorted due to abnormality or malfunction of the emitter inside the structured light ranging sensor, so that the ranging information acquired by the structured light ranging sensor is unreliable.

804. And determining that the distance measurement information acquired by the structured light distance measurement sensor is reliable.

And if the first quantity is the same as the second quantity, determining that the ranging information acquired by the structured light ranging sensor is reliable.

In the embodiment of the application, when the image characteristics of the reflected light signals are the quantity characteristics of the reflected light signals, a process of judging whether the distance measurement information acquired by the structured light distance measuring sensor is reliable is described in detail, so that the stability and reliability of the sensing device in the embodiment of the application are improved.

It should be noted that, when the processor in the embodiment of the present application determines whether the ranging information acquired by the structured light ranging sensor is reliable, the processor may perform the determination by combining one or more of the cases in the embodiments of fig. 4 to 8, so as to further improve the reliability of determining the ranging information.

As described above in detail with respect to the sensing device in the embodiment of the present application, and as described in detail with respect to the cleaning robot in the embodiment of the present application, referring to fig. 10, the cleaning robot in the embodiment of the present application includes a sensing device 1001 and at least one obstacle sensor 1002, and when the distance measurement information acquired by the structured light distance sensor in the sensing device is not reliable, the at least one obstacle sensor is activated to enable the cleaning robot to be in an operating state.

It is easy to understand that when the distance measurement information acquired by the structured light distance measuring sensor in the sensing device is unreliable, the sensing device will generate a large error in measuring the distance between itself and the obstacle, so that the probability of collision of the cleaning robot is increased, and therefore when the distance measurement information acquired by the structured light distance measuring sensor in the sensing device is unreliable, the obstacle sensor in the cleaning robot is activated to detect the obstacle around the cleaning robot.

Preferably, the sensing device and the at least one obstacle sensor are both disposed at a side of the cleaning robot body.

Preferably, the obstacle sensor includes at least one of an infrared distance measuring sensor, a vision sensor, an ultrasonic sensor, and a millimeter wave sensor.

The working principle of the obstacle sensor is described in detail in the prior art, and is not described herein again.

Next, an obstacle avoidance method of the cleaning robot in the embodiment of the present application is described, where the structural configuration of the cleaning robot is similar to that described in fig. 1 to 9, and details are not repeated here.

Referring to fig. 11, an embodiment of an obstacle avoidance method for a cleaning robot in an embodiment of the present application includes:

1101. acquiring image characteristics of a reflected light signal generated by incidence of structural light emitted by a structural light distance sensor in a sensing device on an obstacle;

specifically, when the cleaning robot navigates, the sensing device is preferably used for navigation, wherein the sensing device comprises a structured light ranging sensor and an image sensor, the structured light ranging sensor is used for measuring the distance between the cleaning robot and the obstacle, and the image sensor and the processor are used for judging whether the distance measurement information acquired by the structured light ranging sensor is reliable or not.

1102, judging whether the ranging information acquired by the structured light ranging sensor is reliable or not according to the image characteristics of the reflected light signal, if not, executing a step 1103, and if so, executing a step 1104;

after acquiring the image features of the reflected light signal, the processor determines whether the ranging information acquired by the structured light ranging sensor is reliable or not according to the image features of the reflected light signal, if not, step 1103 is executed, and if yes, step 1101 is continuously executed.

Specifically, the image characteristics of the reflected light signal include: at least one of a location characteristic of the reflected light signal, a shape size characteristic of the reflected light signal, and a number characteristic of the reflected light signal;

in one possible example, when the image feature of the reflected light signal is a position feature of the reflected light signal, the step of determining whether the measured distance of the structured light ranging sensor is reliable includes: acquiring initial position characteristics and current position characteristics of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle; judging whether the position relation between the current position characteristic and the initial position characteristic of a reflected light signal generated by the incident of the structured light emitted by the at least one emitter on an obstacle meets a first preset condition or not; and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

Preferably, the first preset condition in the embodiment of the present application is that the distance between the current position and the initial position of the reflected light is not greater than a first threshold, and preferably, the first threshold is 50pix.

In one possible example, when the image feature of the reflected light signal is a shape-size feature of the reflected light signal, the step of determining whether the ranging information acquired by the structured light ranging sensor is reliable includes: acquiring an initial shape and size characteristic and a current shape and size characteristic of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle; judging whether the matching relation between the current shape and size characteristics and the initial shape and size characteristics of a reflected light signal generated by the incidence of the structured light emitted by the at least one emitter on an obstacle meets a second preset condition or not; and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

Preferably, the second preset condition in the embodiment of the present application is that the similarity between the first shape size and the second shape size is greater than 80%.

In one possible example, when the image feature of the reflected light signal is a quantity feature of the reflected light signal, the step of determining whether the ranging information acquired by the structured light ranging sensor is reliable includes: acquiring an initial quantity and a current quantity of reflected light signals generated by incidence of structured light emitted by at least one emitter on an obstacle; determining whether the current number of reflected light signals generated by structured light emitted by the at least one emitter being incident on an obstacle is the same as the initial number; and if not, determining that the distance measurement information acquired by the structured light distance measurement sensor is unreliable.

Further, when judging whether the distance measurement information acquired by the structured light distance sensor is reliable, the comprehensive judgment can be performed by combining one or more of the position feature, the shape dimension feature and the quantity feature of the reflected light signal, so that the reliability of the judgment of the distance measurement information acquired by the structured light distance sensor is improved.

The description of the above steps can refer to the related description in fig. 4 to 9, and is not repeated here.

1103. And starting at least one obstacle sensor to avoid obstacles.

And if the distance measurement information acquired by the structured light distance measurement sensor is unreliable, starting at least one obstacle sensor to avoid obstacles.

According to the embodiment of the application, the reliability of the distance measurement information acquired by the structural optical distance sensor can be judged through the image characteristics of the reflected light signals acquired by the image sensor, if the image characteristics of the reflected light signals acquired by the image sensor are changed, the situation that the obstacle has strong reflection can occur, and under the situation that the obstacle has strong reflection, the position of the reflected light signals received by the receiver of the structural optical distance sensor is changed compared with the normal situation (namely the situation that the obstacle has no strong reflection), so that a large error is generated during the distance measurement of the structural optical distance sensor, and therefore when the distance measurement information acquired by the structural optical distance sensor is unreliable, at least one obstacle sensor is started to avoid the obstacle, and the obstacle avoidance capability of the cleaning robot is improved.

The present application also provides a computer-readable storage medium for implementing the functions of a cleaning robot, having a computer program stored thereon, which, when executed by a processor, the processor is operable to perform the steps of:

acquiring image characteristics of a reflected light signal of a structured light distance sensor in a sensing device;

judging whether the distance measurement information acquired by the structured light distance measuring sensor is reliable or not according to the image characteristics of the reflected light signal;

and if not, starting at least one obstacle sensor to avoid the obstacle.

The image characteristics of the reflected light signal include: the position of the reflected light signal, in some embodiments of the invention, may be characterized by a processor, when the computer program stored on the computer-readable storage medium is executed by the processor, specifically for performing the following steps:

acquiring initial position characteristics and current position characteristics of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle;

judging whether the position relation between the current position characteristic and the initial position characteristic of a reflected light signal generated by the incident of the structured light emitted by the at least one emitter on an obstacle meets a first preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

The image characteristics of the reflected light signal include: the shape and size characteristics of the reflected light signal, in some embodiments of the present invention, when the computer program stored on the computer-readable storage medium is executed by the processor, the processor may be specifically configured to perform the following steps:

acquiring an initial shape and size characteristic and a current shape and size characteristic of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle;

judging whether the matching relation between the current shape and size characteristics and the initial shape and size characteristics of a reflected light signal generated by the incidence of the structured light emitted by the at least one emitter on an obstacle meets a second preset condition or not;

and if not, determining that the distance measurement information acquired by the structured light distance measurement sensor is unreliable.

The image characteristics of the reflected light signal include: a quantitative characteristic of the reflected light signal; in some embodiments of the invention, the computer program stored on the computer-readable storage medium, when executed by the processor, may be specifically configured to perform the steps of:

acquiring an initial quantity and a current quantity of reflected light signals generated by incidence of structured light emitted by at least one emitter on an obstacle;

determining whether the current number of reflected light signals generated by structured light emitted by the at least one emitter being incident on an obstacle is the same as the initial number;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (11)

1. A sensing device, comprising:

the structured light ranging sensor comprises at least one emitter and at least one receiver, and is used for receiving a reflected light signal generated by the fact that structured light emitted by the at least one emitter is incident on an obstacle through the at least one receiver and acquiring ranging information according to the reflected light signal;

the image sensor is arranged adjacent to the at least one emitter and used for acquiring image characteristics of a reflected light signal generated by incidence of the structured light emitted by the at least one emitter on the obstacle;

and the processor is used for judging whether the ranging information acquired by the structured light ranging sensor is reliable or not according to the image characteristics of the reflected light signals.

2. The sensing device of claim 1, wherein the image characteristic of the reflected light signal comprises:

at least one of a location characteristic of the reflected light signal, a shape dimension characteristic of the reflected light signal, and a number characteristic of the reflected light signal.

3. The sensing device of claim 2, wherein if the image characteristic of the reflected light signal is a position characteristic of the reflected light signal; the processor is specifically configured to:

acquiring an initial position characteristic and a current position characteristic of a reflected light signal generated by the fact that the structured light emitted by the at least one emitter is incident on an obstacle through the image sensor;

judging whether the position relation between the current position characteristic and the initial position characteristic of a reflected light signal generated by the incident of the structured light emitted by the at least one emitter on an obstacle meets a first preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

4. The sensing device of claim 2, wherein if the image characteristic of the reflected light signal is a shape and size characteristic of the reflected light signal; the processor is specifically configured to:

acquiring an initial shape and size characteristic and a current shape and size characteristic of a reflected light signal generated by the fact that the structured light emitted by the at least one emitter is incident on an obstacle through the image sensor;

judging whether the matching relation between the current shape and size characteristics and the initial shape and size characteristics of a reflected light signal generated by the incidence of the structured light emitted by the at least one emitter on an obstacle meets a second preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

5. The sensing device of claim 2, wherein if the image characteristic of the reflected light signal is a quantitative characteristic of the reflected light signal; the processor is specifically configured to:

acquiring, by the image sensor, an initial number and a current number of reflected light signals generated by structured light emitted by the at least one emitter being incident on an obstacle;

determining whether the current number of reflected light signals generated by structured light emitted by the at least one emitter being incident on an obstacle is the same as the initial number;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

6. A cleaning robot comprising the sensing device of any one of claims 1 to 5 and at least one obstacle sensor; the cleaning robot is used for starting the at least one obstacle sensor when the ranging information acquired by the structured light ranging sensor in the sensing device is unreliable.

7. An obstacle avoidance method of a cleaning robot, applied to the cleaning robot as claimed in claim 6, the method comprising:

acquiring image characteristics of a reflected light signal generated when a structured light distance sensor in a sensing device is incident on an obstacle;

judging whether the ranging information acquired by the structured light ranging sensor is reliable or not according to the image characteristics of the reflected light signal;

and if not, starting at least one obstacle sensor to avoid the obstacle.

8. An obstacle avoidance method according to claim 7, wherein the image features of the reflected light signal comprise position features of the reflected light signal; the judging whether the ranging information acquired by the structured light ranging sensor in the sensing device is reliable or not includes:

acquiring initial position characteristics and current position characteristics of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle;

judging whether the position relation between the current position characteristic and the initial position characteristic of a reflected light signal generated by the incident of the structured light emitted by the at least one emitter on an obstacle meets a first preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

9. An obstacle avoidance method according to claim 7, wherein the image characteristics of the reflected light signal include shape and size characteristics of the reflected light signal; the judging whether the ranging information acquired by the structured light ranging sensor in the sensing device is reliable comprises the following steps:

acquiring initial shape and size characteristics and current shape and size characteristics of a reflected light signal generated by incidence of structured light emitted by at least one emitter on an obstacle;

judging whether the matching relation between the current shape and size characteristics and the initial shape and size characteristics of a reflected light signal generated when the structured light emitted by the at least one emitter is incident on an obstacle meets a second preset condition or not;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

10. An obstacle avoidance method according to claim 7, wherein the image characteristics of the reflected light signal include quantity characteristics of the reflected light signal; the judging whether the ranging information acquired by the structured light ranging sensor in the sensing device is reliable or not includes:

acquiring an initial quantity and a current quantity of reflected light signals generated when structured light emitted by at least one emitter is incident on an obstacle;

determining whether the current number of reflected light signals generated by structured light emitted by the at least one emitter incident on an obstacle is the same as the initial number;

and if not, determining that the ranging information acquired by the structured light ranging sensor is unreliable.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, is adapted to carry out the method of any one of claims 8 to 10.

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